JP6414221B2 - Vehicle travel control apparatus and method - Google Patents

Description

  The present invention relates to a travel control apparatus and method for controlling travel of a vehicle.

  Regarding this type of device, when an approaching vehicle is detected on the left side of the host vehicle, the target travel position is set on the right side of the standard position, and when an approaching vehicle is detected on the right side of the host vehicle, the standard position is set. An apparatus is disclosed that sets a target travel position on the left side of the vehicle and sets the target travel position between the approaching vehicles on both the left and right sides when an approaching vehicle is detected on both the left and right sides of the host vehicle (Patent Document 1). ).

JP 2013-091401 A

  However, in the conventional technology, the target travel position of the host vehicle is changed to the right side or the left side depending on whether the detection position of the other vehicle is the right side or the left side. If it is detected, the target travel position cannot be changed. For this reason, there is a problem that another vehicle traveling behind the traveling lane in which the host vehicle is traveling cannot pass the host vehicle smoothly and may be too close to the host vehicle.

  The problem to be solved by the present invention is that the other vehicle travels behind the traveling lane in which the host vehicle travels, and the other vehicle is allowed to overtake the host vehicle in a scene approaching the host vehicle. The travel position of the host vehicle is set so that the vehicle does not approach too much.

  The present invention solves the above problem by moving the host vehicle in the right or left direction in the width direction of the lane when a target vehicle approaching from the rear of the same traveling lane as the host vehicle is detected.

  According to the present invention, when a vehicle traveling behind the same lane approaches the host vehicle, the host vehicle is moved in the right or left direction, so that the other vehicle can pass the host vehicle smoothly. Thus, the traveling position of the host vehicle can be controlled so that the inter-vehicle distance along the traveling direction between the host vehicle and the other vehicle does not approach too much.

It is a block block diagram of the traveling control system concerning this embodiment. It is the 1st figure for explaining the 1st method of traveling control of this embodiment. It is a 2nd figure for demonstrating the 1st method of the traveling control of this embodiment. It is a 3rd figure for demonstrating the 1st method of the traveling control of this embodiment. It is the 1st figure for explaining the 2nd method of traveling control of this embodiment. It is a 2nd figure for demonstrating the 2nd method of the traveling control of this embodiment. It is a figure for demonstrating the 3rd method of the traveling control of this embodiment. It is a 1st flowchart which shows the control procedure of the traveling control system of this embodiment. It is a 2nd flowchart which shows the control procedure of the traveling control system of this embodiment. It is a 3rd flowchart which shows the control procedure of the traveling control system of this embodiment. It is a flowchart which shows the control procedure of the operation timing of the traveling control system of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the vehicle travel control apparatus according to the present invention is applied to a travel control system mounted on a vehicle will be described as an example. The embodiment of the travel control device of the present invention is not limited, and can be applied to a mobile terminal device capable of exchanging information with the vehicle side. The travel control device, the travel control system, and the mobile terminal device are all computers that execute arithmetic processing.

  FIG. 1 is a diagram showing a block configuration of the travel control system 1. The travel control system 1 of this embodiment is mounted on a vehicle and includes a travel control device 100 and an in-vehicle device 200.

The travel control device 100 according to the present embodiment recognizes the lane in which the host vehicle is traveling, and controls the movement of the host vehicle so that the position of the lane mark on the lane and the position of the host vehicle maintain a predetermined relationship. Lane departure prevention function (lane keep support function). The travel control device 100 of this embodiment controls the movement of the host vehicle so that the host vehicle travels in the center of the lane. The travel control device 100 may control the movement of the host vehicle so that the distance along the road width direction from the lane mark of the lane to the host vehicle falls within a predetermined value range.
Note that the lane marker in the present embodiment is not limited as long as it has a function of defining the lane, and may be a diagram drawn on the road surface or may be planted between the lanes. Alternatively, it may be a road structure such as a guardrail, a curb, a sidewalk, or a motorcycle road existing on the shoulder side of the lane. Further, it may be a stationary object such as a signboard, a sign, a store, a roadside tree, etc. existing on the shoulder side of the lane. The detection method of these lane markers is not limited, and various methods such as pattern matching known at the time of filing this application can be used.
The travel control device 100 of the present embodiment includes a communication device 20, the in-vehicle device 200 includes a communication device 40, and both devices exchange information with each other through wired communication or wireless communication.

First, the in-vehicle device 200 will be described.
The in-vehicle device 200 of the present embodiment includes a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110, and a navigation device 120. The devices constituting the in-vehicle device 200 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.

Hereinafter, each device constituting the in-vehicle device 200 will be described.
The detection device 50 detects the presence of the target vehicle that should be avoided by the vehicle and its location. Although not particularly limited, the detection device 50 of the present embodiment includes a camera 51. The camera 51 of the present embodiment is a camera including an image sensor such as a CCD. The camera 51 of this embodiment is installed in the own vehicle, images the surroundings of the own vehicle, and acquires image data including the target vehicle existing around the own vehicle.

  The camera 51 of the present embodiment is attached to the host vehicle at a height h behind the host vehicle so that the optical axis is at an angle θ from the horizontal to the lower side. From this position, the camera 51 captures a predetermined area behind the host vehicle V1 with a predetermined angle of view Q. The angle of view Q of the camera 51 is set to an angle of view Q that can capture images of the left and right lanes in addition to the lane in which the host vehicle travels. The captured image of the camera 51 includes an image of a region immediately behind the traveling lane in which the host vehicle is traveling and an image of a region of lanes adjacent to the left and right of the traveling lane in which the host vehicle is traveling.

  The detection device 50 processes the acquired image data, and calculates the distance from the host vehicle to the target vehicle based on the position of the target vehicle with respect to the host vehicle. The detection device 50 calculates the relative speed between the host vehicle and the target vehicle and the relative acceleration between the host vehicle and the target vehicle as target information from a change with time of the position of the target vehicle. For the process of deriving the positional relationship between the host vehicle and the other vehicle based on the image data and the process of deriving the speed information based on the change over time, the method known at the time of filing this application can be used as appropriate.

  Information including at least the detected position of the target vehicle is sent to the traveling control apparatus 100 side as first information. The detection device 50 includes speed information, acceleration information, type information of the target vehicle, and information such as the vehicle type when the target vehicle is a vehicle, in the first information obtained from the change in the position of the target vehicle. You may send to the traveling control apparatus 100 side.

  Further, the detection device 50 may analyze the image data and identify the type of the target vehicle based on the analysis result. The detection device 50 uses a pattern matching technique or the like to identify whether the target vehicle included in the image data is a vehicle, a person, a sign, or the like. The detection device 50 extracts an image of the object from the image data, and based on the size and shape of the image, the specific type of the object (four-wheeled vehicle, two-wheeled vehicle, bus, truck, construction vehicle, etc.) and the vehicle type (small vehicle). Large vehicle). Furthermore, the detection device 50 can identify the type and model of the vehicle from the identifiers written on the license plate included in the image data. Each type of avoidance target may be associated with the size in advance, and the size of the avoidance target may be obtained by referring to the information. These types of identification information and avoidance target size information can be used in target area setting processing.

  The detection device 50 analyzes the image data, and extracts the position of the target vehicle that travels behind the travel lane in which the host vehicle travels as first information. The position of the target vehicle includes a position with respect to a lane marker that defines a lane. The detection device 50 may include the distance from the right or left lane mark defining the lane to the target vehicle in the first information.

  The detection device 50 analyzes the image data and extracts the behavior of the target vehicle traveling behind the traveling lane in which the host vehicle is traveling as third information. The detection device 50 determines the behavior of the target vehicle based on the distance from the lane mark described above to the target vehicle and a change in the distance. For example, when the distance from the right lane mark to the target vehicle is small, it can be determined that the target vehicle starts to move to the right side. Further, when the distance from the right lane mark to the target vehicle is rapidly decreasing (when the speed of the target vehicle approaching the right lane mark is high), it can be determined that the target vehicle starts moving to the right side. Thus, the behavior of the target vehicle is determined from the positional relationship between the lane mark and the target vehicle.

  The detection device 50 determines the behavior of the target vehicle by lighting the right or left blinker lamp of the target vehicle. When the blinker lamp on the right side (left side) of the target vehicle is turned on, it is determined that the target vehicle starts moving to the right side (left side). The detection device 50 determines that the blinker lamp of the target vehicle has been turned on by extracting a region where the luminance of the captured image is periodically greater than or equal to the first predetermined value. Based on the position of the lighting area of the blinker lamp in the captured image, the detection device 50 determines whether the illuminated blinker lamp is the right or left blinker lamp of the target vehicle.

  The detection device 50 determines the behavior of the target vehicle by turning on the headlight of the target vehicle. When the headlight of the target vehicle is turned on, it is determined that the target vehicle changes lanes to the adjacent lane on the right or left side and starts overtaking the host vehicle. The detection device 50 determines that the headlight is turned on by extracting a region where the luminance of the captured image is equal to or higher than the second predetermined value (> first predetermined value).

  Note that the radar apparatus 52 may be used as the detection apparatus 50 of the present embodiment. As the radar device 52, a system known at the time of filing such as a millimeter wave radar, a laser radar, and an ultrasonic radar can be used.

  The “target vehicle” in the present embodiment is a target on which the host vehicle should travel avoiding itself (so as not to approach too much). The target vehicle of the present embodiment is another vehicle that travels behind the host vehicle and travels in the same lane as the host vehicle travels. The detection device 50 detects the vehicle as a target vehicle based on the positional relationship with the host vehicle and the degree of approach (relative speed, relative acceleration). Specifically, from the captured image, the detection device 50 is within a predetermined distance from the host vehicle among other vehicles that travel directly behind the host vehicle (behind the travel lane of the host vehicle), and the relative speed with the host vehicle. Detects another vehicle having a predetermined value or more as a target vehicle. The detection result is sent to the traveling control apparatus 100 as first information.

  The sensor 60 of this embodiment includes a steering angle sensor 61 and a vehicle speed sensor 62. The steering angle sensor 61 detects steering information related to steering (turning) such as the steering amount, steering speed, and steering acceleration of the host vehicle, and sends the steering information to the vehicle controller 70 and the travel control device 100. The vehicle speed sensor 62 detects the vehicle speed and acceleration of the host vehicle and sends them to the vehicle controller 70 and the travel control device 100.

  The vehicle controller 70 of this embodiment is an in-vehicle computer such as an engine control unit (ECU), and electronically controls the driving state of the vehicle. Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. Note that electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.

  The drive device 80 of this embodiment includes a drive mechanism for the host vehicle. The drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels. A braking device is included. The drive device 80 generates control signals for these drive mechanisms based on input signals from the driver's accelerator operation and brake operation, and control signals acquired from the vehicle controller 70 or the travel control device 100, and includes acceleration and deceleration of the vehicle. Run control. By sending control information to the driving device 80, traveling control including acceleration / deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 80.

  The steering device 90 of this embodiment includes a steering actuator. The steering actuator includes a motor and the like attached to the column shaft of the steering. The steering device 90 executes turning control of the vehicle based on the control signal acquired from the vehicle controller 70 or the input signal by the driver's steering operation. The vehicle controller 70 executes turn control by sending control information including the turn amount to the steering device 90. Moreover, the traveling control apparatus 100 may execute the turn control by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 70 executes the turning control of the vehicle by sending control information including the braking amount of each wheel to the braking device 81 provided in the driving device 80.

  The navigation device 120 according to the present embodiment calculates a route from the current position of the host vehicle to the destination, and outputs route guidance information via the output device 110 described later. The navigation device 120 includes a position detection device 121, road type, road width, road shape, and other road information 122, and map information 123 in which the road information 122 is associated with each point. The position detection device 121 according to the present embodiment includes a global positioning system (GPS) and detects a traveling position (latitude / longitude) of a traveling vehicle. The navigation device 120 specifies a road link on which the host vehicle travels based on the current position of the host vehicle detected by the position detection device 121. The road information 122 according to the present embodiment stores the road type, road width, road shape, passability (possibility of entry into adjacent lanes), and other road-related information for each road link identification information. . The road information 122 of this embodiment includes position information of a plurality of lanes included in the road. Each lane can be identified based on the lane position information. Specifically, for each lane, the road information 122 includes information that the lane is on the rightmost side of the road, the lane is on the leftmost side of the road, and that there are other lanes on both sides of the lane. Including. The road information 122 is information for identifying, for each lane, that the lane is an attribute lane that travels at a relatively low speed and that the lane is an attribute lane that travels at a relatively high speed. The road information 122 indicates that, for each lane, the lane is an attribute lane that travels at a relatively low speed, the lane is an attribute lane that travels at a relatively high speed, and is an overtaking lane. It is information to identify.

  The navigation device 120 refers to the road information 122, acquires information related to the second road related to the lane to which the road link on which the vehicle travels belongs, and sends the information to the travel control device 100. The second information regarding the lane is used for calculating the moving direction of the host vehicle and the moving lateral position in the travel control process. Further, the road type, road width, and road shape on which the host vehicle travels are used for calculating a target route on which the host vehicle travels in the travel control process.

  The output device 110 according to the present embodiment outputs various types of information relating to driving support to a user or a passenger in a surrounding vehicle. In the present embodiment, the output device 110 outputs any one or more of information according to target information, a direction or amount of movement, and information according to control information to be output to the outside. The output device 110 according to the present embodiment includes a display 111, a speaker 112, a vehicle exterior lamp 113, and a vehicle interior lamp 114. The vehicle exterior lamp 113 includes a headlight, a blinker lamp, and a brake lamp. The vehicle interior lamp 114 includes an indicator lighting display, a display 111 lighting indication, other lamps provided on the steering wheel, and lamps provided around the steering wheel. Further, the output device 110 of the present embodiment may output various types of information related to driving support to an external device such as an intelligent transport system (ITS) via the communication device 40. An external device such as an intelligent road traffic system uses information related to travel support including vehicle speed, turning information, travel route, and the like for traffic management of a plurality of vehicles.

A specific output mode of information will be described by taking as an example a case where the target vehicle exists behind the lane in which the host vehicle travels.
The output device 110 provides the occupant of the host vehicle with the presence of the target vehicle as information corresponding to the target information. The display 111 displays the direction and position where the target vehicle exists in a visible manner. The speaker 112 utters and outputs a text indicating the direction and position of the target vehicle approaching from behind such as “the vehicle is approaching behind”. In addition, when the target vehicle moves to the left side, only the left side lamp among the lamps provided on the left and right door mirrors which are the exterior lamps 113 is turned on, and the target vehicle is going to travel from the rear to the left side. May be notified to the passenger of the vehicle. Similarly, only the left lamp among the lamps provided on the left and right in the vicinity of the steering, which is the vehicle interior lamp 114, is lit to inform the occupant that there is a target vehicle that is going to travel from the rear to the left. Also good.

  Further, the setting direction and the setting position of the target area may be output via the output device 110 as information corresponding to the position of the target area. As described above, the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114 can inform the occupant that the target area is set to the left front.

  In the present embodiment, from the viewpoint of notifying passengers of other vehicles in advance of the movement of the host vehicle, the moving direction and amount of the host vehicle V1 are automatically output to the outside using the outside lamp 113. When the approach of the rear target vehicle is detected, a target area for avoiding the approach to the target vehicle is set, and the traveling direction of the host vehicle is changed (turning is performed). By predicting the travel route of the target vehicle and notifying the outside that the target region has been set in the vicinity of the travel route and that the travel direction of the host vehicle will change to avoid the target vehicle, The movement of the vehicle can be notified. For example, when it is predicted that the target vehicle travels in the right direction, if the host vehicle is on the left side, the left blinker lamp (outside cabin lamp 113) is turned on. Thereby, in order to avoid the target area set on the right side for the overtaking vehicle, it is possible to notify other external vehicles or the like that the own vehicle moves to the left side.

  Furthermore, as information according to the position of the target route, the shape of the target route and the position of the curved point for avoiding the target vehicle can be notified to the occupant by the display 111 and the speaker 112. The display 111 displays the shape of the target route and the like as a visible diagram. The speaker 112 outputs an announcement such as “turn the steering wheel to the left because the passing vehicle is allowed to pass”.

  Furthermore, through the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114, information indicating that the turning operation and acceleration / deceleration are executed as information corresponding to the control information for causing the host vehicle to travel on the target route. Inform the passenger of the own vehicle or the passenger of another vehicle in advance.

  In this way, by outputting information related to travel control when avoiding the target area, it is possible to notify the passengers of the host vehicle and / or other vehicles of the behavior of the host vehicle in advance. The output device 110 may output the above-described information to an external device of the intelligent transportation system via the communication device 20. Thereby, the passenger | crew of the own vehicle and / or the passenger | crew of another vehicle can respond | correspond according to the behavior of the own vehicle by which traveling control is carried out.

  Hereinafter, the traveling control apparatus 100 of this embodiment is demonstrated.

  As shown in FIG. 1, the travel control device 100 of this embodiment includes a control device 10, a communication device 20, and an output device 30. The communication device 20 exchanges information with the in-vehicle device 200. The output device 30 has the same function as the output device 110 of the in-vehicle device 200 described above. When the travel control device 100 is a computer that can be carried by an occupant, the travel control device 100 outputs control information for controlling the lighting of the exterior lamp 113 and the interior lamp 114 of the in-vehicle device 200 to each device. May be.

  The control device 10 of the travel control device 100 is configured as a travel control device 100 by executing a ROM (Read Only Memory) 12 in which a program for executing travel control of the host vehicle is stored, and a program stored in the ROM 12. The computer includes a CPU (Central Processing Unit) 11 as a functioning operation circuit and a RAM (Random Access Memory) 13 functioning as an accessible storage device.

  The control device 10 of the travel control device 100 according to the present embodiment has an information acquisition function, a control function, and a presentation function. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

  Hereinafter, each function of the traveling control apparatus 100 according to the present embodiment will be described.

  First, the target information acquisition function of the control device 10 will be described. The control device 10 acquires from the detection device 50 of the in-vehicle device 200 first information regarding a target vehicle that travels behind a travel lane in which the host vehicle travels. The first information includes the presence / absence of the target vehicle, the position of the target vehicle, the distance between the host vehicle and the target vehicle, and the relative speed / relative acceleration of the target vehicle with respect to the host vehicle. The relative velocity / relative acceleration of the target vehicle included in the first information is information indicating the degree of approach between the host vehicle and the target vehicle. The first information of the present embodiment includes information on whether or not there is a target vehicle that approaches the host vehicle.

  When the detection device 50 determines that the relative position between the vehicle and the target vehicle is less than the predetermined distance, the detection device 50 determines that there is a target vehicle approaching the host vehicle. Furthermore, the conditions may be weighted, and it may be determined that there is a target vehicle approaching the host vehicle when the relative position between the vehicle and the target vehicle is less than a predetermined distance and the relative speed in the approach direction is equal to or greater than a predetermined value. . The detection method of the target vehicle around the host vehicle V1 is not particularly limited, and a method known at the time of filing can be applied. The detection device 50 sends the first information regarding the target vehicle to the control device 10.

  The control device 10 acquires second information related to the travel lane in which the host vehicle travels from the navigation device 120. The second information includes the lane position on the road. The control device 10 acquires information on the position of the lane on which the host vehicle V1 travels from the second information.

  The information on the position of the lane includes that the lane is the rightmost position, the leftmost position, or an intermediate position where other lanes exist on both the left and right sides. The second information includes lane attributes. The lane attribute information includes identification information that the lane is a low-speed lane that travels at a relatively low speed, and identification information that the lane is a high-speed lane that travels at a relatively high speed. The lane attribute information includes identification information indicating that the vehicle is an overtaking lane and identification information indicating that the vehicle is a low-speed vehicle lane such as a truck.

  The navigation device 120 extracts the lane to which the current position detected by the position detection device 121 belongs, refers to the road information 122 and the map information 123, and the driving lane on which the vehicle travels and other lanes to which the lane belongs. Get the position, relative position, and attributes of. The second information regarding the acquired lane is sent to the control device 10.

  The control apparatus 10 acquires the 3rd information regarding the behavior of the object vehicle which drive | works behind the driving | running lane where the own vehicle drive | works. The third information includes the position of the target vehicle in the lane. The position in the lane is a distance along the width direction from the lane mark that defines the lane. The control device 10 determines that the distance from the right lane mark to the target vehicle is less than the predetermined distance as the behavior of the target vehicle indicating that the host vehicle moves in the right direction. The control device 10 determines that the distance from the left lane mark to the target vehicle is less than the predetermined distance is the behavior of the target vehicle indicating that the host vehicle moves in the left direction.

  The third information includes lighting information of the blinker lamp of the target vehicle and lighting information of the headlight of the target vehicle. The lighting information of the blinker lamp of the target vehicle is the traveling direction of the target vehicle. The control device 10 determines that the lighting of the right blinker lamp is the behavior of the target vehicle indicating that the host vehicle moves in the right direction. The control device 10 determines that the lighting of the left blinker lamp is the behavior of the target vehicle indicating that the host vehicle moves in the left direction.

  Moreover, the control apparatus 10 acquires the own vehicle information including the position of the own vehicle. The position of the host vehicle can be acquired by the position detection device 121 of the navigation device 120. The own vehicle information includes the vehicle speed and acceleration of the own vehicle. The control device 10 acquires the speed of the host vehicle from the vehicle speed sensor 62. The speed of the host vehicle can also be acquired based on the change over time of the position of the host vehicle. The acceleration of the host vehicle can be obtained from the speed of the host vehicle.

  If the target vehicle is another vehicle and the other vehicle and the host vehicle can communicate with each other, the control device 10 of the host vehicle can detect the vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle as target information. You may get as Of course, the control device 10 can also acquire information including the position, speed, and acceleration of another vehicle from an external device of the intelligent transportation system.

  Next, the control function of the control device 10 will be described. The control device 10 of the present embodiment outputs control information for causing the host vehicle V1 to travel on the target route RT to the vehicle controller 70, the drive device 80, and the steering device 90 on the vehicle side.

  The vehicle controller 70 of the present embodiment that has acquired the control information from the control device 10 controls the drive device 80 and the steering device 90 to drive the host vehicle V1 along the target route RT. The vehicle controller 70 uses the road shape detected by the detection device 50 and the lane marker model stored in the road information 122 and the map information 123 of the navigation device 120 to maintain the vehicle in a predetermined lateral position with respect to the lane. The steering device 90 is controlled to travel while traveling. The vehicle controller 70 calculates the turning control amount based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the vehicle speed sensor 62, and the current of the steering actuator, and sends a current command to the steering actuator. Then, control is performed so that the host vehicle travels in the target lateral position. In addition, as a method for controlling the lateral position of the host vehicle V1, in addition to using the steering device 90 described above, the driving direction of the host vehicle V1 is determined by the difference in rotational speed between the left and right drive wheels using the driving device 80 and / or the braking device 81. (That is, the lateral position) may be controlled. In that sense, the “turning” of the vehicle includes not only the case of using the steering device 90 but also the case of using the driving device 80 and / or the braking device 81.

  Based on the acquired first information, second information, and third information, the control device 10 in the present embodiment outputs control information for moving the host vehicle in the right or left direction in the width direction of the lane. The control device 10 obtains one or a plurality of points where the host vehicle travels, and moves the host vehicle so as to pass through each point from each point and the current position. The control device 10 may move the host vehicle so as to travel on a target route including a plurality of points where the host vehicle travels. In creating the target route, the control device 10 sets a predetermined target region R at a position where the target vehicle is predicted to travel for a target vehicle that may overtake the host vehicle from behind, and sets the target target. A target route that avoids the region R may be set. In the present embodiment, a method of setting a target route after setting the target region R will be described as an example. However, as described above, the target vehicle is predicted to travel without performing the process of setting the target region R. A passing point or a target route may be set according to the position.

First, a control method for moving the host vehicle V1 based on the first information will be described.
The control device 10 determines that there is a target vehicle that approaches the host vehicle based on the first information by the detection device 50, and when acquiring the first information to that effect, the control device 10 moves the host vehicle to the right side in the width direction of the lane. Alternatively, control information for moving in the left direction is output. When there is a target vehicle approaching the host vehicle, the target vehicle may pass the host vehicle. In such a case, the control device moves the host vehicle to either the right side or the left side. Thereby, when another vehicle passes the side of the own vehicle, the distance from the own vehicle can be maintained. When the other vehicle overtakes the own vehicle, the own vehicle is not too close to the other vehicle. The distance between the host vehicle and the other vehicle is appropriately maintained, and the passenger can be relieved.

  Next, a control method for moving the host vehicle V1 based on the second information will be described. The second information is information related to the target vehicle that travels behind the travel lane in which the host vehicle travels.

Hereinafter, a control method based on the second information will be specifically described based on the drawings.
In FIG. 2A, the host vehicle V1 travels on the leftmost lane Ln1, in FIG. 2B, the host vehicle V1 travels on the rightmost lane Ln3, and in FIG. 2C, the host vehicle V1 travels on the center lane Ln2.

  In the example shown in FIGS. 2A to 2C, the road L on which the host vehicle V1 travels includes a plurality of lanes Ln1 to Ln3 and OPLn1 (hereinafter, collectively referred to as “L”). Lanes Ln1 to Ln3 are lanes Ln in the same traveling direction. The lane Ln1 is disposed on the rightmost side among the plurality of lanes Ln in the same traveling direction, and the lane Ln3 is disposed on the leftmost side among the plurality of lanes Ln in the same traveling direction. The lane Ln2 is a lane arranged between the left lane Ln2 and the right lane Ln3. The lane OPLn1 is an opposite lane whose travel direction is opposite to that of the host vehicle V1 (the −y direction in the figure).

  2A to 2C show a state in which the other vehicle V2 travels behind the lane Ln on which the host vehicle V1 travels, and the other vehicle V2 passes the host vehicle V1. In this specification, overtaking means that after the other vehicle V2 behind catches up with the host vehicle V1, changes its route, passes the side of the catching host vehicle V1, and exits ahead of the host vehicle V1. Say.

  In this example, a case where three lanes Ln are arranged in the same traveling direction including the traveling lane Ln in which the host vehicle travels will be described as an example. However, the scene to which the present invention is applied is not limited to this. Although the case where one lane Ln is arranged in the traveling direction opposite to the host vehicle will be described as an example, the case where the present invention is applied is not limited to this.

  In the case where the host vehicle V1 is traveling on the lane Ln1 arranged on the rightmost side and the case where the host vehicle V1 is traveling on the lane Ln3 arranged on the leftmost side, the other vehicle V2 passing the host vehicle V1 from the rear side The location of the travel route is different. The control device 10 according to the present embodiment obtains a direction in which the host vehicle V1 is moved according to the position of the lane Ln, and outputs control information for moving the host vehicle V1 in that direction. In the present embodiment, the host vehicle V1 is moved in the direction corresponding to the position of the lane Ln, so that the rear other vehicle V2 and the host vehicle V1 do not approach too much. When the rear other vehicle V2 passes the host vehicle V1, the inter-vehicle distance in the vehicle width direction can be maintained.

  Based on FIG. 2A, the 1st example of the setting method of the target path | route RT which moves the own vehicle V1 based on 2nd information is demonstrated. In the example shown in FIG. 2A, the host vehicle V1 travels in the leftmost lane Ln1 in the drawing among the lanes Ln1 to Ln3 in the traveling direction Vd1 (+ Y direction in the drawing) of the road L. Lane Ln3 is an uphill lane on which a relatively low speed vehicle travels. The other vehicle V2 is behind the host vehicle V1 and travels on the same lane Ln1 as the host vehicle V1. The other vehicle V3 traveling oppositely travels on the lane OPLn1 along the traveling direction Vd3.

  Control device 10 sets region RG1 in advance behind host vehicle V1. Based on the first information including the position of the other vehicle V2, the control device 10 acquires the approach timing when the other vehicle V2 enters the region RG1 and becomes less than the predetermined distance from the host vehicle V1. The region RG described here is a region for detecting the control start timing, but may be a region where the target vehicle may exist and may be treated as a target region that the host vehicle V1 should avoid. . The control device 10 executes this process at a control timing after a predetermined time has elapsed from the approach timing. The timing for executing this process is not particularly limited, and may be executed immediately after the vehicle V1 is less than a predetermined distance.

  Since this process is executed when the other vehicle V2 approaching the host vehicle V1 from the rear is detected, it is possible to prevent the host vehicle V1 from moving without meaning due to the influence of disturbance or the like.

  When the second information indicating that the host vehicle V1 travels on the leftmost lane Ln1 of the road is acquired, the control device 10 moves the host vehicle V1 in the left direction (indicated by DR in the figure). Is output. When the host vehicle V1 is traveling on the leftmost side and the other vehicle V2 behind the vehicle passes the host vehicle V1, there is a high possibility that the host vehicle V1 passes the right side of the host vehicle V1. Since the control device 10 of the present embodiment moves the host vehicle V1 to the left side, the control device 10 yields the runway to the other vehicle V2, and does not approach the other vehicle V2 too much. Since the host vehicle and the other vehicle V2 are not too close, even if the host vehicle is overtaken by the other vehicle V2, the passenger of the host vehicle V1 does not feel uneasy.

  Based on FIG. 2B, the 2nd example of the setting method of the target route RT which moves the own vehicle V1 is demonstrated. In the example shown in FIG. 2B, the host vehicle V1 travels on the rightmost lane Ln3 in the diagram among the lanes Ln1 to Ln3 in the travel direction Vd1 (+ Y direction in the diagram) of the road L. Lane Ln3 is an overtaking lane in which a relatively high-speed vehicle travels. The other vehicle V2 is behind the host vehicle V1 and travels on the same lane Ln3 as the host vehicle V1.

  When the host vehicle V1 is traveling on the rightmost side and the other vehicle V2 behind the vehicle passes the host vehicle V1, there is a high possibility that the host vehicle V1 passes the left side of the host vehicle V1. For this reason, when the control device 10 acquires the second information indicating that the host vehicle V1 travels on the rightmost lane Ln3 of the road, the control device 10 moves the host vehicle V1 in the right direction (indicated by DR in the figure). Control information to be output. The control device 10 sets the target area RG on the left side of the lane Ln3 where the other vehicle V2 is predicted to pass, and moves the host vehicle V1 to the right side so as to avoid the target area RG. As a result, the host vehicle V1 can yield the runway to the other vehicle V2 and prevent it from approaching the other vehicle V2.

  Based on FIG. 2C, the 3rd example of the setting method of the target path | route RT which moves the own vehicle V1 is demonstrated. In the example shown in FIG. 2C, the host vehicle V1 travels in the center lane Ln2 among the lanes Ln1 to Ln3 of the road L in the travel direction Vd1 (+ Y direction in the figure). Other lanes Ln1 and Ln3 exist on the right and left sides of the lane Ln2 on which the host vehicle V1 travels. The control device 10 outputs control information for moving the host vehicle V1 to the left side.

  When the control apparatus 10 acquires the second information indicating that the host vehicle V1 travels in the center lane Ln2 of the road, the control device 10 transmits control information for moving the host vehicle V1 in the left direction (indicated by DR in the figure). Output. When the host vehicle V1 is traveling in the center and the other vehicle V2 behind the vehicle overtakes the host vehicle V1, there is a high possibility that the vehicle V1 passes the right side of the host vehicle V1. The control device 10 sets the target region RG on the right side of the lane Ln3. The host vehicle V1 moves to the left side while avoiding the target region RG. Thereby, the own vehicle V1 does not approach the other vehicle V2 too much.

  Further, when the host vehicle V1 is traveling on a lane Ln that is traveling at a relatively low speed such as the climbing lane Ln, and is traveling on a lane Ln that is traveling at a relatively high speed such as an overtaking lane Ln. The traveling route of the other vehicle V2 that overtakes the host vehicle V1 from behind is different. The control device 10 of the present embodiment outputs control information for moving the host vehicle V1 based on the attribute of the lane Ln included in the second information. Since the host vehicle V1 is moved to the right or left based on the attribute of the lane Ln, the distance between the vehicles in the vehicle width direction can be maintained when the rear other vehicle V2 passes the host vehicle V1.

  Assuming that the low-speed lane Ln is arranged on the leftmost side of the road like a Japanese road, as shown in FIG. 2A, the other vehicle V2 traveling on the leftmost low-speed lane Ln1 is in front of itself. When overtaking the vehicle V1, there is a high possibility that the other lanes Ln2 and Ln3 pass through the adjacent side (the right side of the lane Ln1 in FIG. 2A) of the right side or the left side of the low speed lane Ln1, and the shoulder side (in FIG. 2A). The possibility of passing through the left side of the lane Ln1 is low.

  When the control device 10 according to the present embodiment acquires the second information indicating that the travel lane Ln1 in which the host vehicle travels is a low speed lane that travels at a relatively low speed, the control device 10 on the right side or the left side of the low speed lane Ln1. Among them, the control information for moving the host vehicle V1 in the direction in which the other lane Ln is not adjacent, that is, in the direction of the road shoulder (left side of the lane Ln1 in FIG. 2A) is output. Since the host vehicle V1 moves to the left side where no other lane Ln exists and yields the runway to the other vehicle V2, it does not approach the other vehicle V2 too much.

  Assuming that the high-speed lane Ln is arranged on the rightmost side of the road, as shown in FIG. 2B, when the other vehicle V2 traveling on the rightmost low-speed lane Ln3 overtakes the host vehicle V1 ahead The other lanes Ln1 and Ln2 in the same traveling direction on the right side or the left side of the high-speed lane Ln3 are likely to pass through the adjacent side (the left side of the lane Ln3 in FIG. 2B), and the opposite lane OPLn side (the lane in FIG. 2B) The possibility of passing through Ln3 on the right side) is low. This is because the opposite lane side of the lane Ln3 is provided with road structures such as a median strip, fences, guardrails, and the like, and cannot enter, and the possibility that another vehicle V2 enters the opposite lane is low.

  When the control device 10 according to the present embodiment acquires the second information indicating that the travel lane Ln3 on which the host vehicle travels is a high speed lane Ln (passing lane Ln) that travels at a relatively high speed, the high speed lane Control information for moving the host vehicle V1 in the direction on the right side or the left side of Ln3 where the other lane Ln is not adjacent, that is, the direction on the opposite lane OPLn side (the right side of the lane Ln3 in FIG. 2B) is output. Since the own vehicle V1 moves to the right side (opposite lane side) where there is no other lane Ln in the same traveling direction and gives the traveling path to the other vehicle V2, it does not come too close to the other vehicle V2.

  In this example, the case where the high-speed lane Ln such as the overtaking lane Ln is arranged on the right side and the low-speed lane Ln such as the uphill lane Ln is arranged on the left side has been described as an example. Defined according to laws and regulations.

  Next, a control method for moving the host vehicle V1 based on the third information will be described. The third information is information related to the behavior of the other vehicle V2 that travels behind the lane Ln on which the host vehicle V1 travels. The information on the behavior of the other vehicle V2 includes information on the traveling direction of the other vehicle V2 based on lighting of the blinker lamp, information on the traveling direction of the other vehicle V2 based on the position with respect to the lane mark, and overtaking start of the other vehicle V2 based on lighting of the headlight. (Acceleration start) information is included.

  Hereinafter, a control method based on the third information will be specifically described based on the drawings. The model of the road lane Ln shown in FIGS. 3A to 3C is the same as that shown in FIGS. 3A to 3C show a state where the host vehicle V1 travels in the center lane Ln2, the other vehicle V2 travels behind the lane Ln on which the host vehicle V1 travels, and the other vehicle V2 passes the host vehicle V1.

  When the control device 10 of the present embodiment acquires three information including the traveling direction of the other vehicle V2, the control device 10 outputs control information for moving the host vehicle V1 in a direction opposite to the traveling direction of the other vehicle V2. As shown in FIG. 3A, when acquiring information that the other vehicle V2 travels in the right direction Vd2R, the control device 10 outputs control information for moving the host vehicle V1 in the left direction DR in the figure. To do. As shown in FIG. 3B, when acquiring information indicating that the other vehicle V2 travels in the right direction Vd2L, the control device 10 outputs control information for moving the host vehicle V1 in the right direction (DR). To do. An example in which the host vehicle V1 travels in the center lane Ln2 will be described. However, the host vehicle V1 travels in the rightmost lane Ln3 and the host vehicle V1 travels in the leftmost lane Ln1. Similarly, the host vehicle V1 is moved in a direction opposite to the traveling direction of the other vehicle V2.

  In this embodiment, when the traveling direction of the other vehicle V2 can be determined from the behavior of the other vehicle V2 existing behind the lane Ln on which the host vehicle V1 travels, the host vehicle V1 is moved in the direction opposite to the traveling direction. Since the vehicle is moved, the host vehicle V1 can be driven while maintaining a distance from the other vehicle V2 that may overtake the host vehicle V1.

  However, even when the control device 10 acquires the third information related to the behavior of the other vehicle V2, as shown in FIG. 3C, other lanes on the right side and / or left side of the lane Ln on which the host vehicle V1 travels. When the second information indicating that other vehicles V3 and V4 exist in Ln is acquired, control information for setting the movement amount of the own vehicle V1 to be less than a predetermined value in order to suppress the movement amount of the own vehicle V1. Output. The amount of movement in this case includes zero. When the movement amount is zero, the host vehicle V1 is moved according to the target route obtained in the previous process without moving the host vehicle V1 in the vehicle width direction.

  Even if there is another vehicle V2 behind, if there are other vehicles V3, V4 in the adjacent lane Ln, as a result of the own vehicle V1 moving away from the other vehicle V2, another vehicle V3, There is a possibility of approaching V4. In the present embodiment, when there are other vehicles V3 and V4 in the adjacent lane Ln, the movement amount is limited even when the movement direction of the other vehicle V2 in the rear is acquired. Can be prevented from approaching any of the other vehicles V2, V3, V4. Thereby, the control which avoids approach with the other vehicle V2 of the back mentioned above can be performed in a suitable scene.

  Although not particularly limited, when the control device 10 determines that it is not appropriate to move the host vehicle V1 along the lane Ln width direction, the control device 10 suppresses the control for moving the host vehicle V1 described above. Suppression includes reducing the amount of movement or making the amount of movement zero. Specifically, the control device 10 acquires information from the navigation device 120 that the host vehicle V1 exists in a nearby area within a predetermined distance of the branch point or exists in a predetermined area upstream by a predetermined distance from the branch point. . The navigation device 120 refers to the map information 123 including the information on the branch point, and based on the current position detected by the position detection device 121, the host vehicle V1 exists in an area near the branch point or a predetermined area upstream. Determine whether or not. The determination result is sent to the control device 10.

  The control apparatus 10 of this embodiment suppresses the control which moves the own vehicle V1, when the own vehicle V1 exists in the vicinity area of a branch point, or the predetermined area of an upstream. When the host vehicle V1 is moved in the lateral direction along the lane Ln width direction in order to avoid approaching with the other vehicle V2 in the vicinity of the branch point or in the predetermined area on the upstream side, the host vehicle V1 is at the branch point. This is because if the lane change is scheduled, it may be misunderstood by passengers of other vehicles V2 to V4.

  In the present embodiment, in addition to the control of the movement direction of the host vehicle V1 described above, the movement amount of the host vehicle V1 is controlled. In the present embodiment, the movement amount of the host vehicle V1 is determined based on the method of controlling the movement amount of the host vehicle V1 based on the first information including the position of the other vehicle V2, and the second information including the attribute of the lane Ln. We propose a control method.

First, a method for controlling the movement amount of the host vehicle V1 based on the first information will be described.
The first information of the present embodiment includes position information of the other vehicle V2 that travels behind the lane Ln on which the host vehicle V1 travels.

  When the distance between the other vehicle V2 and the host vehicle V1 is short, when the other vehicle V2 is approaching the host vehicle V1 at a high relative speed, or when the distance between the other vehicle V2 and the host vehicle V1 is long, When the vehicle V2 approaches the host vehicle V1 at a low relative speed, the degree to which the other vehicle V2 approaches the host vehicle V1 is different. From this viewpoint, the control device 10 according to the present embodiment obtains the movement amount of the own vehicle V1 according to the degree of approach between the own vehicle V1 and the other vehicle V2, and provides control information for moving the own vehicle V1 based on the movement amount. Output. In the present embodiment, the concept of the degree of approach includes any of the distance between the host vehicle V1 and the other vehicle V2, the distance change amount (relative speed), or the distance change speed (relative acceleration).

  The control apparatus 10 acquires the approach degree of the other vehicle V2 with respect to the own vehicle V1 from 1st information. The control device 10 acquires the distance between the host vehicle V1 and the other vehicle V2, the distance change amount (relative speed), or the distance change speed (relative acceleration) from the detection device 50. The control device 10 itself may calculate the degree of approach. The control device 10 calculates the distance for moving the host vehicle V1 in the right or left direction in the width direction of the lane Ln so that the distance for movement increases as the degree of approach increases, and according to the distance. Output control information.

  In this embodiment, since the movement amount is calculated based on the degree of approach between the host vehicle V1 and the other vehicle V2, the host vehicle V1 can be moved with an appropriate movement amount according to the actual situation.

Next, a method for controlling the movement amount of the host vehicle V1 based on the second information will be described.
The second information of the present embodiment includes the attribute of the lane Ln on which the host vehicle V1 travels.

  The speed at which the other vehicle V2 approaches the host vehicle V1 differs between the case where the host vehicle V1 is traveling on the low speed lane Ln1 and the case where the host vehicle V1 is traveling on the high speed lane Ln3. From this point of view, the control device 10 according to the present embodiment obtains the movement amount of the host vehicle V1 according to the attribute of the lane Ln, and outputs control information for moving the host vehicle V1 based on the movement amount.

  When the control device 10 acquires the second information indicating that the lane Ln1 in which the host vehicle V1 travels is a low speed lane Ln that travels at a relatively low speed, the lane Ln1 in which the host vehicle V1 travels is in the low speed lane. The amount of movement DS along the road width direction of the lane Ln1 is made smaller than when the lanes Ln2 and Ln3 other than Ln are determined. When overtaking in the low-speed lane Ln1, the speed of the other vehicle V2 overtaking the host vehicle V1 is considered to be low. Since it can be determined that the approach speed of both is relatively low, the control device 10 reduces the movement amount DS to the left and right. Since the movement amount DS corresponding to the speed is set, it is possible to avoid the overtaking other vehicle V2 without giving the passenger a sense of incongruity.

  When the control device 10 acquires the second information indicating that the lane Ln3 in which the host vehicle V1 travels is the high speed lane Ln that travels at a relatively high speed, the lane Ln3 in which the host vehicle V1 travels is the high speed lane. The movement amount DS along the road width direction of the lane Ln3 is made larger than when the lanes Ln1 and Ln2 other than Ln are determined. When the vehicle is overtaken by the high speed lane Ln1, the speed of the other vehicle V2 is considered to be high. Since it can be determined that the approach speeds of both are relatively high, the control device 10 increases the movement amount DS to the left and right. Since the movement amount DS corresponding to the speed is set, it is possible to avoid the overtaking other vehicle V2 without giving the passenger a sense of incongruity.

  In a situation where the lane Ln exists on both sides of the lane Ln on which the host vehicle V1 travels, if the vehicle moves to avoid the other vehicle V2 behind, there is a possibility that the other vehicle V3 or V4 approaches. . In the control device 10 of the present embodiment, the lane Ln on which the host vehicle V1 travels is the lane Ln that is neither the high speed lane Ln nor the low speed lane Ln, or the lane Ln on which the host vehicle V1 travels is the high speed lane Ln. If the lane Ln exists between the lane Ln and the low-speed lane Ln, the road in the lane Ln3 is more than the case where the lane LnL on which the host vehicle V1 travels is determined to be the high-speed lane Ln and / or the low-speed lane Ln The movement amount DS along the width direction is reduced.

  The control device 10 generates control information including the movement direction and the movement amount obtained by the above-described method, and sends the control information to the in-vehicle device 200. The control information output by the control device 10 may include a moving distance (indicated by DS in the drawing) along the vehicle width direction of the host vehicle V1. The movement distance (side distance) along the vehicle width direction may be set with reference to the reference line RT0 along the vehicle length direction of the host vehicle V1, or the position of the lane mark that defines the lane Ln on which the host vehicle V1 travels. You may set based on x0, x1, x2 (refer FIG. 2A).

  The control device 10 derives the target route RT1 of the host vehicle V1 based on the set moving direction and moving distance. The control device 10 may predict a movement route of the other vehicle V2, set a target region RG2 where the other vehicle V2 is predicted to exist in the future, and derive a route that avoids the target region RG2 as the target route RT1. .

  The control device 10 sends the generated control information to the vehicle controller 70 of the vehicle. The own vehicle V1 moves to the left along the target route RT1 according to the control information, and avoids the other vehicle V2 that passes the own vehicle V1.

  Finally, the presentation function of the control apparatus 10 of this embodiment is demonstrated. The control device 10 calculates the information according to the target information, the information according to the position of the target region R, the information according to the position of the target route, and the information according to the control information for causing the host vehicle to travel on the target route. Is output to the output device 110 and output to the outside in the manner described above.

  Then, the control procedure of the traveling control apparatus 100 of this embodiment is demonstrated based on the flowchart of FIGS. In addition, since the content of the process in each step is as above-mentioned, it demonstrates centering on the flow of a process here.

  First, the overall procedure of travel control will be described with reference to FIG. In this example, a case where the control device 10 automatically controls the traveling of the host vehicle V1 will be described as an example.

  In step S101, the control device 10 acquires host vehicle information including at least the position of the host vehicle V1. The own vehicle information may include the vehicle speed and acceleration of the own vehicle V1. In step S102, the control device 10 acquires target information including the position of the target vehicle that the host vehicle V1 should avoid. The target information may include speed and acceleration of the target vehicle.

  In step S <b> 103, the control device 10 acquires the detection result of the target vehicle from the detection device 50. The detection result of the target vehicle includes information on the position of the target vehicle. In step S104, the control device 10 sets the target region R according to the position of the target vehicle.

  In step S105, the control device 10 calculates a target route RT that avoids the target region R. The target route RT includes one or a plurality of target coordinates on which the host vehicle V1 travels. Each target coordinate includes a target horizontal position (target X coordinate) and a target vertical position (target Y coordinate). The target route RT is obtained by connecting the calculated one or more target coordinates and the current position of the host vehicle V1. The target area setting process S104 may be skipped, and the process may proceed from step S103 to the target coordinate calculation process S105. In this case, the control device 10 calculates the target coordinates so as to avoid the position where the target vehicle exists. The method for calculating the target coordinates shown in step S105 will be described later.

  In step 106, the control apparatus 10 acquires the target lateral position of the target coordinates calculated in step S105. In step S107, the control device 10 calculates a feedback gain related to the lateral position based on the comparison result between the current lateral position of the host vehicle V1 and the target lateral position acquired in step S106.

  In step S108, the control device 10 moves the target lateral position to the host vehicle V1 based on the actual lateral position of the host vehicle V1, the target lateral position corresponding to the current position, and the feedback gain in step S107. A target control value relating to the turning angle, turning angular velocity, etc. necessary for the movement is calculated. In step S112, the control device 10 outputs the target control value to the in-vehicle device 200. Thus, the host vehicle V1 can travel on the target route TR defined by the target lateral position. When a plurality of target coordinates are calculated in step S105, the process of steps S106 to S112 is repeated every time the target lateral position is acquired, and the control value for each of the acquired target lateral positions is transmitted to the in-vehicle device 200. Output.

  In step S109, the control device 10 acquires a target vertical position for one or a plurality of target coordinates calculated in step S105. In step S110, the control device 10 determines the current vertical position of the host vehicle V1, the vehicle speed and acceleration / deceleration at the current position, the target vertical position corresponding to the current vertical position, and the vehicle speed and acceleration / deceleration at the target vertical position. Based on the comparison result, a feedback gain related to the vertical position is calculated. In step S111, the control device 10 calculates a target control value related to the vertical position based on the vehicle speed and acceleration / deceleration according to the target vertical position and the feedback gain of the vertical position calculated in step S110. The processing in steps S109 to S112 is repeated every time the target vertical position is acquired, similarly to steps S106 to S108 and S112 described above, and the control values for each of the acquired target horizontal positions are output to the in-vehicle device 200.

  Here, the target control value in the vertical direction means the operation of a drive mechanism for realizing acceleration / deceleration and vehicle speed according to the target vertical position (in the case of an engine vehicle, the operation of an internal combustion engine, in the case of an electric vehicle system). This includes the electric motor operation, and in the case of a hybrid vehicle, also includes torque distribution between the internal combustion engine and the electric motor) and the brake operation control values. For example, in an engine vehicle, the control function calculates a target intake air amount (target opening of the throttle valve) and a target fuel injection amount based on the calculated values of the current and target acceleration / deceleration and vehicle speed. Then, this is sent to the driving device 80. The control function calculates the acceleration / deceleration and the vehicle speed, and sends them to the vehicle controller 70. The vehicle controller 70 operates the drive mechanism for realizing the acceleration / deceleration and the vehicle speed (in the case of an engine vehicle, an internal combustion engine). Control values for engine operation, electric motor operation in an electric vehicle system, and torque distribution between an internal combustion engine and an electric motor in a hybrid vehicle) and brake operation may be calculated.

  Then, the process proceeds to step S112, and the control device 10 outputs the vertical target control value calculated in step S111 to the in-vehicle device 200. The vehicle controller 70 executes turn control and drive control, and causes the host vehicle to travel on the target route TR defined by the target lateral position and the target vertical position.

  In step S113, the control device 10 causes the output device 110 to present information. The information to be presented to the output device 110 may be information on the target area set in step S104, may be the shape of the target route calculated in steps S105 to S111, or in-vehicle device in step S112. The target control value output to 200 may be used.

  In step S <b> 114, the control device 10 determines whether or not the driver has performed a steering operation or the like and whether or not the driver has performed an operation. If no driver operation is detected, the process returns to step S101 to repeat the setting of a new target area, calculation of the target route, and travel control. On the other hand, when the driver performs an operation, the process proceeds to step S115, and the traveling control is interrupted. In the next step S116, information indicating that the traveling control has been interrupted is presented.

  Next, based on FIGS. 5 and 6, an example of the calculation process of the movement direction and / or movement amount when moving the host vehicle V <b> 1 related to the calculation process of the target coordinates will be described. The movement direction and the movement amount calculated by the control device 10 of the present embodiment may be used as the correction amount of the target coordinates calculated in the currently executed traveling control. Further, a new target coordinate may be calculated from the calculated moving direction and moving amount.

Based on FIG. 5, the calculation method of the moving direction / moving amount using the second information will be described. In this process, the control device 10 moves the host vehicle V1 in a direction corresponding to the position of the lane Ln on which the host vehicle V1 included in the second information travels.
First, in step S201, the control apparatus 10 acquires the 1st information regarding the other vehicles V2 ... Vn which exist around the own vehicle V1. The first information includes a captured image of the camera 51, position information and speed information obtained from the captured image, a detection result of the target vehicle of the radar device 52, distance measurement information, and speed information.

  In step S202, the control device 10 detects a target vehicle (another vehicle V2) that travels behind the lane Ln on which the host vehicle V1 travels. When the target vehicle is detected, the process proceeds to step S203 at a predetermined timing based on the detected timing.

  In step S203, the control device 10 acquires second information regarding the lane Ln. The second information includes relative positions (arrangements) and attributes of the lane Ln on which the host vehicle V1 travels and a plurality of lanes Ln belonging to the road on which the host vehicle V1 travels.

  In step S204, the control device 10 determines whether or not the lane Ln in which the host vehicle V1 travels is the first lane Ln1 (see FIG. 2A) at the leftmost position of the road. If it is so, it will progress to step S205 and the control apparatus 10 will judge that the moving direction of the own vehicle is a 1st direction (left direction). Instead of the position of the lane Ln1, the moving direction may be determined based on the attribute of the lane Ln. When it is determined that the attribute of the traveling lane Ln1 is the low-speed lane Ln, the lanes Ln2 and Ln3 move to the road shoulder direction (the left side in FIG. 2A) that is not adjacent.

  When it is determined that the attribute of the lane Ln in which the host vehicle V1 travels is the low speed lane Ln, the control device 10 determines that the movement amount is the first distance. The amount of movement is set to be shorter than when it is determined that the lane Ln on which the host vehicle V1 travels is the high-speed lane Ln. The determined first direction and first distance are used for the calculation of the target lateral position (S210) in the calculation of the target coordinates. When calculating the movement amount, the degree of approach between the host vehicle V1 and the other vehicle V2 may be considered. Specifically, the amount of movement is set larger as the degree of approach between the host vehicle V1 and the other vehicle V2 is higher. This process can also be applied to steps S207 and S209 described later.

  In step S206, the control device 10 determines whether or not the lane Ln in which the host vehicle V1 travels is the second lane Ln2 (see FIG. 2C) sandwiched between other lanes Ln. If it is so, it will progress to step S207 and the control apparatus 10 will judge that the moving direction of the own vehicle is a 2nd direction. The second direction may be defined as the left side (low speed lane Ln side) as a prescribed direction, and may be set based on third information related to the behavior of other vehicles. The movement direction determination process based on the third information will be described later with reference to FIG. The movement amount is set smaller than the movement amount set in the first lane Ln1 and the third lane Ln3 on both sides.

  In step S208, the control device 10 determines whether or not the lane Ln in which the host vehicle V1 travels is the third lane Ln3 (see FIG. 2B) at the rightmost position of the road. If it is so, it will progress to step S209 and the control apparatus 10 will judge that the moving direction of the own vehicle is a 3rd direction (right direction). Instead of the position of the lane Ln3, the moving direction may be determined based on the attribute of the lane Ln. When it is determined that the attribute of the traveling lane Ln3 is the high-speed lane Ln, the other lanes Ln1 and Ln2 in the same traveling direction move in a direction (on the right side in FIG. 2B) on the opposite lane Ln side.

  When it is determined that the attribute of the lane Ln3 in which the host vehicle V1 travels is the high speed lane Ln, the control device 10 determines that the movement amount is the third distance. The amount of movement is set longer than when it is determined that the lane Ln in which the host vehicle V1 travels is the low speed lane Ln. The determined third direction and third distance are used for the calculation of the target lateral position (S210) in the calculation of the target coordinates.

  When the lane Ln in which the host vehicle V1 travels determines that the road attribute is the high speed lane Ln, the control device 10 determines that the movement amount is the third distance. The amount of movement is set longer than when it is determined that the lane Ln in which the host vehicle V1 travels is the low speed lane Ln. The calculated third direction and third distance are used for calculation of the target lateral position (S210) in calculation of the target coordinates.

  In the subsequent step S210, the control device 10 starts the target route calculation process in step S105 of FIG. 4, and then executes the processes in and after step S106 in step S213.

  Next, based on FIG. 6, a method of calculating the movement direction / movement amount using the third information will be described. Although not particularly limited, the process shown in FIG. 6 is determined to be the center second lane Ln2 sandwiched between the other first lane Ln1 and the third lane Ln3 in the process shown in FIG. 5. It may be executed if

  In step S301, the control device 10 acquires third information regarding the lane Ln. The third information is information related to the behavior of the other vehicle V2 that travels behind the lane Ln on which the host vehicle V1 travels. The third information includes a captured image of the camera 51, lighting of the blinker lamp of the other vehicle V2 obtained from the captured image, lighting of the headlight, and a position of the other vehicle V2 with respect to the lane mark. The third information includes the traveling direction of the other vehicle V2 derived from the information.

  In step S302, the control device 10 acquires information as to whether or not there are other vehicles V3 and V4 (see FIG. 3C) other than the rear other vehicle V2 on the left and right of the host vehicle V1. The presence of other vehicles V3 and V4 can also be determined based on the captured image of the camera 51 and the measurement data of the radar device 52. If there are other vehicles V3 and V4 on the left and right of the host vehicle V1, the present process is terminated. Otherwise, the process proceeds to step S303.

  In step S302, the control device 10 determines whether or not the other vehicle V2 traveling behind the same lane Ln as the host vehicle V1 has moved to the right. If it has moved to the right, in step S303, the control device 10 sets the left direction opposite to the movement of the other vehicle V2 as the movement direction. In step S305, the movement amount is set. In this process, the processes in steps S205, S207, and S209 described in FIG. 5 can be used as appropriate. When the host vehicle V1 is traveling on the second lane Ln2, the set distance is the second distance. The calculated direction and distance are used for calculating the target lateral position (S210) in calculating the target coordinates.

  In step S304, the control device 10 determines whether or not the other vehicle V2 traveling behind the same lane Ln as the host vehicle V1 has moved to the left. When it moves to the left, in step S306, the control device 10 sets the right direction opposite to the movement of the other vehicle V2 as the movement direction. In step S307, the movement amount is set. For this processing, the description of step S305 is cited. The calculated direction and distance are used for calculating the target lateral position (S210) in calculating the target coordinates.

  In step S304, if the moving direction of the rear other vehicle V2 is neither right nor left, that is, if the moving direction is unknown, the process proceeds to step S308. In step S308, the control device 10 sets the moving direction to the left. This process is preferable when the left lane of the lane Ln in which the host vehicle V1 travels is the low speed lane Ln. This is because it is appropriate to move to the low-speed lane Ln side when the moving direction of the other vehicle V2 is unknown. Further, this processing is preferable when the lane Ln on which the host vehicle V1 travels is the leftmost lane. This is because it is appropriate to move in the direction in which there is no adjacent lane when the moving direction of the rear other vehicle V2 is unknown. In step S309, the movement amount is set. For this processing, the description of step S305 is cited. The calculated direction and distance are used for calculating the target lateral position (S210) in calculating the target coordinates.

  Steps S210 and S211 are the same as steps S210 and S211 in FIG.

Finally, based on FIG. 7, control of the operation timing of this processing will be described.
In step S401, the control device 10 acquires first information related to the other vehicle V2 that travels behind the lane Ln in which the host vehicle V1 travels. The first information includes the position, relative speed, and relative acceleration of the other vehicle V2.

  In step S402, the control device 10 sets an area for determining the start of operation at a predetermined distance from the host vehicle V1. In step S403, the control device 10 determines whether or not the area of the other vehicle V2 is included in this area at a predetermined cycle. If it is determined that the other vehicle V2 has entered the area, the process proceeds to step S404, and the operation timing is determined. If it is determined in step S405 that the operation timing is reached, the processing from step S105 onward in FIG. 4 is executed.

  Since the traveling control apparatus 100 according to the embodiment of the present invention is configured and operates as described above, the following effects can be obtained.

[1] According to the travel control device 100 of the present embodiment, when there is another vehicle V2 (target vehicle) that approaches the host vehicle V1, the host vehicle is moved to either the right side or the left side. The other vehicle V2 (target vehicle) approaching the host vehicle V1 may pass the host vehicle V1. In such a case, since the host vehicle V1 is moved to the left and right, the distance from the host vehicle V1 can be maintained when the other vehicle V2 passes by the side of the host vehicle V1. When the other vehicle V2 passes the host vehicle V1, it is possible to prevent the other vehicle V2 from being too close to the host vehicle V1. Thereby, even if the vehicle is overtaken by another vehicle V2, it is possible to prevent the passenger of the own vehicle V1 from feeling uneasy.

[2] According to the travel control device 100 of the present embodiment, the host vehicle V1 is moved to the right or left according to the position of the lane Ln on which the host vehicle V1 travels. An appropriate avoidance direction can be predicted based on the position of the lane Ln on which the host vehicle V1 travels. Since the host vehicle V1 is moved in the direction according to the position of the lane L, the host vehicle V1 does not approach the rear other vehicle V2 too much. When the rear other vehicle V2 passes the host vehicle V1, the inter-vehicle distance in the vehicle width direction can be maintained. Since the other vehicle V2 does not approach the host vehicle V1 too much, the passengers of the host vehicle V1 do not feel uneasy when the other vehicle V2 is overtaken.

[3] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the leftmost side, the host vehicle V1 is moved to the left side. When the host vehicle V1 is traveling on the leftmost side and the other vehicle V2 behind passes the host vehicle V1, there is a high possibility that the host vehicle V1 passes the right side of the host vehicle V1. In the present embodiment, the host vehicle V1 traveling in the leftmost lane Ln is moved to the left side, and the runway is given to another vehicle V2 that passes the host vehicle V1. Thereby, it is possible to prevent the host vehicle V1 from being too close to the other vehicle V2.

[4] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the rightmost side, the host vehicle V1 is moved to the right side. When the host vehicle V1 is traveling on the rightmost side and the other vehicle V2 behind the vehicle overtakes the host vehicle V1, there is a high possibility of passing the left side of the host vehicle V1. In the present embodiment, the host vehicle V1 traveling in the rightmost lane Ln is moved to the right side, and the runway is given to another vehicle V2 that passes the host vehicle V1. Thereby, it is possible to prevent the host vehicle V1 from being too close to the other vehicle V2.

[5] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling in the center, the host vehicle V1 is moved to the left side. When the host vehicle V1 is traveling on the central lane Ln and the other vehicle V2 behind the vehicle overtakes the host vehicle V1, it is highly likely that the vehicle V1 passes the right side of the host vehicle V1. In the present embodiment, in order to move the host vehicle V1 traveling in the center lane Ln to the left side, the traveling path is given to another vehicle V2 that passes the host vehicle V1. Thereby, it is possible to prevent the host vehicle V1 from being too close to the other vehicle V2.

[6] According to the travel control device 100 of the present embodiment, the host vehicle V1 is moved to the right or left according to the attribute of the lane L on which the host vehicle V1 travels. An appropriate avoidance direction can be predicted based on the attribute of the lane Ln on which the host vehicle V1 travels. Since the host vehicle V1 is moved in the direction corresponding to the attribute of the lane L, the vehicle does not approach the rear other vehicle V2 too much. When the rear other vehicle V2 passes the host vehicle V1, the inter-vehicle distance in the vehicle width direction can be maintained. The other vehicle V2 is not too close to the host vehicle V1.

[7] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the low speed lane Ln, the host vehicle V1 is moved to the left side. When the host vehicle V1 is traveling on the low-speed lane Ln and the other vehicle V2 behind the vehicle passes the host vehicle V1, it is highly likely that the vehicle V1 passes the other lane Ln2 side instead of the roadside. In the present embodiment, the host vehicle V1 traveling in the low-speed lane Ln is moved to the left side, and the runway is given to another vehicle V2 that passes the host vehicle V1. It is possible to prevent the host vehicle V1 from being too close to the other vehicle V2.

[8] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the low speed lane Ln, the speed of the other vehicle V2 that passes the host vehicle V1 is considered to be low. Since it can be determined that the degree of approach is relatively low, the control device 10 reduces the movement amount DS for moving the host vehicle V1 to the left and right. Since the movement amount DS corresponding to the speed is set, it is possible to realize traveling that matches the driving sensation of the occupant.

[9] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the high speed lane Ln, the host vehicle V1 is moved to the right side. When the host vehicle V1 is traveling on the high-speed lane Ln and the other vehicle V2 behind passes the host vehicle V1, it is highly likely that the vehicle V1 will pass the other lane Ln instead of the oncoming vehicle. In the present embodiment, the host vehicle V1 traveling in the high speed lane Ln is moved to the side where the lane Ln in the same traveling direction does not exist, that is, the opposite lane Ln side, and the runway is given to another vehicle V2 that passes the host vehicle V1. For this reason, it can be prevented from being too close to the other vehicle V2.

[10] According to the travel control device 100 of the present embodiment, when the host vehicle V1 is traveling on the high-speed lane Ln, the speed of the other vehicle V2 passing the host vehicle V1 is also considered to be high. Since it can be determined that the degree of approach is relatively high, the control device 10 increases the movement amount DS for moving the host vehicle V1 to the left and right. Since the movement amount DS corresponding to the speed is set, it is possible to realize traveling that matches the driving sensation of the occupant.

[11] According to the traveling control device 100 of the present embodiment, when the traveling direction of the other vehicle V2 behind can be determined, the host vehicle V1 is moved in the direction opposite to the traveling direction. Accordingly, the host vehicle V1 can be driven while maintaining a distance from the other vehicle V2 that may overtake the host vehicle V1.

[12] According to the traveling control apparatus 100 of the present embodiment, in the present embodiment, when other other vehicles V3, V4 exist in adjacent lanes, the movement direction of the rear other vehicle V2 is acquired. Even so, since the movement amount is limited, it is possible to prevent the host vehicle V1 from approaching any of the other vehicles V2, V3, V4. Thereby, the control which avoids approach with the other vehicle V2 of the back mentioned above can be performed in a suitable scene.

[13] According to the travel control device 100 of the present embodiment, since this process is executed when another vehicle V2 approaching the host vehicle V1 from the rear is detected, the host vehicle V1 is meaninglessly caused by the influence of a disturbance or the like. It can be prevented from moving.

[14] According to the travel control device 100 of the present embodiment, the movement amount is calculated based on the degree of approach between the host vehicle V1 and the other vehicle V2, and therefore the host vehicle V1 has an appropriate movement amount according to the actual situation. Can be moved.

[15] According to the travel control device 100 of the present embodiment, the information on the travel control that avoids the target area is output to the outside, thereby informing the passengers of the host vehicle and / or other vehicles of the behavior of the host vehicle in advance. Can do. Thereby, the passenger | crew of the own vehicle and / or the passenger | crew of another vehicle can respond according to the behavior of the own vehicle.

[16] When the traveling control method of the present embodiment is executed by the control device 10, the same operation as the traveling control device 100 is achieved and the same effect is achieved.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, as an example of the travel control device according to the present invention, the travel control device 100 that constitutes the travel control system 1 together with the in-vehicle device 200 will be described as an example, but the present invention is limited to this. It is not a thing.

  In this specification, as an example of a travel control device including an information acquisition unit, a control unit, and an output unit, a travel control device including a control device 10 that executes an information acquisition function, a control function, and a presentation function. However, the present invention is not limited to this. In the present specification, as an example of the travel control device further including the output unit, the travel control device 100 further including the output devices 30 and 110 will be described as an example, but the present invention is not limited thereto.

DESCRIPTION OF SYMBOLS 1 ... Travel control system 100 ... Travel control apparatus 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Communication apparatus 30 ... Output device 31 ... Display 32 ... Speaker 200 ... In-vehicle apparatus 40 ... Communication apparatus 50 ... Detection apparatus 51 ... Camera 52 ... Radar apparatus 60 ... Sensor 61 ... Steering angle sensor 62 ... Vehicle speed sensor 70 ... Vehicle controller 80 DESCRIPTION OF SYMBOLS ... Drive device 81 ... Braking device 90 ... Steering device 110 ... Output device 111 ... Display 112 ... Speaker 113 ... Outside lamp 114 ... Vehicle interior lamp 120 ... Navigation device 121 ... Position detection device 122 ... Road information 123 ... Map information

Claims (13)

A first information about the target vehicle traveling behind the lane which the vehicle is traveling, information acquisition means for acquiring a second information including an attribute of the traveling lane,
When the first information indicating that there is the target vehicle approaching the host vehicle from behind is acquired, the host vehicle is moved to the right side in the width direction of the travel lane in the direction and distance according to the attribute of the lane. Control means for outputting control information to move in the left direction,
When the second information indicating that the traveling lane is a low-speed lane that travels at a relatively lower speed than other lanes is acquired, the control unit determines whether the other lane is on the right side or the left side of the low-speed lane. Than the case where it is determined that the traveling lane in which the vehicle travels is a lane other than the low-speed lane, the amount of movement along the road width direction of the lane is greater A travel control device that outputs control information set to be small . A first information about the target vehicle traveling behind the lane which the vehicle is traveling, information acquisition means for acquiring a second information including an attribute of the traveling lane,
When the first information indicating that there is the target vehicle approaching the host vehicle from behind is acquired, the host vehicle is moved to the right side in the width direction of the travel lane in the direction and distance according to the attribute of the lane. Control means for outputting control information to move in the left direction,
When the control means acquires the second information indicating that the traveling lane is a high-speed lane that travels at a relatively higher speed than other lanes, the same traveling direction on the right side or the left side of the high-speed lane. The amount of movement along the road width direction of the lane is set larger than when the host vehicle is moved in a direction in which no other lane is adjacent and the driving lane is determined to be a lane other than the high-speed lane. Travel control device for outputting the control information. The information acquisition means acquires, for the travel lane, second information related to the travel lane, including a position on a road including the travel lane,
The travel control device according to claim 1 , wherein the control unit outputs control information for moving the host vehicle in a direction corresponding to a position of the travel lane on the road. 4. The travel according to claim 3 , wherein the control means outputs control information for moving the host vehicle to the left side when the second information indicating that the position of the travel lane is the leftmost side of the road is acquired. Control device. 4. The travel according to claim 3 , wherein the control means outputs control information for moving the host vehicle to the right side when the second information indicating that the position of the travel lane is the rightmost side of the road is acquired. Control device. Wherein, when obtaining the second information to the effect that other lanes on the right and left sides of the travel lane is present, according to claim 3 which outputs control information for moving the vehicle to the left Travel control device. The information acquisition means acquires third information related to the behavior of another vehicle traveling behind the travel lane,
Wherein, when said acquired the third information including the traveling direction of another vehicle, according to claim 1 wherein the traveling direction of another vehicle that outputs control information for moving the vehicle in the opposite direction The travel control device according to any one of? 6 . Wherein, the third even when acquiring information, the vehicle right side of the traveling lane is traveling and / or the second effect that another of the other vehicle to the left of the other lanes are present The travel control device according to claim 7 , wherein when the information is acquired, control information that outputs a movement amount of the host vehicle less than a predetermined value is output. The first information includes a position of another vehicle that travels behind the travel lane,
The control means obtains an approach degree of the other vehicle with respect to the own vehicle based on the first information, and moves the own vehicle in the right or left direction in the width direction of the lane as the approach degree is higher. The travel control device according to any one of claims 1 to 8 , wherein a travel distance is increased and control information corresponding to the distance is output. The first information includes a position of another vehicle that travels behind the travel lane,
The travel control device according to any one of claims 1 to 9 , wherein the control means outputs the control information at a control timing corresponding to a timing at which a distance between the host vehicle and the other vehicle becomes less than a predetermined value. . The output means which outputs any one or more information outside among the information regarding the said target vehicle, the direction or movement amount of the said movement, and the information according to the said control information to output is any one of Claims 1-10 The travel control device according to claim 1. A travel control method for a vehicle executed by a travel control device having a computer for controlling the host vehicle to travel a predetermined position,
Obtaining first information relating to a target vehicle traveling behind a traveling lane in which the host vehicle is traveling, and second information including an attribute of the traveling lane;
The first information that the target vehicle that approaches the host vehicle from behind exists, and the second information that the travel lane is a low-speed lane that travels at a relatively lower speed than other lanes. If acquired, the host vehicle is moved in a direction in which no other lane is adjacent to the right side or the left side of the low speed lane in the width direction of the driving lane, and the driving lane in which the host vehicle travels is A travel control method for outputting control information in which the amount of movement along the road width direction of the lane is set smaller than when the lane is determined to be a lane other than the low speed lane . A travel control method for a vehicle executed by a travel control device having a computer for controlling the host vehicle to travel a predetermined position,
Obtaining first information relating to a target vehicle traveling behind a traveling lane in which the host vehicle is traveling, and second information including an attribute of the traveling lane;
The first information that the target vehicle is approaching the host vehicle from behind and the second information that the travel lane is a high-speed lane that travels at a relatively higher speed than other lanes. If acquired, the host vehicle is moved in a direction on the right side or the left side of the high-speed lane that is not adjacent to another lane in the same driving direction, and the driving lane is determined to be a lane other than the high-speed lane. A travel control method for outputting control information in which the amount of movement along the road width direction of the lane is set to be larger than that in the case where it is performed .

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