JP6520177B2 - Operation control device, operation control method - Google Patents

Description

  The present invention relates to a drive control device and a drive control method of a vehicle having a function of maintaining a set inter-vehicle distance with respect to a preceding vehicle.

  As a function for assisting the driver of a vehicle, a function (adaptive cruise control: ACC) is known that travels while maintaining a set inter-vehicle distance with respect to a preceding vehicle. Since the driver does not need to operate the accelerator or the brake while the ACC is in operation, the burden on the driver can be reduced.

  When an inter-vehicle distance with a preceding vehicle is maintained by such an ACC, if another vehicle breaks in from the adjacent lane between the vehicles, the driver may be surprised or feel a danger by applying a sudden brake. There is something to do. Therefore, it has been proposed to make it difficult for another vehicle to interrupt the vehicle by shortening the setting of the inter-vehicle distance if the road gets crowded during the operation of the ACC (Patent Document 1).

JP 2002-120594 A

  However, the interruption of other vehicles while the ACC is in operation is not limited to the situation where roads are crowded, and there is a possibility that the roads are vacant, so with the technology of Patent Document 1, the roads are vacant. There is a problem that it is not possible to cope with the interruption of the other vehicle and a situation where the driver feels danger may occur.

  The present invention has been made in view of the above-described problems of the prior art, and is a technology capable of suppressing the danger associated with the interruption of another vehicle while the ACC is in operation and improving the safety of the ACC. The purpose is to provide

Operation control equipment of the present invention to solve the problems described above is applied to a vehicle having function (ACC) which runs to maintain the inter-vehicle distance set for the preceding vehicle, the lane in which the vehicle is traveling Among other vehicles traveling in the adjacent lane, a target vehicle in a positional relationship in which it can be inserted between the own vehicle and the preceding vehicle is detected, and surrounding vehicle information regarding the other vehicle traveling ahead of the target vehicle and the preceding vehicle, At least one of the road shape information related to the road shape ahead of the route of the host vehicle is acquired. Then, based on at least one of the surrounding vehicle information and the road shape information, an alert condition having a possibility of an interruption by the target vehicle is detected, and when the alert condition is detected, the inter-vehicle distance is changed. Furthermore, the driver can operate the operation unit prior to detection of the alert status, and the alert status is alerting, which determines whether to shorten or extend the inter-vehicle distance when the alert status is detected. If it is detected, the inter-vehicle distance is shortened or extended according to the pre-selection made by the driver at the operation unit.

As described above, if the inter-vehicle distance is changed by detecting an alert situation in which the target vehicle may break in, for example, it is difficult to interrupt the target vehicle by shortening the inter-vehicle distance from the preceding vehicle. can do. Conversely, by extending the inter-vehicle distance from the preceding vehicle, it can be prepared in advance so as not to be interrupted by the target vehicle. In any case, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC.
And it is considered that the driver's personality (preference) determines whether to shorten or extend the inter-vehicle distance. For example, drivers who do not want to be interrupted tend to want to reduce the distance between vehicles, while drivers who want to give priority to securing safety on the basis of being interrupted tend to increase the distance between vehicles. Therefore, by making the change mode of the inter-vehicle distance selectable in advance by the driver, it is possible to take measures according to the driver's personality, and it is possible to reduce the driver's stress caused by the interruption.

It is an explanatory view showing the composition of operation control device 10 of this example. It is a flow chart which shows ACC operation control processing performed with operation control device 10 of this example. It is a flowchart which shows a warning condition detection process. It is explanatory drawing which shows the 1st example of a detection of the alert condition based on surrounding vehicle information. It is explanatory drawing which shows the 2nd example of a detection of the alert condition based on surrounding vehicle information. It is explanatory drawing which shows the 3rd example of a detection of the alert condition based on surrounding vehicle information. It is explanatory drawing which shows the 1st example of a detection of the alert condition based on road shape information. It is explanatory drawing which shows the 2nd example of a detection of the alert condition based on road shape information. It is explanatory drawing which shows the 3rd example of a detection of the alert condition based on road shape information.

Below, in order to clarify the contents of the present invention mentioned above, an example is described.
A. Device configuration :
The structure of the operation control apparatus 10 of a present Example is shown by FIG. The operation control device 10 of the present embodiment is mounted on a vehicle having a function (hereinafter referred to as ACC) to maintain a predetermined inter-vehicle distance with respect to a preceding vehicle, and controls the operation of the vehicle in relation to the ACC. As illustrated, the operation control device 10 includes an ACC execution unit 11, an operation unit 12, a target vehicle detection unit 13, an information acquisition unit 14, an alert situation detection unit 15, an inter-vehicle distance change unit 16, and the like. ing.
Note that these six “parts” 11 to 16 are notion that the operation control device 10 is conceptually classified focusing on functions, and it is not necessary that each of them is physically independent. These can be configured by various devices, electronic components, integrated circuits, computers, computer programs, or a combination thereof.

The ACC execution unit 11 emits a radio wave (millimeter wave) toward a predetermined detection area set around the vehicle, receives the reflected wave, receives the reflected information, acquires the target information, and the driving of the vehicle The operation unit 12 etc. which can be operated by the person are connected.
The ACC execution unit 11 operates the ACC when a predetermined operation (ACC operation operation) for requesting the operation of the ACC is performed by the operation unit 12 in a state where the preceding vehicle traveling in front of the host vehicle is detected by the radar 17. Run. During ACC, the host vehicle is accelerated when the inter-vehicle distance to the preceding vehicle becomes longer than the setting, and the host vehicle is decelerated when the inter-vehicle distance becomes shorter than the setting to maintain the set inter-vehicle distance. In addition, the driver performs the setting of the inter-vehicle distance at the operation unit 12 in advance.
In addition, the ACC execution unit 11 stops the ACC when the operation unit 12 performs a predetermined operation (ACC release operation) for requesting release of the ACC.

The target vehicle detection unit 13 detects a vehicle having a positional relationship in which it can be inserted between the host vehicle and the preceding vehicle from among other vehicles traveling on the lane next to the lane on which the host vehicle travels as the target vehicle.
In this embodiment, a plurality of radars 17 are installed, and detection regions are set not only in front of the host vehicle but also on the left and right sides and the rear. The target vehicle detection unit 13 detects a target vehicle based on the target information acquired by these radars 17.

The information acquisition unit 14 is connected to a plurality of radars 17 and a navigation system 18 for guiding to a destination based on position information of the host vehicle and map information.
The information acquisition unit 14 acquires information (hereinafter, peripheral vehicle information) regarding other vehicles traveling ahead of the target vehicle and leading vehicles based on target information of the radar 17, position information of the navigation system 18, and a map Based on the information, it is possible to obtain information on the road shape ahead of the route of the host vehicle (hereinafter, road shape information).

The alert situation detection unit 15 determines, as an alert situation, a situation in which the target vehicle may break in between the host vehicle and the preceding vehicle based on the surrounding vehicle information and the road shape information acquired by the information acquisition unit 14. To detect. Details of detecting this alert situation will be described later.
The inter-vehicle distance change unit 16 changes the inter-vehicle distance between the set own vehicle and the preceding vehicle when the alert condition detection unit 15 detects the alert condition. In the present embodiment, the driver selects in advance the mode of change (whether the distance between the vehicles is shortened or extended) with the operation unit 12 in advance.
Then, when the inter-vehicle distance is changed, the ACC execution unit 11 executes the ACC according to the changed inter-vehicle distance.

B. ACC operation control process:
FIG. 2 shows a flowchart of an ACC operation control process executed by the operation control apparatus 10 of the present embodiment.
When the ACC driving control process (S100) is started, first, it is determined whether or not the preceding vehicle is detected by the radar 17 corresponding to the detection area set ahead of the host vehicle (S101). When the preceding vehicle is not detected (S101: no), since ACC can not be operated, the process waits until the preceding vehicle is detected.

On the other hand, when the preceding vehicle is detected (S101: yes), it is determined whether the operation unit 12 detects an ACC operation by the driver (S102). If the ACC operation is not detected even after the predetermined time has elapsed (S102: no), it is determined that the driver does not intend to operate the ACC, and the process returns to the beginning of the ACC operation control process (S100). While checking for the presence of the vehicle, it waits until the ACC operation operation is detected.
Then, when the ACC actuation operation is detected (S102: yes), the ACC for traveling while maintaining the set inter-vehicle distance with respect to the preceding vehicle is actuated (S103). In the present embodiment, the driver can select the standard value of the inter-vehicle distance from among the three levels (short, middle, long) and can set the value using the operation unit 12. The inter-vehicle distance may be defined not by the length but by the time required to reach the current position of the preceding vehicle when the host vehicle travels at the current speed.

When the ACC is operated at the set inter-vehicle distance in this manner, it is then determined whether a target vehicle is detected (S104). As described above, the target vehicle is a vehicle having a positional relationship in which it can be inserted between the host vehicle and the preceding vehicle among other vehicles traveling on the lane next to the lane on which the host vehicle travels. In the present embodiment, target information around the host vehicle is acquired using a plurality of radars 17. For example, a vehicle traveling in parallel with the host vehicle in the adjacent lane or a vehicle traveling diagonally ahead of the host vehicle Detect as a target vehicle. Further, even if the vehicle travels obliquely behind the host vehicle, if the vehicle is faster than the host vehicle, it is detected as a target vehicle.
The detection of the target vehicle is not limited to that by the radar 17. For example, a sonar detected by a sound wave or a laser sensor detected by a light may be used. In addition, a symmetrical vehicle may be detected by analyzing an image of a camera that captures the surroundings of the host vehicle.

When the target vehicle is not detected (S104: no), the alert status flag is set to OFF (S105). The alert situation flag is a flag indicating that a situation (an alert situation) in which the target vehicle may break in between the host vehicle and the preceding vehicle is detected, and is stored in a storage unit (not shown). If the target vehicle is not detected, the warning status flag is OFF because, of course, the warning status is not detected.
On the other hand, when the target vehicle is detected (S104: yes), a process (warning situation detection process) of detecting a warning situation is started (S106).

  FIG. 3 shows a flowchart of the alert situation detection process. As illustrated, in the alert situation detection process (S106), first, road shape information ahead of the route of the host vehicle is acquired from position information and map information of the navigation system 18 (S121). In addition, the method of acquiring road shape information is not limited to this, and may be acquired by the radar 17 or may be acquired by analyzing an image of a camera that captures the front of the host vehicle. In addition, when the communication system sharing information with other vehicles is provided, the road shape information may be acquired by communicating with the other vehicles traveling ahead of the route of the own vehicle.

Subsequently, based on the acquired road shape information, it is determined whether there is a branch point, a junction point, or an intersection within a predetermined distance ahead of the route of the host vehicle (S122). Then, if there is any one of the branch point, the junction point, and the intersection (S122: yes), it is determined that the alert status is, and the alert status flag is set to ON (S123). An example of detection of the alert situation will be described in detail later using another figure.
When the alert status flag is set to ON in this way, the alert status detection process of FIG. 3 is ended, and the process returns to the ACC operation control process of FIG.

  On the other hand, when there is neither a junction point nor a junction point or an intersection within a predetermined distance ahead of the route of the vehicle (S122: no), other target vehicles before and after the target vehicle And peripheral vehicle information on the preceding vehicle is acquired (S124). In the present embodiment, the speed and the form of the corresponding vehicle are acquired as the surrounding vehicle information. In addition, the method of acquiring surrounding vehicle information is not restricted to the thing by the radar 17, For example, you may acquire using a sonar or a laser sensor. Alternatively, it may be acquired by analyzing an image of a camera that captures the surroundings of the host vehicle.

  Based on the peripheral vehicle information thus acquired, it is first determined whether the speed of another vehicle traveling in front of the target vehicle (hereinafter referred to as a forward vehicle) is slower than the preceding vehicle traveling in front of the own vehicle S125). Then, if the speed of the preceding vehicle is slower than the preceding vehicle (S125: yes), it is determined that the alert status is the alarm status, and if the alert status flag is set to ON (S123), the alert status detection process of FIG. Then, the process returns to the ACC operation control process of FIG.

  On the other hand, if the speed of the preceding vehicle is higher than that of the preceding vehicle (S125: no), then it is determined whether or not the form of the preceding vehicle is a specific form (S126). In this embodiment, a large vehicle such as a truck or a bus or a motorcycle is set as a vehicle of a specific form. Then, if the form of the forward vehicle is a specific form (S126: yes), it is determined that the alert status is the alarm status, and if the alert status flag is set to ON (S123), the alert status detection process of FIG. Then, the process returns to the ACC operation control process of FIG.

  On the other hand, when the form of the preceding vehicle is not a specific form (S126: no), it is determined whether or not another vehicle faster than the target vehicle is approaching from behind the target vehicle (S127). Then, if the speed of the other vehicle behind the target vehicle (hereinafter referred to as the rear vehicle) is faster than the target vehicle (S127: yes), it is determined that the alert status is set and the alert status flag is set to ON (S123) The warning situation detection process of FIG. 3 is ended, and the process returns to the ACC operation control process of FIG.

  On the other hand, when there is no rear vehicle or when the speed of the rear vehicle is slower than the target vehicle (S127: no), it is determined that the present situation does not correspond to the alert status, and the alert status flag is set OFF ( S128). When the alert status flag is set to OFF in this way, the alert status detection process of FIG. 3 is ended, and the process returns to the ACC operation control process of FIG.

  In the ACC operation control process, when the alert status flag is set to OFF in S105 or returns from the alert status detection process (S106), it is determined whether the alert status flag is set to ON (S107). If the alert status flag is not set to ON (S107: no), the alert status does not apply, so the inter-vehicle distance set for the preceding vehicle (set from three levels (short, medium, long) The vehicle travels while maintaining any standard value) (S108).

On the other hand, when the alert status flag is set to ON (S107: yes), since the alert status is met, processing for changing the inter-vehicle distance with respect to the preceding vehicle is performed. First, it is determined whether or not the driver's preselection on the change mode of the inter-vehicle distance is shortened (S109). In the present embodiment, shortening and extension are provided as the change modes of the inter-vehicle distance, and it is possible for the driver to select one of them in advance using the operation unit 12.
If the driver's pre-selection is shortened (S109: yes), the inter-vehicle distance set for the preceding vehicle is shortened than the standard value, and the vehicle travels while maintaining the inter-vehicle distance after shortening (S110).
On the other hand, when the driver's pre-selection is extension (S109: no), the inter-vehicle distance set for the preceding vehicle is extended beyond the standard value, and the vehicle travels while maintaining the inter-vehicle distance after extension (S111 ).

Subsequently, it is determined whether an ACC release operation by the driver is detected (S112). In the present embodiment, in addition to the predetermined operation to the operation unit 12 which requests the release of the ACC, the operation of the brake pedal is set to the ACC release operation. If the ACC release operation is not detected (S112: no), the process returns to S104 while continuing the ACC, and while detecting the target vehicle, it is determined whether or not it is in the alert state, The process (S104-S111) which controls an inter-vehicle distance appropriately is performed again.
If an ACC release operation is detected while repeating such processing (S112: yes), the ACC is stopped (S113). Thereafter, the process returns to the beginning of the ACC operation control process (S100), and it is determined again whether the preceding vehicle is detected (S101), and the series of processes described above are repeated.

C. Example of detection of warning status:
As described above, in the present embodiment, when the target vehicle is detected in the lane next to the lane in which the host vehicle travels, peripheral vehicle information and road shape information are acquired, and the alert situation is detected based on these information. Below, the example of detection of a warning situation is explained in detail.

C-1. Detection example of warning situation based on surrounding vehicle information:
FIG. 4 shows a first detection example of the alert situation based on the surrounding vehicle information. The first detection example illustrated is on an expressway with two lanes on one side. The host vehicle travels in the driving lane (left lane), and maintains the set inter-vehicle distance with respect to the preceding vehicle by the activation of the ACC. In addition, there are other vehicles running in parallel slightly ahead of the host vehicle on the passing lane (right lane), and the other vehicles are detected as target vehicles. Then, a front vehicle is present in front of the target vehicle, and the speed of the front vehicle is slower than that of the front vehicle.
In such a case, there is a possibility that the target vehicle rushing ahead breaks in between the host vehicle and the preceding vehicle in order to pass the front vehicle. Therefore, it is determined that the vehicle is in a warning state, and the inter-vehicle distance to the preceding vehicle is changed. The target vehicle is not limited to a vehicle running parallel to the adjacent lane or a vehicle traveling diagonally forward, and even if it is a vehicle diagonally backward, if it is a vehicle faster than the host vehicle, There is a possibility of interrupting.

  In the present embodiment, shortening and extending are provided as changing modes of the inter-vehicle distance. For example, when the standard value of the inter-vehicle distance is 50 m, it is changed to 40 m for shortening and 60 m for extending. Change to By shortening the inter-vehicle distance with the preceding vehicle, it is possible to make it difficult for the target vehicle to interrupt. Conversely, by extending the inter-vehicle distance from the preceding vehicle, it can be prepared in advance so as not to be interrupted by the target vehicle. In any case, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC.

  In addition, it is considered that the driver's personality (preference) determines whether to shorten or extend the inter-vehicle distance. For example, drivers who do not want to be interrupted tend to want to reduce the distance between vehicles, while drivers who want to give priority to securing safety on the basis of being interrupted tend to increase the distance between vehicles. Therefore, by making the change mode of the inter-vehicle distance selectable in advance by the driver, it is possible to take measures according to the driver's personality, and it is possible to reduce the driver's stress caused by the interruption.

  FIG. 5 shows a second detection example of the alert situation based on the surrounding vehicle information. In the second detection example illustrated, the host vehicle and the preceding vehicle are traveling in the traveling lane (left lane) as in the first detection example described above, and the host vehicle and the preceding vehicle are on the overtaking lane (right lane) Other vehicles traveling in parallel a little while ago are detected as target vehicles. Then, a front vehicle is present in front of the target vehicle, and the form of the front vehicle is a truck of a large vehicle set in a specific form.

In such a case, many drivers look away behind the large vehicle because the prospect of the front becomes worse when the vehicle is behind the large vehicle such as a truck or bus, and the target vehicle is its own vehicle regardless of the speed of the forward vehicle. There is a possibility of breaking in between the car and the preceding vehicle. Therefore, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC by determining that the vehicle is in the alert state and shortening or extending the inter-vehicle distance with the preceding vehicle.
In addition, in the present embodiment, a motorcycle is set in a specific form in addition to the large-sized vehicle. Motorbikes tend to be difficult to predict their driving behavior for four-wheeled vehicle drivers, and there is a possibility that the target vehicle away from the back of the motorcycle may break in between the host vehicle and the preceding vehicle. Determine the situation and shorten or extend the distance to the preceding vehicle.

  FIG. 6 shows a third detection example of the alert situation based on the surrounding vehicle information. In the illustrated third detection example, the host vehicle and the preceding vehicle are traveling in the traveling lane (left lane) and the host vehicle is on the overtaking lane (right lane), as in the first detection example described above. Other vehicles traveling in parallel a little while ago are detected as target vehicles. However, there is no forward vehicle in front of the target vehicle, and instead, a rear vehicle having a higher speed than the target vehicle is approaching from behind the target vehicle.

  In such a case, there is a possibility that the target vehicle breaks in between the host vehicle and the preceding vehicle in order to give way to the rear vehicle. Therefore, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC by determining that the vehicle is in the alert state and shortening or extending the inter-vehicle distance with the preceding vehicle.

C-2. Detection example of alert situation based on road shape information:
FIG. 7 shows a first detection example of a warning situation based on road shape information. The first detection example illustrated is on an expressway with two lanes on one side. The host vehicle travels in the driving lane (left lane), and maintains the set inter-vehicle distance with respect to the preceding vehicle by the activation of the ACC. In addition, there are other vehicles running in parallel slightly ahead of the host vehicle on the passing lane (right lane), and the other vehicles are detected as target vehicles. And, a turning point exists on the left side of the road ahead of the route of the vehicle.

  In such a case, there is a possibility that the target vehicle may break in (cross) between the host vehicle and the preceding vehicle in order to turn to the branch lane (for example, to get off the expressway). Therefore, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC by determining that the vehicle is in the alert state and shortening or extending the inter-vehicle distance with the preceding vehicle.

  FIG. 8 shows a second example of detection of a warning situation based on road shape information. In the illustrated second detection example, in contrast to the first detection example described above, the host vehicle and the preceding vehicle are traveling in the passing lane (right lane). In addition, there are other vehicles running in parallel slightly ahead of the host vehicle on the traveling lane (left lane), and these other vehicles are detected as target vehicles. A junction is present on the left side of the road ahead of the route of the vehicle.

  In such a case, there is a possibility that the target vehicle in the traveling lane may break in between the own vehicle and the preceding vehicle in order to avoid a vehicle (joining vehicle) entering the traveling lane from the merging lane. Therefore, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC by determining that the vehicle is in the alert state and shortening or extending the inter-vehicle distance with the preceding vehicle.

  FIG. 9 shows a third example of detection of a warning situation based on road shape information. In the first and second detection examples described above, it is assumed on the expressway, but the detection of the alert situation is not limited to the expressway, and the third detection example shown in the figure assumes a general road with two lanes on one side. It is The host vehicle and the preceding vehicle are traveling in the left lane. In addition, there are other vehicles running in parallel slightly ahead of the host vehicle on the right lane, and these other vehicles are detected as target vehicles. Then, an intersection exists in front of the route of the vehicle.

In such a case, there is a possibility that the target vehicle in the right lane may break in (cross) between the host vehicle and the preceding vehicle in order to turn left at the intersection. Therefore, it is possible to suppress the danger due to the interruption of the target vehicle and to improve the safety of the ACC by determining that the vehicle is in the alert state and shortening or extending the inter-vehicle distance with the preceding vehicle.
In contrast to the example shown in FIG. 9, even when the subject vehicle and the preceding vehicle are traveling in the right lane, the target vehicle in the left lane turns to the right at the intersection, so that the distance between the subject vehicle and the preceding vehicle Due to the possibility of interrupting (crossing), it is determined that the vehicle is in a state of alertness, and the distance between the vehicle and the preceding vehicle is reduced or extended. In addition, an intersection is a point where the target vehicle may change the course, and a point (such as a T-junction) where a plurality of roads intersect regardless of the presence or absence of a signal corresponds.

  As mentioned above, although an Example was described, this invention is not limited to said Example, It can implement in a various aspect in the range which does not deviate from the summary.

  For example, in the various detection examples of the alert situation described above, a road with two lanes on one side is assumed, but if there is an adjacent lane running parallel to the lane in which the host vehicle is traveling, an alert from the adjacent lane is alerted Because it is necessary to do, it is applicable to the road more than 3 lanes in one side.

10 Operation control device 11 ACC execution unit 12 Operation unit
13 Target vehicle detection unit 14 Information acquisition unit 15 Warning situation detection unit
16: Inter-vehicle distance change unit, 17: Radar,
18 ... navigation system.

Claims (2)

A driving control apparatus (10) for a vehicle having a function of maintaining a set inter-vehicle distance with respect to a preceding vehicle,
A target vehicle detection unit (13) for detecting a target vehicle having a positional relationship in which it can be inserted between the host vehicle and the preceding vehicle among other vehicles traveling in a lane next to the lane on which the host vehicle is traveling;
An information acquisition unit (14) for acquiring at least one of other vehicles traveling in front of and behind the target vehicle and surrounding vehicle information on the preceding vehicle, and road shape information on a road shape ahead of the route of the host vehicle;
An alert situation detection unit (15) that detects an alert situation that may be interrupted by the target vehicle based on at least one of the surrounding vehicle information and the road shape information;
An inter-vehicle distance change unit (16) that changes the inter-vehicle distance when the alert situation is detected;
The operation unit (12) operable by the driver to select whether to shorten or extend the inter-vehicle distance as the aspect of changing the inter-vehicle distance when the alert situation is detected, before the alert situation is detected. Provided,
The driving control device, wherein the inter-vehicle distance changing unit shortens or extends the inter-vehicle distance according to a preselection on the operation unit by the driver when the alert situation is detected. The operation control device according to claim 1, wherein
The driving control apparatus determines that the warning situation detecting unit is in the warning situation when there is a branch point or an intersection within a predetermined distance ahead of the route of the host vehicle as the road shape.

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