JP6597344B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device.

  Conventionally, as described in Patent Document 1, with respect to a host vehicle that travels toward a merge point between a travel lane in which the host vehicle travels and a merge lane that merges with the travel lane, the merge lane is directed toward the merge point. 2. Description of the Related Art There is known an apparatus that controls the operation of a host vehicle so that a traveling joining vehicle can join a traveling lane in front of the host vehicle. The device of Patent Literature 1 determines a target inter-vehicle distance between the host vehicle and a preceding vehicle according to the length of the joining vehicle.

JP 2008-226202 A

  By the way, in the above prior art, when the own vehicle and the joining vehicle are in a positional relationship such that they interfere with each other at the joining point, the operation of the own vehicle always decelerating is performed. Therefore, there is room for improvement from the viewpoint of maintaining smooth traffic.

  Then, an object of this invention is to provide the vehicle control apparatus which can join a driving | running | working lane in the front or back of the own vehicle, maintaining a smooth traffic more.

  The present invention relates to a vehicle that travels toward a merge point between a travel lane on which the host vehicle travels and a merge lane that merges with the travel lane. And a vehicle control device that controls the operation of the host vehicle so as to be able to merge with the traveling lane in either of the rear, the distance to the merge point of the host vehicle, the speed of the host vehicle, the length of the host vehicle, A vehicle that controls the operation of the host vehicle based on the information acquired by the information acquisition unit, the information acquisition unit that acquires information about the distance to the junction point of the junction vehicle, the speed of the junction vehicle, and the length of the junction vehicle And the vehicle control unit joins the traveling lane in front of the host vehicle when the joining vehicle is assumed to travel at a constant speed based on the information acquired by the information acquisition unit. To do Calculate the necessary deceleration of the host vehicle and the deceleration of the merging vehicle required for the merging vehicle to join the driving lane behind the host vehicle assuming that the host vehicle is traveling at a constant speed. When the calculated absolute value of the deceleration of the own vehicle is smaller than the calculated absolute value of the deceleration of the merged vehicle, the merged vehicle can be merged with the traveling lane in front of the own vehicle. If the absolute value of the deceleration of the own vehicle is greater than the calculated absolute value of the deceleration of the merging vehicle, the lane of the merging vehicle is It is a vehicle control apparatus which controls the operation | movement of the notification to a joining vehicle so that it can join.

  According to this configuration, the vehicle control unit of the vehicle control device allows the merging vehicle when it is assumed that the merging vehicle travels at a constant speed to join the traveling lane in front of the own vehicle. The deceleration and the deceleration of the merging vehicle required for the merging vehicle to join the driving lane behind the own vehicle when the own vehicle is assumed to travel at a constant speed are calculated. When the absolute value of the deceleration of the vehicle is smaller than the calculated absolute value of the deceleration of the merged vehicle, the deceleration operation of the own vehicle is performed so that the merged vehicle can be merged with the traveling lane in front of the own vehicle. Is controlled, and the calculated absolute value of the deceleration of the own vehicle is larger than the calculated absolute value of the deceleration of the merged vehicle, the merged vehicle can be merged with the traveling lane behind the own vehicle. To join Operation notifications to both is controlled.

  As a result, the smaller one of the own vehicle and the merged vehicle needs to decelerate, so that the merged vehicle joins the driving lane in front of or behind the own vehicle while maintaining smooth traffic. Can do.

  According to the vehicle control control device of the present invention, the merged vehicle can merge with the traveling lane in front of or behind the host vehicle while maintaining smooth traffic.

It is a block diagram which shows the structure of the vehicle control apparatus which concerns on embodiment. It is a flowchart which shows the basic process of the vehicle control apparatus of FIG. It is a figure which shows the condition which does not have a following vehicle and an adjacent lane. (A) is a figure which shows the condition where the own vehicle and the joining vehicle are running in parallel toward the joining point, (B) is a figure showing the situation where the joining vehicle joins behind the own vehicle, C) is a diagram illustrating a situation in which a merged vehicle joins in front of the host vehicle. It is a flowchart which shows a process in case there exists a succeeding vehicle of the vehicle control apparatus of FIG. It is a figure which shows the condition where there is a following vehicle and there is no adjacent lane. It is a flowchart which shows a process in case there exists an adjacent lane in FIG. It is a figure which shows the condition with an adjacent lane. It is a flowchart which shows a process in case there exists an adjacent lane in FIG. It is a flowchart which shows a process in case there exists operation | movement of a joining vehicle different from the determination of a vehicle control apparatus in FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. A vehicle control device 100 shown in FIG. The vehicle control device 100 controls the traveling of the host vehicle E so that the host vehicle E travels by automatic driving. The automatic driving means that driving operations such as acceleration, deceleration, steering, and stopping of the host vehicle E are performed without depending on the driving operation of the driver of the host vehicle E. In addition, the vehicle control apparatus 100 joins the host vehicle E that travels toward the joining point between the traveling lane in which the host vehicle E travels and the joining lane that joins the traveling lane. The operation of the host vehicle E is controlled so that the vehicle can join the traveling lane either in front of or behind the host vehicle E.

  As shown in FIG. 1, the vehicle control device 100 includes an external sensor 1, a GPS [Global Positioning System] receiving unit 2, an internal sensor 3, a map database 4, a navigation system 5, an actuator 6, an HMI [Human Machine Interface] 7, A communication device 8, an auxiliary device U, and an ECU [Electronic Control Unit] 10 are provided.

  The external sensor 1 is a detection device that detects an external situation that is surrounding information of the host vehicle E. The external sensor 1 includes at least one of a camera, a radar [Radar], and a rider [LIDAR: Laser Imaging Detection and Ranging]. The camera is an imaging device that captures an external situation of the host vehicle E.

  The camera is provided on the back side of the windshield of the host vehicle E, for example. The camera transmits imaging information related to the external situation of the host vehicle E to the ECU 10. The camera may be a monocular camera or a stereo camera. The stereo camera has two imaging units arranged so as to reproduce binocular parallax. The imaging information of the stereo camera includes information in the depth direction.

  The radar detects an object such as a merging vehicle, a succeeding vehicle, or a preceding vehicle outside the host vehicle E using radio waves (for example, millimeter waves). The radar detects an object by transmitting a radio wave around the host vehicle E and receiving the radio wave reflected by the object. The radar transmits information related to the detected object to the ECU 10.

  The rider uses light to detect an object such as a merging vehicle, a succeeding vehicle, or a preceding vehicle outside the host vehicle E. The rider transmits light around the host vehicle E, receives the light reflected by the object, measures the distance to the reflection point, and detects the object. The rider transmits information regarding the detected object to the ECU 10. The cameras, riders, and radars do not necessarily have to be provided in duplicate.

  The GPS receiver 2 measures the position of the host vehicle E (for example, the latitude and longitude of the host vehicle E) by receiving signals from three or more GPS satellites. The GPS receiver 2 transmits position information related to the measured position of the host vehicle E to the ECU 10. Instead of the GPS receiver 2, other means that can identify the latitude and longitude of the host vehicle E may be used.

  The internal sensor 3 is a detection device that detects the traveling state of the host vehicle E. The internal sensor 3 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the host vehicle E. As the vehicle speed sensor, for example, a wheel speed sensor that is provided for a wheel of the host vehicle E or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor transmits the detected speed information about the speed of the host vehicle E (information about the rotational speed of the wheels) to the ECU 10.

  The acceleration sensor is a detector that detects the acceleration of the host vehicle E. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the host vehicle E, and a lateral acceleration sensor that detects lateral acceleration of the host vehicle E. For example, the acceleration sensor transmits acceleration information of the host vehicle E to the ECU 10. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle E. As the yaw rate sensor, for example, a gyro sensor can be used. The yaw rate sensor transmits the detected yaw rate information of the host vehicle E to the ECU 10.

  The map database 4 is a database provided with map information. The map database is formed in, for example, an HDD [Hard disk drive] mounted on the host vehicle E. The map information includes, for example, road position information, road shape information (for example, curves, straight line types, curve curvatures, etc.), intersection information, branch points, and merge point position information. Further, the map information includes information on the position and shape of a certain traveling lane and a merging lane that merges with the traveling lane, and information on the position and shape of a merging point between the traveling lane and the merging lane. Furthermore, it is preferable to include the output signal of the external sensor 1 in the map information in order to use information regarding the position and shape of a three-dimensional structure such as a building or a wall, or SLAM (Simultaneous Localization and Mapping) technology. The map database 4 may be stored in a computer of a facility such as an information processing center that can communicate with the host vehicle E.

  The navigation system 5 is a device that provides guidance to the driver of the host vehicle E to the destination set by the driver of the host vehicle E. The navigation system 5 calculates the route traveled by the host vehicle E based on the position information of the host vehicle E measured by the GPS receiver 2 and the map information in the map database 4. For example, the navigation system 5 calculates a target route from the position of the host vehicle E to the destination, and notifies the driver of the target route by displaying the display of the HMI 7 and outputting sound from the speaker of the HMI 7. The navigation system 5 transmits information on the target route of the host vehicle E to the ECU 10. The navigation system 5 may be stored in a computer of a facility such as an information processing center that can communicate with the host vehicle E.

  The actuator 6 is a device that controls the behavior of the host vehicle E during automatic driving such as acceleration, deceleration, and steering of the host vehicle E. The actuator 6 includes at least an engine actuator, a brake actuator, and a steering actuator. The engine actuator controls the amount of air supplied to the engine (throttle opening) in accordance with a control signal from the ECU 10 to control the driving force of the host vehicle E. When the host vehicle E is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the ECU 10 is input to a motor as a power source to control the driving force. When the host vehicle E is an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source to control the driving force.

  The brake actuator controls the brake system according to a control signal from the ECU 10 and controls the braking force applied to the wheels of the host vehicle E. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with a control signal from the ECU 10. Accordingly, the steering actuator controls the steering torque of the host vehicle E.

  The HMI 7 is an interface for outputting and inputting information between an occupant (including a driver) of the host vehicle E and the vehicle control device 100. The HMI 7 includes, for example, a display panel for displaying image information to the occupant, a speaker for audio output, an operation button or a touch panel for the occupant to perform an input operation, a microphone for the occupant to input audio, and the like. ing.

  The communicator 8 is mounted on the host vehicle E and performs inter-vehicle communication with other vehicles such as a joining vehicle, a succeeding vehicle, and a preceding vehicle. As will be described later, the communication device 8 notifies the joining vehicle by inter-vehicle communication so that the joining vehicle can join the traveling lane in front of or behind the host vehicle E. Further, the communication device 8 acquires information of other vehicles such as a merged vehicle, a succeeding vehicle, and a preceding vehicle around the host vehicle E by inter-vehicle communication. The communicator 8 communicates with the traveling lane in which the host vehicle E travels, the merging lane that merges with the traveling lane, and the traveling lane and the merging lane by road-to-vehicle communication with a roadside transceiver (optical beacon) provided on the road. Information regarding the meeting point may be acquired. The communication device 8 transmits the acquired information to the ECU 10.

  The auxiliary device U is a generic term for devices that are not included in the actuator 6. The auxiliary equipment U in the present embodiment includes, for example, a headlight, a hazard lamp, an air conditioner, and a wiper. The headlights and hazard lamps of the auxiliary equipment U are turned on by a control signal from the ECU 10. The auxiliary device U may be automatically controlled by a control signal from the ECU 10 according to the ambient temperature, weather, etc. of the host vehicle E.

  ECU10 controls operation | movement of each part of the vehicle control apparatus 100 during automatic driving | operation. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 10 includes an information acquisition unit 11 and a vehicle control unit 12. In the ECU 10, a program stored in the ROM is loaded into the RAM and executed by the CPU, thereby executing control of each unit such as the information acquisition unit 11 described above. The ECU 10 may be composed of a plurality of electronic control units.

  The information acquisition unit 11 relates to the distance to the joining point of the own vehicle E, the speed of the own vehicle E, the length of the own vehicle E, the distance to the joining point of the joining vehicle, the speed of the joining vehicle, and the length of the joining vehicle. Get information. Further, the information acquisition unit 11 acquires information related to the inter-vehicle distance between the following vehicle and the own vehicle E that travels behind the own vehicle E and the length of the following vehicle in the travel lane in which the own vehicle E travels. The information acquisition unit 11 acquires information related to the presence or absence of an adjacent lane adjacent to the traveling lane on the side opposite to the merging lane while sandwiching the traveling lane on which the host vehicle E travels between the merging lane. The information acquisition unit 11 may acquire information related to a preceding vehicle that travels ahead of the host vehicle E in the travel lane on which the host vehicle E travels.

  The information acquisition unit 11 can acquire information on the distance to the junction of the host vehicle E using the GPS reception unit 2 and the map database 4. Further, the information acquisition unit 11 may acquire information related to the distance to the joining point of the host vehicle E by the camera, radar, or rider of the external sensor 1. Moreover, the information acquisition part 11 may acquire the information regarding the distance to the junction point of the own vehicle E by the road-to-vehicle communication with the roadside transmitter / receiver by the communication apparatus 8.

  The information acquisition unit 11 can acquire information on the speed of the host vehicle E by the vehicle speed sensor of the internal sensor 3. Information regarding the length of the host vehicle E is stored in the ECU 10, and the information acquisition unit 11 can acquire information regarding the length of the host vehicle E from the information stored in the ECU 10.

  The information acquisition unit 11 uses a camera, radar, or rider of the external sensor 1 to determine the distance to the joining point of the joining vehicle, the speed of the joining vehicle, the length of the joining vehicle, the inter-vehicle distance between the following vehicle and the host vehicle E, and the following vehicle. Information on the length of the can be obtained. In addition, the information acquisition unit 11 performs inter-vehicle communication between the joining vehicle and the following vehicle by the communication device 8, the distance to the joining point of the joining vehicle, the speed of the joining vehicle, the length of the joining vehicle, the following vehicle and the host vehicle E Information on the distance between the vehicle and the length of the following vehicle may be acquired.

  Note that the lengths of the host vehicle E, the joining vehicle, and the subsequent vehicle mean, for example, the lengths from the front end to the rear end of the host vehicle E, the joining vehicle, and the following vehicle. In addition, when the information acquisition unit 11 cannot acquire information on the lengths of the merged vehicle and the following vehicle using the external sensor 1 and the communication device 8, the information acquisition unit 11 generally determines that the length of the merged vehicle and the subsequent vehicle is the same. By assuming that the length of the vehicle is a typical length, information on the length of the joining vehicle and the following vehicle can be obtained.

  The information acquisition unit 11 can acquire information on the presence or absence of an adjacent lane using the GPS reception unit 2 and the map database 4. In addition, the information acquisition unit 11 may acquire information on the presence or absence of an adjacent lane by the camera, radar, or rider of the external sensor 1. Moreover, the information acquisition part 11 may acquire the information regarding the presence or absence of an adjacent lane by the road-to-vehicle communication with the roadside transmitter / receiver by the communication apparatus 8.

  The vehicle control unit 12 controls the operation of the host vehicle E based on the information acquired by the information acquisition unit 11. The vehicle control unit 12 causes the host vehicle E to travel automatically. For example, the vehicle control unit 12 sets the travel route of the host vehicle E while extracting the shape of the road corresponding to the position of the host vehicle E included in the position information acquired by the GPS receiving unit 2 from the map database 4. . The vehicle control unit 12 controls the host vehicle E to travel on the travel route set based on the set travel route of the own vehicle E and the position information of the own vehicle E acquired by the GPS receiving unit 2. By outputting a signal to the actuator 6, the automatic operation of the host vehicle E is controlled. As a technique for causing the host vehicle E to follow the set travel route, for example, a forward gaze model can be applied.

  The vehicle control unit 12 controls automatic driving of the host vehicle E so that the host vehicle E avoids obstacles detected by the external sensor 1. In addition, the vehicle control unit 12 performs automatic driving of the host vehicle E so that the host vehicle E travels at a preset speed based on the speed information of the host vehicle E acquired by the vehicle speed sensor of the internal sensor 3. Control. As a technique for causing the host vehicle E to travel at a preset speed, for example, PID control for the preset speed can be applied. Further, the vehicle control unit 12 sets the distance between the preceding vehicle and the own vehicle E in advance when the external sensor 1 and the information acquisition unit 11 detect a preceding vehicle traveling immediately before the own vehicle E. The own vehicle E is caused to follow the vehicle so that the distance between the vehicles becomes the same.

  Based on the information acquired by the information acquisition unit 11, the vehicle control unit 12 assumes that the joining vehicle travels at a constant speed so that the joining vehicle joins the traveling lane in front of the host vehicle E. The necessary deceleration of the own vehicle E and the deceleration of the joining vehicle necessary for the joining vehicle to join the traveling lane behind the own vehicle E when the own vehicle is assumed to travel at a constant speed. calculate. Alternatively, in addition to the deceleration of the host vehicle E and the deceleration of the merging vehicle, the vehicle control unit 12 includes the acceleration of the merging vehicle necessary for the merging vehicle to join the traveling lane in front of the host vehicle E, and The acceleration of the own vehicle E required for the joining vehicle to join the traveling lane behind the own vehicle E is calculated.

  The vehicle control unit 12 compares the calculated absolute value of the deceleration of the own vehicle E with the calculated absolute value of the deceleration of the merging vehicle, and moves the merging vehicle in the driving lane either in front of or behind the own vehicle E. Either of the deceleration of the own vehicle and the notification to the joining vehicle so that the joining vehicle can join the traveling lane either in front of or behind the determined own vehicle E. Control the behavior. Further, the vehicle control unit 12 compares the calculated acceleration of the own vehicle E with the calculated acceleration of the merging vehicle, and determines whether the merging vehicle is merged with the traveling lane in front of or behind the own vehicle E. And control the operation of any of deceleration, acceleration and notification to the merging vehicle so that the merging vehicle can be merged with the traveling lane either in front of or behind the determined own vehicle E. May be.

[Basic processing]
Next, processing executed by the vehicle control device 100 will be described. First, basic processing of the vehicle control device 100 will be described. As shown in FIG. 2, the information acquisition unit 11 of the ECU 10 of the vehicle control device 100 determines the distance to the joining point of the own vehicle E, the speed of the own vehicle E, the length of the own vehicle E, and the joining point of the joining vehicle. The distance, the speed of the joining vehicle, the length of the joining vehicle, the distance between the following vehicle and the own vehicle E that travels behind the own vehicle E in the travel lane on which the own vehicle E travels, the length of the following vehicle, and the own vehicle Information on the presence or absence of an adjacent lane adjacent to the traveling lane on the opposite side of the merging lane is acquired while sandwiching the traveling lane in which E travels with the merging lane (S11).

  As shown in FIG. 3, in the following description, when there is a traveling lane 201, a merging lane 202 that merges with the traveling lane 201, and a merging point 203 a where the merging lane 202 merges with the traveling lane 201, the host vehicle E Is traveling toward the merging point 203a and the merging vehicle A is traveling toward the merging lane 202 toward the merging point 203a. In the situation of FIG. 3, in the travel lane 201 on which the host vehicle E travels, there is no subsequent vehicle that travels behind the host vehicle E, or the distance between the host vehicle E and the following vehicle is an interruption of the joining vehicle A. Is as large as possible. In the situation of FIG. 3, there is no adjacent lane adjacent to the traveling lane 201 on the opposite side of the merging lane 202 while sandwiching the traveling lane 201 on which the host vehicle E travels between the merging lane 202.

  The vehicle control unit 12 of the ECU 10 determines whether there is a subsequent vehicle based on the information acquired by the information acquisition unit 11 (S12). As described above, in the situation of FIG. 3, there is no subsequent vehicle having a small inter-vehicle distance from the host vehicle E, and therefore the vehicle control unit 12 executes the following process of S13. Note that processing when there is a following vehicle having a small inter-vehicle distance from the host vehicle E will be described later.

The vehicle control unit 12 determines the deceleration G _{ego_decel of the} own vehicle E required for the joining vehicle A to join the traveling lane 201 in front of the own vehicle E when it is assumed that the joining vehicle A travels at a constant speed. And the deceleration G _{A_decel} of the merging vehicle A necessary for the merging vehicle A to merge with the traveling lane behind the own vehicle E when the own vehicle E is traveling at a constant speed is calculated ( S13). Alternatively, in addition to the deceleration G _{ego_decel} and the deceleration G _{A_decel} , the vehicle control unit 12 determines that the merging vehicle A is in front of the _host vehicle E and the driving lane 201 when the _host vehicle E is traveling at a constant speed. In order for the merging vehicle A to join the traveling lane 201 behind the _host vehicle E, assuming that the merging vehicle A travels at a constant speed, the acceleration _{GA_accel} of the merging vehicle A required to merge A necessary acceleration G _{ego_accel of the host} vehicle E is calculated (S13). First, an example of calculating the deceleration _{G Ego_decel} of the vehicle E, and a deceleration _{G A_decel} the merging vehicle A.

As shown in FIG. 3, the vehicle distance to the junction 203a of E _{Dist ego,} velocity _{V ego} of the vehicle E, the length _{L ego} of the vehicle E, merging vehicle A distance Dist _A to junction 203a of assume the speed of merging vehicle V _a, and information on the length L _a of the merging vehicle is acquired by the information acquisition unit 11. In addition, as shown in FIG. 3, a merge point can be set to a point where the width of the merge lane 202 starts to decrease, such as a merge point 203a. Alternatively, the merging point can be set to a point where a vehicle driven by a general driver finishes merging like the merging point 203b, and the width of the merging lane 202 starts to decrease like the merging point 203c. You may set to the point of trouble only by arbitrary distance from the point.

When it is assumed that the _host vehicle E travels at a constant speed V _ego , the time t _ego required for the rear end of the host vehicle E to reach the junction 203a is calculated by the following equation (1). Can do.

During the time t _ego , the confluence vehicle A _advances from the initial speed V _A by a constant deceleration G _{A_decel} while decelerating by a distance Dist _A. Therefore, the distance Dist _A can be expressed by the following equation (2). it can.

According to the above formulas (1) and (2), the deceleration G _{A_decel} of the merging vehicle A when the _host vehicle E is assumed to travel at a constant speed V _ego is _expressed by the following formula (3): Can be calculated.

On the other hand, when it is assumed that the merging vehicle A travels at a constant speed _VA , the time t _A required for the rear end of the merging vehicle A to reach the merging point 203a is calculated by the following equation (4). can do.

Since the vehicle E during the time _{t A} is ahead by a distance _{Dist ego} while decelerating a constant deceleration _{G Ego_decel} from the speed _{V ego} is the first speed, the distance _{Dist ego} is be represented by the following formula (5) it can.

According to the above formulas (4) and (5), the deceleration G _{ego_decel} of the _host vehicle E when it is assumed that the merging vehicle A travels at a constant speed V _A is _expressed by the following formula (6). Can be calculated.

For example, distance Dist _ego = 80 [m], speed V _ego = 80 [km / h], length L _ego = 5 [m], distance Dist _A = 60 [m], speed V _A = 60 [km / h] ] And length L _A = 10 [m], G _{A_decel} = −0.51 [m / s ² ], G _{ego_decel} = −1 according to the above equations (3) and (6). .51 [m / s ² ].

  As shown in FIG. 2, the vehicle control unit 12 determines whether there is an adjacent lane based on the information acquired by the information acquisition unit 11 (S14). As described above, since there is no adjacent lane in the situation of FIG. 3, the vehicle control unit 12 executes the following process of S15. Note that processing when there is an adjacent lane will be described later.

The vehicle control unit 12 determines that the sum or product of the calculated absolute value of the deceleration G _{ego_decel} of the _host vehicle E and the arbitrary correction coefficient α is the absolute value of the calculated deceleration G _{A_decel} of the merging vehicle A and the arbitrary value. When it is smaller than the sum or product of the correction coefficient β, it is determined that the joining vehicle A is joined to the traveling lane 201 in front of the host vehicle E (S15). On the other hand, the vehicle control unit 12 determines that the sum or product of the calculated absolute value of the deceleration G _{ego_decel} of the _host vehicle E and an arbitrary correction coefficient α is the absolute value of the calculated deceleration G _{A_decel} of the joining vehicle A. When it is larger than the sum or product of the arbitrary correction coefficient β, it is determined that the merged vehicle A is merged with the traveling lane 201 behind the host vehicle E (S15).

  That is, the merging vehicle A is placed either in front of or behind the own vehicle E so that the larger one of the own vehicle E and the merging vehicle A to be generated (one that requires a larger deceleration) precedes. It is determined whether to join the traveling lane 201.

For example, when G _{A_decel} = −0.51 [m / s ² ] and G _{ego_decel} = −1.51 [m / s ² ], the correction coefficient α added to the deceleration G _{ego_decel} is 0. If the correction coefficient α multiplied by the deceleration G _{ego_decel} is 1 and the correction coefficient β added to the deceleration _{GA_decel} is 0 or the correction coefficient β multiplied by the deceleration _{GA_decel} is 1, _{Since ego_decel} |> | G _{A_decel} |, when the merging vehicle A having a small deceleration to be generated is decelerated, the traffic flow in the traveling lane 201 and the merging lane 202 is less changed and smooth traffic is maintained. . Therefore, in this case, the vehicle control unit 12 determines that the host vehicle E precedes and joins the joining vehicle A to the traveling lane 201 behind the host vehicle E (S15).

As shown in FIG. 2, FIG. 4 (A) and FIG. 4 (B), the vehicle control unit 12 _{adds or calculates} the absolute value of the calculated deceleration G _{ego_decel} of the _host vehicle E and an arbitrary correction coefficient α. Is larger than the sum or product of the calculated absolute value of the deceleration G _{A_decel} of the merging vehicle A and an arbitrary correction coefficient β, the merging vehicle A is merged with the traveling lane 201 behind the _host vehicle E. The operation of notification to the merging vehicle A is controlled (S16).

  As described above, when the host vehicle E precedes and it is determined that the joining vehicle A is joined to the traveling lane 201 behind the own vehicle E, the vehicle control unit 12 uses the communication device 8 to communicate with the joining vehicle A. When inter-vehicle communication is possible, the communicator 8 notifies the merging vehicle A that the host vehicle E precedes and merges the merging vehicle A into the travel lane 201 behind the host vehicle E. . Alternatively, the vehicle control unit 12 notifies the merging vehicle A that the host vehicle E is ahead by blinking the headlight and the hazard lamp of the auxiliary device U. Further, the vehicle control unit 12 may accelerate the host vehicle E by the engine actuator of the actuator 6 so that the joining vehicle A can smoothly join the traveling lane 201. In addition, when the host vehicle E is traveling following the preceding vehicle, the vehicle control unit 12 may control the traveling of the host vehicle E so as to reduce the inter-vehicle distance from the preceding vehicle.

On the other hand, as shown in FIG. 2, FIG. 4 (A) and FIG. 4 (C), the vehicle control unit 12 _sums the absolute value of the calculated deceleration G _{ego_decel} of the _host vehicle E and an arbitrary correction coefficient α. Alternatively, when the product is smaller than the sum or product of the calculated absolute value of the deceleration G _{A_decel} of the merging vehicle A and an arbitrary correction coefficient β, the merging vehicle A merges with the traveling lane 201 in front of the _host vehicle E. The deceleration operation of the host vehicle E is controlled (S16).

As described above, when it is determined that the joining vehicle A is advanced and the joining vehicle A is joined to the traveling lane 201 in front of the host vehicle E, the joining vehicle A can smoothly join the traveling lane 201. Thus, the vehicle control unit 12 decelerates the host vehicle E by the brake actuator of the actuator 6. The deceleration in this case is preferably _{equal to} or greater than the deceleration G _{ego_decel} calculated as described above. However, if the merging vehicle A can smoothly merge, it is not necessarily _{equal to} or greater than the deceleration G _{ego_decel.} Good.

  Further, when the host vehicle E is following the preceding vehicle, the vehicle control unit 12 may control the traveling of the host vehicle E so as to increase the inter-vehicle distance from the preceding vehicle. In addition, when vehicle-to-vehicle communication with the merging vehicle A is possible by the communication device 8, the vehicle control unit 12 causes the merging vehicle A to precede the merging vehicle A by the communication device 8, and the vehicle E You may perform the notification to the effect of joining the joining vehicle A to the driving lane 201 ahead. Alternatively, the vehicle control unit 12 may notify the merging vehicle A that the merging vehicle A is advanced by blinking a headlight or a hazard lamp of the auxiliary device U.

The same _applies to the calculation of the acceleration G _{ego_accel} of the _host vehicle E and the deceleration G _{A_accel} of the merged vehicle A in S13. When it is assumed that the _host vehicle E travels at a constant speed V _ego , the time t _ego required for the tip of the host vehicle E to reach the junction 203a can be calculated by the following equation (7). it can.

During the time t _ego , the merging vehicle A _advances from the initial speed V _A by a constant acceleration G _{A —} accelerating by a distance Dist _A + a length L _A , so that the distance Dist _A + the length L _A is It can be shown by the following formula (8).

From the above formulas (7) and (8), the acceleration _{GA_accel} of the merging vehicle A when it is assumed that the _host vehicle E travels at a constant speed V _ego is calculated as in the following formula (9). can do.

On the other hand, when it is assumed that the merging vehicle A travels at a constant speed _VA , the time t _A required for the leading end of the merging vehicle A to reach the merging point 203a is calculated by the following equation (10). be able to.

During the time t _A, the _host vehicle E _advances from the initial speed V _ego by a constant acceleration G _{ego_accel, and advances} by a distance Dist _ego + length L _ego , so the distance Dist _ego + length L _ego is It can be shown by the following formula (11).

From the above formulas (10) and (11), the acceleration G _{ego_accel} of the _host vehicle E when the joining vehicle A is traveling at a constant speed V _A is calculated as in the following formula (12). can do.

For example, as described above, the distance Dist _ego = 80 [m], the speed V _ego = 80 [km / h], the length L _ego = 5 [m], the distance Dist _A = 60 [m], and the speed V _A = Assuming 60 [km / h] and length L _A = 10 [m], G _{A_accel} = 1.54 [m / s ² ], G according to the above formulas (9) and (12) It can be calculated as _{ego_accel} = 0.77 [m / s ² ].

As shown in FIG. 2, the vehicle control unit 12 determines whether or not there is an adjacent lane based on the information acquired by the information acquisition unit 11 (S14). The unit 12 executes the following process of S15. The vehicle control unit 12 calculates the sum or product of the calculated acceleration G _{A_accel} of the joining vehicle A and the arbitrary correction coefficient β as the sum or product of the calculated acceleration G _{ego_accel} of the own vehicle E and the arbitrary correction coefficient α. If larger than that, it is determined that the merged vehicle A is merged with the traveling lane 201 behind the host vehicle E (S15). On the other hand, the vehicle control unit 12 calculates the sum or product of the calculated acceleration G _{A_accel} of the merged vehicle A and the arbitrary correction coefficient β as the sum of the calculated acceleration G _{ego_accel} of the own vehicle E and the arbitrary correction coefficient α. Or when it is smaller than the product, it is determined that the joining vehicle A is joined to the traveling lane 201 in front of the host vehicle E (S15).

  That is, it is determined whether the merged vehicle A is merged with the traveling lane 201 at the front or rear of the own vehicle E so that the smaller acceleration to be generated precedes the own vehicle E and the merged vehicle A. The

For example, when G _{A_accel} = 1.54 [m / s ² ] and G _{ego_accel} = 0.77 [m / s ² ] described above, the correction coefficient β applied to the acceleration _{GA_accel} is 0 or the acceleration G _The correction coefficient β multiplied by _{A_accel} is 1, the correction coefficient α added to the acceleration G _{ego_accel} is 0, or the correction coefficient α multiplied by the acceleration G _{ego_accel} is 1, and the correction coefficient β added to the acceleration G _{A_accel} is If the correction coefficient β multiplied by 0 or the acceleration G _{A_accel} is 1, G _{A_accel} > G _{ego_accel. Therefore} , the vehicle lane 201 and the merged lane are accelerated when the own vehicle E having a small acceleration to be generated is accelerated. The traffic flow at 202 is small and smooth traffic is maintained. Therefore, in this case, the vehicle control unit 12 determines that the host vehicle E precedes and joins the joining vehicle A to the traveling lane 201 behind the host vehicle E (S15).

As with the deceleration _{G A_decel} and deceleration _{G Ego_decel} described above is calculated, Figure 2, as shown in FIG. 4 (A) and FIG. 4 (B), the merging vehicle vehicle control unit 12, the calculated When the sum or product of the acceleration G _{A_accel of A} and the arbitrary correction coefficient β is larger than the sum or product of the calculated acceleration G _{ego_accel} of the own vehicle E and the arbitrary correction coefficient α, the rear of the own vehicle E In step S16, either the acceleration of the host vehicle E or the notification to the merging vehicle A is controlled so that the merging vehicle A can be merged with the traveling lane 201. The acceleration when the vehicle control unit 12 accelerates the _host vehicle E is preferably _{equal to} or higher than the acceleration G _{ego_accel} calculated as described above. However, when the joining vehicle A can smoothly join, The acceleration need not be greater than G _{ego_accel} .

On the other hand, as in the case where deceleration _{G A_decel} and deceleration _{G Ego_decel} described above is calculated, as shown in FIG. 2, FIG. 4 (A) and 4 FIG. 4 (C), the vehicle control unit 12, the calculated If the sum or product of the acceleration G _{A_accel} of the joining vehicle A and the arbitrary correction coefficient β is smaller than the sum or product of the calculated acceleration G _{ego_accel} of the own vehicle E and the arbitrary correction coefficient α, the own vehicle E The operation of either the deceleration of the own vehicle E or the notification to the joining vehicle A is controlled so that the joining vehicle A can join the traveling lane 201 in front of the vehicle (S16).

  After the operation of either acceleration or deceleration of the host vehicle E or notification to the joining vehicle A is performed, the vehicle control unit 12 determines to join the joining vehicle A to the traveling lane 201 in front of or behind the host vehicle E. If the joining vehicle A does not perform different operations (S17), the vehicle control device 100 ends the process. In addition, operation | movement in case the merging vehicle A performs the operation | movement different from the determination which the merging vehicle A joins the driving | running | working lane 201 in front or back of the own vehicle E by the vehicle control part 12 is mentioned later.

For example, when the traveling lane 201 on which the _host vehicle E travels can be confirmed as a priority road, a comparison between the deceleration | G _{ego_decel} | + correction coefficient α and the deceleration | _{GA_decel} | + correction coefficient β. Or, in comparison between the deceleration | G _{ego_decel} | × the correction coefficient α and the deceleration | _{GA_decel} | × the correction coefficient β, the _host vehicle E is advanced by increasing the correction coefficient α and decreasing the correction coefficient β. May be set so as to be easily determined. In this case, in the comparison between the acceleration G _{ego_accel} + correction coefficient α and the acceleration _{GA_accel} + correction coefficient β, or the comparison between the acceleration G _{ego_accel} × correction coefficient α and the acceleration _{GA_accel} × correction coefficient β, the correction coefficient α is decreased. By increasing the correction coefficient β, it can be set so that it is easy to determine that the host vehicle E is ahead.

Further, for example, the closer the merging vehicle A is to the merging point 203a, the comparison between the deceleration | G _{ego_decel} | + correction coefficient α and the deceleration | _{GA_decel} | + correction coefficient β, or the deceleration | G _{ego_decel} | × correction coefficient In comparison between α and deceleration | _{GA_decel} | × correction coefficient β, the correction coefficient α is decreased and the correction coefficient β is increased so that it is easy to determine that the joining vehicle A is ahead. Good. In this case, in the comparison between the acceleration G _{ego_accel} + correction coefficient α and the acceleration G _{A_accel} + correction coefficient β, or in the comparison between the acceleration G _{ego_accel} × correction coefficient α and the acceleration _{GA_accel} × correction coefficient β, the correction coefficient α is increased. By reducing the correction coefficient β, it can be set so that it is easy to determine that the joining vehicle A is ahead.

In the above-described example, assuming that the vehicle E and the merging vehicle A that do not accelerate or decelerate travel at a constant speed, the deceleration G _{ego_decel} , the deceleration G _{A_decel} , the acceleration G _{ego_accel,} and The acceleration _{GA_accel} is calculated. When the _host vehicle E and the joining vehicle A are actually accelerating or decelerating, or when it can be expected to accelerate or decelerate, the acceleration or deceleration is expressed by the above formula ( It can be reflected in 1) to (12). For example, the acceleration or deceleration is reflected in the calculation formula until the host vehicle E shown in the above formula (1), the above formula (4), the above formula (7), and the above formula (10) reaches the junction 203a. This can be realized by changing the formula for calculating the time until the merging vehicle A reaches the merging point 203a.

Further, in general, the traffic on the travel lane 201 is given priority over the traffic on the merge lane 202. Therefore, when it is determined that the travel lane 201 in which the host vehicle E is traveling is prioritized over the passage of the merge lane 202, the vehicle control unit 12 determines that the host vehicle calculated by the above equation (6) is If the absolute value of the generated thereby to the deceleration _{G Ego_decel} becomes a predetermined threshold or more, even though less than the deceleration _{G A_decel} deceleration _{G Ego_decel} is merging vehicle a of the vehicle E, vehicle E May be determined to join the merging vehicle A to the traveling lane 201 behind the host vehicle E.

  When the traveling lane 201 in which the host vehicle E is traveling is prioritized over the passing of the merging lane 202, when the host vehicle E and the merging vehicle A are in a state of giving up each other in the vicinity of the merging point 203a, This is because the host vehicle E traveling on the travel lane 201 where priority is given is decelerated at a large deceleration, which greatly disturbs the traffic flow.

  As described above, in the vicinity of the merge point 203a, not only avoiding interference between the own vehicle E and the merged vehicle A, but also smoother traffic can be achieved if either the own vehicle E or the merged vehicle A precedes. It is necessary to determine the operation of the host vehicle E based on whether the host vehicle E or the joining vehicle A has priority. Therefore, in this embodiment, smooth traffic can be maintained by determining which one of the host vehicle E and the joining vehicle A precedes can maintain smooth traffic.

[Processing when there is a following vehicle]
Hereinafter, in the travel lane 201 on which the host vehicle E travels, there is a following vehicle that travels behind the host vehicle E, and the distance between the host vehicle E and the following vehicle is so small that the joining vehicle A cannot be interrupted. The process will be described. In this case, in S <b> 12 of FIG. 2, the vehicle control unit 12 determines that there is a subsequent vehicle based on the information acquired by the information acquisition unit 11.

As shown in FIG. 5, the vehicle control unit 12 includes the deceleration G _{ego_decel} of the own vehicle E necessary for the joining vehicle A to join the traveling lane 201 in front of the own vehicle E, and the joining vehicle A is the own vehicle E. And the deceleration of the merging vehicle A necessary for merging with the traveling lane behind the following vehicle is calculated (S18). Alternatively, the vehicle control unit 12 may determine the acceleration _{GA_accel} of the joining vehicle A necessary for the joining vehicle A to join the traveling lane 201 in front of the own vehicle E and the joining vehicle A behind the own vehicle E and the following vehicle. The acceleration of the host vehicle E necessary for joining the traveling lane 201 is calculated (S18). First, an example of calculating the deceleration G _{ego_decel} of the _host vehicle E and the deceleration of the joining vehicle A will be described.

As shown in FIG. 6, in the following description, in the travel lane 201 on which the host vehicle E travels, there is a subsequent vehicle B that travels behind the host vehicle E, and an inter-vehicle distance d between the host vehicle E and the subsequent vehicle B is shown. Assume that _B is so small that interruption of the joining vehicle A is impossible. Following vehicle B is traveling at the same speed V _ego between the vehicle E, it is assumed that the length of the following vehicle B is L _B. In this case, the deceleration G _{A_decel} ′ of the joining vehicle A necessary for the joining vehicle A to join the traveling lane behind the _host vehicle E and the following vehicle B is the following expression (13) obtained by correcting the above expression (3). Can be calculated. Deceleration _{G A_decel} ', when the vehicle E and the following vehicle B maintains the same speed _{V ego} and the same vehicle distance _{d B,} it was assumed that precedes the confluent vehicle A at a junction 203a, merging vehicle A is generated Deceleration to be made.

  As shown in FIG. 5, the vehicle control unit 12 determines whether there is an adjacent lane based on the information acquired by the information acquisition unit 11 (S19). In the situation of FIG. 6, since there is no adjacent lane, the vehicle control unit 12 executes the following process of S20. Note that processing when there is an adjacent lane will be described later.

The vehicle control unit 12 is a merging vehicle in which the sum or product of the absolute value of the deceleration G _{ego_decel} of the _host vehicle E calculated by the above equation (6) and an arbitrary correction coefficient α is calculated by the above equation (13). When it is smaller than the sum or product of the absolute value of the deceleration G _{A_decel} 'of A and an arbitrary correction coefficient β, it is determined that the joining vehicle A is joined to the traveling lane 201 in front of the _host vehicle E (S20). The operation of either the deceleration of the own vehicle E or the notification to the joining vehicle A is controlled so that the joining vehicle A can join the traveling lane 201 in front of the own vehicle E (S21).

On the other hand, the vehicle control unit 12 determines that the sum or product of the calculated absolute value of the deceleration G _{ego_decel} of the _host vehicle E and the arbitrary correction coefficient α is the absolute value of the calculated deceleration G _{A_decel} 'of the joining vehicle A. And the arbitrary correction coefficient β is larger than the sum or product, it is determined that the merged vehicle A is merged with the traveling lane 201 behind the own vehicle E and the following vehicle B (S20). The operation of either the acceleration of the host vehicle E or the notification to the joining vehicle A is controlled so that the joining vehicle A can join the traveling lane 201 behind the vehicle B (S21).

The vehicle control unit 12 causes the following vehicle B to precede the joining vehicle A by the detection result of the following vehicle B by the external sensor 1 and the inter-vehicle communication with the following vehicle B by the communication device 8. When it can be estimated that the merged vehicle A is merged with the travel lane 201, as in S15 and S16 of FIG. 2 described above, the sum or product of the absolute value of the deceleration G _{ego_decel} and an arbitrary correction coefficient α, The _operation of the _host vehicle E may be controlled by comparing the absolute value of the deceleration G _{A_decel} with the sum or product of an arbitrary correction coefficient β.

On the other hand, when it can be estimated that the following vehicle B does not precede the joining vehicle A and the joining vehicle A does not join the traveling lane 201 in front of the following vehicle B, as in S20 and S21 of FIG. 5 described above, By _comparing the sum or product of the absolute value of the deceleration G _{ego_decel} with an arbitrary correction coefficient α and the sum or product of the absolute value of the deceleration _{GA_decel} 'and an arbitrary correction coefficient β, the operation of the _host vehicle E is You may control.

  Further, when the following vehicle B exists as shown in FIG. 6, it means that it is easier to determine that the host vehicle E precedes the joining vehicle A than when the following vehicle B does not exist.

For example, _when the absolute value of the deceleration G _{ego_decel} to be generated by the _host vehicle calculated by the above equation (6) is equal to or less than a predetermined threshold, the vehicle control unit 12 causes the joining vehicle A to precede. The merging vehicle A may be determined to be merged with the traveling lane 201 in front of the host vehicle E. In this case, without calculating how much the merged vehicle A decelerates, simply calculate how much the own vehicle E should decelerate in order to precede the own vehicle E, Since the smooth traffic is not disturbed when the deceleration G _{ego_decel} is small, the vehicle control unit 12 determines that the joining vehicle A is advanced. In this case, depending on the vehicle distance d _B between the following vehicle B and the vehicle E, it may be changed to above闘値. For example, set to a small threshold value the smaller the inter-vehicle distance d _B, it is possible to set large the threshold value the larger the vehicle distance d _B.

Alternatively, for example, _when the absolute value of the deceleration G _{ego_decel} to be generated by the _host vehicle calculated by the above equation (6) is equal to or greater than a predetermined threshold value, the vehicle control unit 12 determines the _host vehicle E. It may be determined that the joining vehicle A joins the traveling lane 201 behind the host vehicle E and the following vehicle B in advance. In this case, the vehicle control unit 12 does not calculate how much the merging vehicle A decelerates, and in order to simply bring the merging vehicle A ahead of the own vehicle E, how much the own vehicle E is. It is calculated whether the vehicle should be decelerated. If the deceleration G _{ego_decel} is large and there is a possibility of contact with the following vehicle B, it is determined that the _host vehicle E is advanced. In this case, depending on the vehicle distance d _B between the following vehicle B and the vehicle E, it may be changed to above闘値. For example, set to a small threshold value the smaller the inter-vehicle distance d _B, it is possible to set large the threshold value the larger the vehicle distance d _B.

The same applies to the case where the acceleration of the own vehicle E necessary for the joining vehicle A to join the traveling lane 201 behind the own vehicle E and the following vehicle B is calculated in S18 described above. In this case, the acceleration G _{ego_accel} ′ of the own vehicle E necessary for the joining vehicle A to join the traveling lane 201 behind the own vehicle E and the following vehicle B is the following equation (14) obtained by correcting the above equation (12). Can be calculated. _G ego_accel 'is when the merging vehicle maintains the same speed _{V A,} in the junction 203a is preceded by the vehicle E and the following vehicle B, it was assumed that the vehicle E and the following vehicle B to maintain the same vehicle distance _{d B} The acceleration to be generated by the own vehicle E and the following vehicle B.

As shown in FIG. 5, the vehicle control unit 12 determines whether there is an adjacent lane based on the information acquired by the information acquisition unit 11 (S19). The unit 12 executes the following process of S20. The vehicle control unit 12 determines that the sum or product of the acceleration G _{A_accel} of the joining vehicle A calculated by the above equation (9) and an arbitrary correction coefficient β is the acceleration G of the _host vehicle E calculated by the above equation (14). If it is larger than the sum or product of _{ego_accel} 'and an arbitrary correction coefficient α, it is determined that the merged vehicle A is merged with the traveling lane 201 behind the own vehicle E and the following vehicle B (S20). And the operation | movement of either the acceleration of the own vehicle E and the notification to the merging vehicle A is controlled so that the merging vehicle A can be merged with the driving lane 201 behind the following vehicle B (S21).

On the other hand, the vehicle control unit 12 calculates the sum or product of the calculated acceleration G _{A_accel} of the merged vehicle A and the arbitrary correction coefficient β as the sum of the calculated acceleration G _{ego_accel} of the own vehicle E and the arbitrary correction coefficient α. Alternatively, if it is smaller than the product, it is determined that the joining vehicle A is joined to the traveling lane 201 in front of the own vehicle E (S20), and the joining vehicle A is joined to the traveling lane 201 in front of the own vehicle E. In order to be able to do, either operation | movement of the deceleration of the own vehicle E and the notification to the merging vehicle A is controlled (S21).

As in the case where the deceleration G _{A_decel} 'and the deceleration G _{ego_decel} are calculated, the vehicle control unit 12 detects the subsequent vehicle B by the external sensor 1 and the inter-vehicle communication with the subsequent vehicle B by the communication device 8. Thus, if it can be estimated that the following vehicle B precedes the joining vehicle A and the joining vehicle A joins the traveling lane 201 in front of the following vehicle B, the acceleration is similar to S15 and S16 in FIG. The operation of the _host vehicle E may be controlled by comparing the sum or product of G _{A_accel} with an arbitrary correction coefficient β and the sum or product of acceleration G _{ego_accel} with an arbitrary correction coefficient α.

On the other hand, when it can be estimated that the following vehicle B does not precede the joining vehicle A and the joining vehicle A does not join the traveling lane 201 in front of the following vehicle B, as in S20 and S21 of FIG. 5 described above, The operation of the _host vehicle E may be controlled by comparing the sum or product of the acceleration G _{A_accel} and the arbitrary correction coefficient β and the sum or product of the G _{ego_accel} 'and the arbitrary correction coefficient α.

Similarly to the case where the deceleration G _{A_decel} 'and the deceleration G _{ego_decel} are calculated, the vehicle control unit 12 determines in advance the acceleration G _{ego_accel} ' to be generated by the _host vehicle calculated by the above equation (14). When the vehicle threshold value is less than or equal to the threshold value, the host vehicle E may take the lead, and it may be determined that the joining vehicle A joins the traveling lane 201 behind the host vehicle E and the following vehicle B. In this case, if the acceleration G _{ego_accel} ′ is equal to or less than the threshold value, smooth traffic is not disturbed, so that the vehicle control unit 12 _{advances the host} vehicle E in advance without comparing the acceleration G _{A_accel} with the acceleration G _{ego_accel} '. Make a decision. In this case, for example, set a larger threshold smaller the vehicle distance d _B, can be set small threshold the larger the vehicle distance d _B.

As described above, when the succeeding vehicle B exists behind the host vehicle E, the risk of the host vehicle E decelerating increases. Therefore, the indicator as to whether or not the joining vehicle A is to be advanced should be changed depending on whether the following vehicle B is approaching or not. If the following vehicle B is approaching at a small inter-vehicle distance d _B is the vehicle E is in front of the vehicle E tend not to try to put a merge vehicle A. Further, the following vehicle of its own when the vehicle following the vehicle B to the rear of the E are approaching at a small inter-vehicle distance d _B, when the confluence vehicle A, if not placed in front of the host vehicle E is the vehicle E It is necessary to enter behind B, and a relatively large deceleration is required. Therefore, the joining vehicle A tends to enter the front of the own vehicle E as much as possible. That is, the tendency of the own vehicle E not to enter the merging vehicle A in front of the own vehicle E and the tendency of the merging vehicle A trying to enter the front of the own vehicle E conflict. Therefore, in this embodiment, depending on the vehicle distance d _B between the following vehicle B and the vehicle E, and to control the operation of the vehicle E.

[Processing when there is an adjacent lane]
Hereinafter, a process when there is an adjacent lane adjacent to the traveling lane 201 on the opposite side of the merging lane 202 while sandwiching the traveling lane 201 on which the host vehicle E travels between the merging lane 202 will be described. In this case, when it is determined in S12 of FIG. 2 that the following vehicle B does not exist, the vehicle control unit 12 determines in S14 that an adjacent lane exists based on the information acquired by the information acquisition unit 11. To do.

As shown in FIG. 7, the vehicle control unit 12, the absolute value of the deceleration _{G Ego_decel} calculated in S13 in FIG. 2, the absolute value of the deceleration _{G A_decel,} none of the acceleration _{G Ego_accel} and acceleration _{G A_accel} is predetermined It is determined whether it is equal to or greater than the threshold value (S22). As shown in FIG. 8, it is assumed that there is an adjacent lane 204 adjacent to the travel lane 201 on the opposite side of the merge lane 202 while the travel lane 201 on which the host vehicle E travels is sandwiched between the merge lane 202. . When _{any one} of the absolute value of the deceleration G _{ego_decel,} the absolute value of the deceleration _{GA_decel} , the acceleration G _{ego_accel} and the acceleration _{GA_accel} is less than a predetermined threshold, the vehicle control unit 12 does not have the adjacent lane 204. Similarly to the case, the process of S15 in FIG. 2 is executed.

When the absolute value of the deceleration G _{ego_decel,} the absolute value of the deceleration G _{A_decel} , the acceleration G _{ego_accel} and the acceleration _{GA_accel} are all equal to or greater than a predetermined threshold, the vehicle control unit 12 Thus, the own vehicle E is changed from the traveling lane 201 to the adjacent lane 204 (S23). In such a case, for example, when the length of the merging lane 202 is short, when the merging vehicle A is traveling on the merging lane 202 over a certain long distance without being able to merge with the traveling lane 201, This is the case where the speed of the vehicle A is too fast or too slow.

The absolute value of the deceleration _{G Ego_decel,} the absolute value of the deceleration _{G A_decel,} even if the acceleration threshold _{G Ego_accel} and acceleration _{G A_accel} sets separately, may be set to the same value. The threshold for lane change of the absolute value of the absolute value and the deceleration G _{A_decel} deceleration G _{Ego_decel,} for example, generally the driver is also an upper limit near (regional differences in the deceleration used on the highway, About 2.0 to 3.0 [m / s ² ]). After the end of the lane change, the vehicle control device 100 ends the process.

If it is determined in S12 of FIG. 2 that the following vehicle B exists, the vehicle control unit 12 determines that an adjacent lane exists based on the information acquired by the information acquisition unit 11 in S19 of FIG. judge. As shown in FIG. 9, the vehicle control unit 12, the absolute value of the deceleration _{G Ego_decel} calculated in S18 in FIG. 5, 'the absolute value of the acceleration _{G Ego_accel'} deceleration _{G A_decel} none of and acceleration _{G A_accel} advance It is determined whether or not it is equal to or greater than a predetermined threshold (S24). If _{any one} of the absolute value of the deceleration G _{ego_decel,} the absolute value of the deceleration G _{A_decel} ′, the acceleration G _{ego_accel} ′, and the acceleration _{GA_accel} is less than a predetermined threshold, the vehicle control unit 12 determines that the adjacent lane 204 is As in the case where there is not, the process of S20 in FIG. 5 is executed.

When the absolute value of the deceleration G _{ego_decel,} the absolute value of the deceleration G _{A_decel} ', the acceleration G _{ego_accel} ', and the acceleration _{GA_accel} are all equal to or greater than a predetermined threshold value, the vehicle control unit 12 The host vehicle E is changed from the traveling lane 201 to the adjacent lane 204 by the steering actuator (S25). After the end of the lane change, the vehicle control device 100 ends the process.

Note that the absolute value of the deceleration G _{ego_decel,} the absolute value of the deceleration G _{A_decel} ', the acceleration G _{ego_accel} ' and the threshold for changing the lane of the acceleration G _{A_accel} are not present when the subsequent vehicle B exists. It can be set smaller than the case. Also, the larger the vehicle distance _{d B} between the following vehicle B and the vehicle E, set a larger absolute value of the deceleration _{G Ego_decel,} deceleration _{G A_decel} 'set small threshold of the absolute value of the acceleration _{G ego_accel'} Can be set small, and the acceleration _{GA_accel} can be set large.

As described above, when the adjacent lane 204 exists, the own vehicle E and the merging vehicle A are greatly reduced even if the merging vehicle A is merged with the traveling lane 201 either in front of or behind the own vehicle E. When the speed G _{ego_decel} , the deceleration G _{A_decel} , the acceleration G _{ego_accel} and the acceleration _{GA_accel} are required, smooth traffic can be maintained by causing the _host vehicle E to change the lane to the adjacent lane 204.

[Processing when there is operation of merged vehicle different from determination of vehicle control device]
Hereinafter, a process when there is an operation of the joining vehicle A different from the determination of the vehicle control device 100 will be described. With the above-described processing, it is determined that the joining vehicle A is joined to the traveling lane 201 either in front of or behind the subject vehicle E, and operations of deceleration, acceleration, and notification to the joining vehicle A of the subject vehicle E are controlled. However, the determination of the vehicle control unit 12 of the vehicle control device 100 of the host vehicle E and the operation of the joining vehicle A may be different.

  That is, for example, when the vehicle control unit 12 determines that the joining vehicle A is joined to the traveling lane 201 in front of the own vehicle E and decelerates the own vehicle E, the joining vehicle A travels behind the own vehicle E. A case where the vehicle decelerates to join the lane 201 can be considered. Alternatively, when the vehicle control unit 12 determines that the joining vehicle A is joined to the travel lane 201 behind the own vehicle E and accelerates the own vehicle E, the joining vehicle A is in front of the own vehicle E. Accelerate to join.

In such a case, in S <b> 17 of FIG. 2, the vehicle control unit 12 has an operation of the joining vehicle A that is different from the determination of the vehicle control unit 12 of the vehicle control device 100 based on the information acquired by the information acquisition unit 11. As shown in FIG. 10, the determination in the vehicle control unit 12 so far changes the position at which the merged vehicle A merges with the travel lane 201 (S <b> 26). For example, in S15 of FIG. 2 or S20 of FIG. 5 until that time, the vehicle control unit 12 determines that the joining vehicle A is joined to the traveling lane 201 behind the host vehicle E, and S16 of FIG. 2 or FIG. In S21, the own vehicle E is caused to perform acceleration or notification operation to the joining vehicle A, and the joining vehicle A is expected to decelerate at a speed equal to or higher than the deceleration corresponding to the deceleration _{GA_decel} or the deceleration _{GA_decel} '. In this case, it is assumed that the joining vehicle A is accelerated against the determination.

In this case, the vehicle control unit 12 switches the decision to join the joining vehicle A to the traveling lane 201 in front of the host vehicle E. In other words, the vehicle control unit 12 corresponds to the newly calculated deceleration G _{ego_decel} in consideration of the acceleration of the merging vehicle A so that the merging vehicle A can be merged with the traveling lane 201 in front of the _{host vehicle E.} The own vehicle E is decelerated at the deceleration to be performed, or the merged vehicle A is preceded and a notification to the effect that the merged vehicle A is merged with the traveling lane 201 in front of the own vehicle E is performed (S27).

For the acceleration of the merged vehicle A for newly calculating the deceleration G _{ego_decel} , the vehicle control unit 12 may use the information itself regarding the acceleration of the merged vehicle A acquired by the information acquisition unit 11 using the external sensor 1. it can. Further, regarding the acceleration of the merged vehicle A for newly calculating the deceleration G _{ego_decel} , the vehicle control unit 12 expects the vehicle control unit 12 to calculate in S13 of FIG. 2 or S18 of FIG. The acceleration _GA of the merged vehicle A = | _{GA_decel} | or the acceleration of the merged vehicle | _{GA_decel} '| may be calculated using the deceleration _{GA_decel} or the deceleration _{GA_decel} ' of the merged vehicle A.

  In the above description, in S15 of FIG. 2 or S20 of FIG. 5 so far, it is determined that the vehicle control unit 12 joins the merged vehicle A to the traveling lane 201 in front of the host vehicle E, and S16 of FIG. The same applies to the case where the merging vehicle A decelerates against the determination when the host vehicle E is decelerated or notified to the merging vehicle A in S21 of FIG.

  In S15 of FIG. 2 or S20 of FIG. 5 until that time, the vehicle control unit 12 determines that the merged vehicle A is merged with the traveling lane 201 in front of or behind the host vehicle E, and S16 of FIG. The operation described above is also performed when the merging vehicle A has operated against the determination before the control of the operation of the host vehicle E is started in S21 of FIG.

  As described above, even when there is an operation of the merging vehicle A different from the determination of the vehicle control unit 12 of the vehicle control device 100, the vehicle control unit 12 quickly switches the determination to match the operation of the merging vehicle A. Smooth traffic can be maintained by performing determination and control again.

According to the present embodiment, for example, the vehicle control unit 12 of the vehicle control device 100 assumes that the merging vehicle A travels at a constant speed _VA , and the merging vehicle A travels in front of the host vehicle E. _Assuming that the _host vehicle E travels at a constant speed V _ego and the deceleration G _{ego_decel} of the _host vehicle E necessary for joining the vehicle 201, the joining vehicle A is moved to the travel lane 201 behind the _host vehicle E. a deceleration _{G A_decel} the merging vehicle a necessary for merging is calculated, than the absolute value of the deceleration _{G A_decel} the merging vehicle a to the absolute value is calculated deceleration _{G Ego_decel} the calculated vehicle E If it is smaller, the deceleration operation of the own vehicle E is controlled and calculated so that the joining vehicle A can join the traveling lane 201 in front of the own vehicle E. If greater than the absolute value of the deceleration _{G A_decel} the merging vehicle A to the absolute value of the deceleration _{G Ego_decel} vehicle E is calculated, it is possible to merge the merged vehicle A to the traffic lane 201 in the rear of the vehicle E Thus, the operation of notification to the joining vehicle A is controlled.

  Thereby, since the one where the required deceleration is smaller among the own vehicle E and the merging vehicle A only needs to be decelerated, the merging vehicle A travels in front or behind the own vehicle E while maintaining smooth traffic. 201 can be merged.

  As mentioned above, although embodiment of this invention was described, this invention is implemented in various forms, without being limited to the said embodiment. For example, the above-mentioned [basic processing], [processing when there is a following vehicle], [processing when there is an adjacent lane], and [processing when there is an operation of a merging vehicle different from the determination of the vehicle control device] It is not necessary to execute all of them, and only [basic processing] may be executed, or in addition to [basic processing], [processing when there is a following vehicle], [there is an adjacent lane] Case process] and [Process when there is an operation of a confluence vehicle different from the determination of the vehicle control device] may be executed.

  In addition, it is preferable to use the map information in the map database for the recognition of the merge lane 202 that merges with the travel lane 201 on which the host vehicle E travels. However, the present embodiment can also be implemented by recognition using a camera or the like of the external sensor 1. . The recognition of the merged vehicle A in the merged lane 202 is also preferably a recognition system that combines a rider, a millimeter wave radar, and a camera in the external sensor 1, but only one of the above or a combination of the two may be used. Good.

  DESCRIPTION OF SYMBOLS 1 ... External sensor, 2 ... GPS receiving part, 3 ... Internal sensor, 4 ... Map database, 5 ... Navigation system, 6 ... Actuator, 7 ... HMI, 8 ... Communication apparatus, 10 ... ECU, 11 ... Information acquisition part, 12 DESCRIPTION OF SYMBOLS ... Vehicle control part, U ... Auxiliary apparatus, 100 ... Vehicle control apparatus, 201 ... Driving lane, 202 ... Merge lane, 203a, 203b, 203c ... Merge point, 204 ... Adjacent lane, E ... Own vehicle, A ... Merge vehicle, B: Subsequent vehicle.

Claims (1)

A merging vehicle that travels toward the merging point is a merging vehicle that travels toward the merging point of the own vehicle that travels toward a merging point between a traveling lane on which the host vehicle travels and a merging lane that merges with the traveling lane. A vehicle control device that controls the operation of the host vehicle so that the vehicle can join the traveling lane either in front or rear,
Information on the distance to the joining point of the own vehicle, the speed of the own vehicle, the length of the own vehicle, the distance to the joining point of the joining vehicle, the speed of the joining vehicle, and the length of the joining vehicle An information acquisition unit for acquiring
Based on the information acquired by the information acquisition unit, a vehicle control unit that controls the operation of the host vehicle;
With
The vehicle control unit
Necessary for the joining vehicle to join the traveling lane ahead of the host vehicle when it is assumed that the joining vehicle travels at a constant speed based on the information acquired by the information acquisition unit. The merging vehicle necessary for the merging vehicle to join the traveling lane behind the own vehicle, assuming that the own vehicle decelerates and the own vehicle travels at a constant speed. Calculate deceleration and
When the calculated absolute value of the deceleration of the host vehicle is smaller than the calculated absolute value of the deceleration of the joining vehicle, the joining vehicle may be joined to the traveling lane in front of the own vehicle. To control the deceleration operation of the host vehicle,
When the calculated absolute value of the deceleration of the host vehicle is larger than the calculated absolute value of the deceleration of the joining vehicle, the joining vehicle may be joined to the traveling lane behind the own vehicle. A vehicle control device that controls an operation of notification to the merging vehicle so that it can be performed.

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