JP6747079B2 - Driving support device - Google Patents

Description

The present disclosure relates to a driving support device.

2. Description of the Related Art There is known a driving support device that causes a vehicle to run when an obstacle is present on a traveling lane so as to avoid the obstacle. In the driving support device described in Patent Document 1, when an obstacle is detected on the traveling lane in which the host vehicle, which is the vehicle equipped with the driving support device, is traveling, the detected obstacle is avoided. The avoidance point is set. Then, a target lane is set by drawing a virtual white line of the traveling lane based on the set avoidance point. Then, the vehicle runs on the set target lane, so that the vehicle runs avoiding obstacles.

Japanese Patent No. 4654796

By the way, the obstacle may exist in an adjacent lane which is a traveling lane adjacent to the traveling lane of the own vehicle. The adjacent lane mentioned here includes not only the lane in which the vehicle traveling in the same direction as the own vehicle travels, but also the lane in which the vehicle traveling in the opposite direction to the own vehicle travels, that is, the oncoming lane. When an obstacle exists in the adjacent lane, a vehicle traveling in the adjacent lane may enter the traveling lane of the own vehicle in an attempt to avoid the obstacle. However, in the driving support device described in Patent Document 1, the traveling control is performed when the obstacle exists in the traveling lane of the own vehicle, and the traveling control is not performed when the obstacle exists in the adjacent lane. There is a possibility that the vehicle entering the driving lane may contact the vehicle.

It is an object of the present disclosure to provide a driving assistance device that reduces the possibility of a vehicle that has entered the traveling lane of an own vehicle and an own vehicle attempting to avoid an obstacle in an adjacent lane and the own vehicle contacting each other.

One aspect of the present disclosure is a driving support device (16) mounted on a vehicle (21), which includes an acquisition unit (S105), an obstacle determination unit (S106), and an execution unit (S109). Prepare The acquisition unit acquires surrounding environment information, which is information indicating the surrounding environment of the vehicle. The obstacle determination unit detects an obstacle (22, 31, 51, 52, 61) existing in front of the own vehicle based on the surrounding environment information, and the detected obstacle is adjacent to the traveling lane of the own vehicle. It is determined whether or not the vehicle is located in the adjacent lane which is the traveling lane. The executing unit is a control for moving the host vehicle to the opposite side of the obstacle lane which is the adjacent lane where the obstacle is located when the obstacle determining unit determines that the obstacle is located in the adjacent lane. Execute avoidance control.

With such a configuration, it is possible to reduce the possibility that the vehicle that has entered the traveling lane of the host vehicle and the host vehicle contact each other in an attempt to avoid an obstacle in the adjacent lane.
In addition, the reference numerals in parentheses described in this column and the claims indicate the correspondence with the specific means described in the embodiments described below as one aspect, and the technical scope of the present disclosure. It is not limited.

It is a block diagram which shows the structure of a driving assistance system. It is a flow chart of avoidance control processing. FIG. 6 is a diagram illustrating an example of avoidance control when an adjacent lane is a lane in which a vehicle traveling in a direction opposite to the own vehicle is traveling. It is a figure explaining an example of avoidance control in the case where an adjacent lane is a lane in which a vehicle traveling in the same direction as the own vehicle is traveling. It is a figure explaining an example of avoidance control when a vehicle is running in the lane adjacent to the running lane of the own vehicle and opposite to the obstacle lane. It is a figure explaining an example of avoidance control when a motorcycle is running on a road shoulder adjacent to the lane of travel of the host vehicle. It is a figure explaining an example of avoidance control when the road where the own vehicle is running is a right curve. It is a figure explaining an example of avoidance control when the road where the own vehicle is running is a left curve. It is a figure explaining an example of avoidance control when the road where the own vehicle is running has a slope.

Hereinafter, modes for carrying out the invention will be described with reference to the drawings.
[1. Constitution]
The driving support system 1 shown in FIG. 1 is mounted on a vehicle and includes a traveling state detection device 11, a map information storage device 12, a position detection device 13, a lane detection device 14, a surrounding environment detection device 15, a driving support device 16, and vehicle control. A device 17 is provided. Hereinafter, the vehicle in which the driving support system 1 is installed is referred to as “own vehicle”.

In the present embodiment, the host vehicle is a vehicle capable of automatic driving that automatically performs vehicle speed control and steering control. In particular, the automatic driving in the present embodiment is a fully automatic driving that does not require a driving operation by the driver while the vehicle speed control and the steering control are being executed. Fully automatic driving is performed while the ignition switch of the host vehicle is on.

The traveling state detection device 11 is various sensors such as a vehicle speed sensor, a gyro sensor, an acceleration sensor, a steering angle sensor, and a direction sensor that detect the traveling state of the host vehicle. The traveling state detection device 11 inputs the detection values of various sensors to the driving support device 16 as traveling state information.

The map information storage device 12 is a device configured to store map information. The map information includes information about the traveling lane, specifically, information about the position and type (such as a solid line or a broken line) of a road marking line that defines the traveling lane. The map information storage device 12 inputs the map information to the driving support device 16.

The position detection device 13 is a device configured to detect the position of the own vehicle. Specifically, the position detection device 13 is a GPS receiver that receives radio waves transmitted from GPS artificial satellites via a GPS antenna. The position detection device 13 inputs information indicating the position of the own vehicle to the driving support device 16 as position information.

The lane detection device 14 detects the traveling lane in which the vehicle is traveling (hereinafter referred to as the own lane) by detecting the road marking line drawn on the road as the left and right boundary lines of the traveling lane. It is a configured device. Specifically, the lane detection device 14 is an imaging device such as a CCD camera, and detects the position of the road marking line and the type of the road marking line based on the host vehicle. The lane detection device 14 inputs the detected information to the driving support device 16 as lane information.

The surrounding environment detection device 15 is a device configured to detect the surrounding environment of the host vehicle. The surrounding environment of the own vehicle here includes an object existing around the own vehicle, specifically, a traveling vehicle or an obstacle existing around the own vehicle. Examples of obstacles include falling objects such as falling rocks and parked vehicles. The surrounding environment detecting device 15 detects the size of these objects, the relative position and the relative speed with respect to the host vehicle, using a laser radar, a millimeter wave radar, or the like. The surrounding environment detecting device 15 inputs information such as the detected relative position to the driving support device 16 as surrounding environment information.

The driving support device 16 includes a microcomputer including CPU, ROM, RAM, and the like as constituent elements. The driving support device 16 executes various processes by the CPU executing a program stored in a non-transitional physical storage medium such as a ROM. Specifically, the driving support device 16 executes the avoidance control process described later, which is illustrated in FIG. 2, based on the acquired traveling state information, map information, position information, lane information, and surrounding environment information.

The vehicle control device 17 controls traveling of the own vehicle by controlling various actuators mounted on the own vehicle based on a command from the driving support device 16. The vehicle control device 17 includes a steering control device that controls steering (steering angle), a drive control device that controls the driving force of the own vehicle, and a braking control device that controls the braking force of the own vehicle.

[2. processing]
Next, the avoidance control process executed by the driving support device 16 will be described with reference to the flowchart of FIG. The avoidance control process is executed by turning on the ignition switch of the host vehicle.

In S101, the driving support device 16 acquires the traveling state information from the traveling state detection device 11.
In S102, the driving support device 16 acquires map information from the map information storage device 12.

In S103, the driving support device 16 acquires the position information from the position detection device 13.
In S104, the driving assistance device 16 acquires lane information from the lane detection device 14.
In S105, the driving support device 16 acquires the surrounding environment information from the surrounding environment detection device 15.

In S106, the driving support device 16 determines whether there is an obstacle in the adjacent lane that is the traveling lane adjacent to the own lane, based on the acquired traveling state information, map information, position information, lane information, and surrounding environment information. Determine whether or not. The adjacent lane mentioned here includes not only a lane in which a vehicle traveling in the same direction as the own vehicle travels, but also a lane in which a vehicle traveling in the opposite direction to the own vehicle travels, that is, an oncoming lane.

The driving support device 16 makes the determination in S106 as follows. That is, the driving support device 16 first determines, based on the surrounding environment information, whether or not there is an obstacle in front of the host vehicle.
When it is determined that the obstacle exists, the driving support device 16 determines whether or not the obstacle is located in the adjacent lane. In determining whether or not the obstacle is located in the adjacent lane, first, the position of the host vehicle on the map is detected based on the map information and the position information. In the present embodiment, when the host vehicle is traveling on a road with a plurality of lanes on each side, the position of the host vehicle is detected including the lane in which the host vehicle is located.

In this embodiment, in order to improve the detection accuracy of the position of the own vehicle, the position of the own vehicle is detected using the lane information in addition to the map information and the position information. That is, the type of the actual road marking line in front of the own vehicle included in the lane information and the type of the road marking line stored in advance included in the map data are collated to determine which lane the own vehicle is on. It is determined whether it is located. For example, FIG. 4 shows a road that has three lanes on each side and the types of road marking lines are a solid line, a broken line, a broken line, and a solid line in order from the left when viewed from the vehicle 21. In the situation shown in FIG. 4, the host vehicle is traveling in the central lane of the three lanes. In this case, the detected lane information indicates that the road marking lines on both sides of the traveling lane of the host vehicle 21 are broken lines, and it is determined that the host vehicle is located in the center lane of the three lanes on each side.

Next, the driving support device 16 detects on which lane on the map the obstacle is located based on the information on the relative position between the own vehicle and the obstacle included in the surrounding environment information. Then, based on the detection result, it is determined whether or not the obstacle is located in the adjacent lane.

When it is determined in S106 that an obstacle exists in the adjacent lane, the driving support device 16 shifts the processing to S107.
In S107, the driving support device 16 determines whether or not there is an adjacent lane vehicle based on the surrounding environment information. The adjacent lane vehicle here is a vehicle that travels in the direction approaching the obstacle in the obstacle lane that is the adjacent lane in which it is determined that the obstacle is located in S106. The driving support device 16 determines whether or not there is an adjacent lane vehicle in the same procedure as S106.

When it is determined that there is an adjacent lane vehicle, the driving support device 16 shifts the processing to S108.
In S108, the driving support device 16 estimates an expected route of the vehicle in the adjacent lane when the obstacle is avoided. The predicted course here means an expected traveling locus of the adjacent lane vehicle at the time of avoiding the obstacle, that is, when bypassing the obstacle. The driving support device 16 is based on the information on the size and relative position of the obstacle included in the surrounding environment information and the information on the size of the adjacent lane vehicle, and the lane side from the obstacle along the width direction of the obstacle lane. Assuming that the adjacent lane vehicle is traveling at a predetermined distance, the estimated course is estimated. Note that the predetermined interval here is set so that the adjacent lane vehicle can safely avoid the obstacle, in other words, the adjacent lane vehicle and the obstacle are not too close to each other.

In S109, the driving support device 16 executes the avoidance control, which is the control of moving the own vehicle to the side opposite to the obstacle lane, via the vehicle control device 17. In other words, the avoidance control is control for displacing the traveling position of the host vehicle in the width direction of the host vehicle lane to the side opposite to the obstacle lane.

In the present embodiment, the avoidance movement amount (displacement amount), which is the movement amount of the host vehicle in the avoidance control, is adjusted according to the predicted course estimated in S108. That is, the avoidance movement amount is set so that the own vehicle is located at a position separated by a predetermined distance along the width direction of the obstacle lane from the vehicle in the adjacent lane on the assumption that the vehicle is traveling on the expected course. Is calculated. The predetermined interval here is set so that the host vehicle and the adjacent lane vehicle on the assumption that the vehicle is traveling on the expected route are not too close to each other. Then, the vehicle is moved via the vehicle control device 17 by the calculated avoidance movement amount. In the present embodiment, before the avoidance control is executed, when the host vehicle is located at a position separated from the adjacent lane vehicle by the predetermined distance or more when it is assumed that the vehicle is traveling in the expected course, The avoidance control is not performed, and the host vehicle continues traveling at the current traveling position.

In S110, the driving support device 16 determines whether or not the ignition switch is off. When it is determined that the ignition switch is off, the driving support device 16 ends the avoidance control process. On the other hand, when the driving support device 16 determines that the ignition switch is not off, that is, it is on, the driving support device 16 returns to step S101 described above, and executes the processing from step S101 again.

On the other hand, when the driving support device 16 determines that there is no obstacle in the adjacent lane in S106 described above, the process proceeds to S111.
In S111, the driving support device 16 causes the vehicle control device 17 to perform normal control that is normal automatic driving based on the surrounding environment information and the traveling state information.

Similarly, when it is determined in S107 that there is no adjacent lane vehicle, the driving support device 16 shifts the processing to S111.
As described above, in the present embodiment, the driving support device 16 does not perform the avoidance control even when it is determined that the obstacle exists in the adjacent lane and when it is determined that the adjacent lane vehicle does not exist.

After executing the process of S111, the driving support device 16 executes the process of S110 described above.
Next, the above-described processing of S106 to S109 will be described using a specific example shown in FIGS. 3 and 4.

In the situation shown in FIG. 3, an obstacle 22 exists in front of the host vehicle 21, and the obstacle 22 is located in the oncoming lane as an adjacent lane. Therefore, in S106, it is determined that the obstacle 22 exists in the adjacent lane. An adjacent lane vehicle 23 that approaches the obstacle 22 exists behind the obstacle 22 when viewed from the host vehicle. Therefore, in S107, it is determined that the adjacent lane vehicle 23 exists. Then, in S108, the predicted course 24 is estimated on the assumption that the adjacent lane vehicle 23 travels from the obstacle 22 along the width direction of the obstacle lane to the traveling lane side of the own vehicle 21 at the predetermined distance L1 away. Then, in S109, the own vehicle 21 is located at a position apart from the adjacent lane vehicle 23, which is assumed to be traveling on the predicted course 24, along the width direction of the obstacle lane toward the own lane by a predetermined distance L2. The own vehicle 21 is moved so that it does.

On the other hand, in the situation shown in FIG. 4, a road with three lanes on one side is shown, and the vehicle 21 is traveling in the center lane of the three lanes on one side. An obstacle 31 exists in the lane on the right side of the own vehicle 21 among the three lanes, and an adjacent lane that approaches the obstacle 31 at a higher speed than the own vehicle 21 behind the own vehicle 21 in the same lane. There is a vehicle 32. Therefore, it is determined in S106 that the obstacle 31 is in the adjacent lane, and in S107 that the adjacent lane vehicle 32 is present. Thereafter, similarly to the situation shown in FIG. 3, the predicted course 33 is estimated in S108, and the own vehicle 21 is moved in S109.

[3. effect]
According to the embodiment described in detail above, the following effects can be obtained.
(1) In the present embodiment, the driving support device 16 executes the avoidance control when it is determined that the obstacle is located in the adjacent lane. Therefore, as compared with the configuration in which avoidance control is not executed, the clearance with the adjacent lane vehicle is easily secured when the obstacle is avoided, and therefore the adjacent lane vehicle and the own vehicle that have entered the own lane to avoid the obstacle It is possible to reduce the possibility of contact with.

Further, since the own vehicle is moved to the opposite side of the obstacle lane, the view behind the obstacle can be further secured as viewed from the own vehicle. Therefore, for example, when the obstacle lane is an oncoming lane, it becomes easier for the surrounding environment detection device 15 to detect the adjacent lane vehicle behind the obstacle, and thus it is possible to cope with an unexpected traveling of the adjacent lane vehicle. Can be made easier.

(2) In the present embodiment, when it is determined that the obstacle is located in the adjacent lane, the driving support device 16 executes the avoidance control when it is determined that the adjacent lane vehicle exists, and that the adjacent lane vehicle does not exist. When the determination is made, avoidance control is not executed. That is, avoidance control is not executed whenever the obstacle is located in the adjacent lane. In other words, determining that the obstacle is located in the adjacent lane is a necessary condition, not a sufficient condition for performing avoidance control. Therefore, it is possible to suppress the unnecessary avoidance control as compared with the configuration in which the avoidance control is performed even when there is no vehicle in the adjacent lane.

(3) In the present embodiment, the driving support device 16 estimates the predicted course of the adjacent lane vehicle at the time of avoiding an obstacle, and adjusts the avoidance movement amount according to the estimated predicted course. Therefore, it is possible to prevent the own vehicle from moving excessively.

That is, as a configuration in which the avoidance movement amount is not adjusted according to the expected course, for example, a configuration in which the avoidance control is performed while keeping the avoidance movement amount (displacement amount) constant. With such a configuration, when the adjacent lane vehicle travels near an obstacle and avoids it, the own vehicle may be excessively moved. On the other hand, in the present embodiment, it is possible to suppress the own vehicle from excessively moving by adjusting the avoidance movement amount according to the predicted course.

In the present embodiment, S105 corresponds to a process as an acquisition unit, S106 corresponds to a process as an obstacle determination unit, S107 corresponds to a process as a vehicle determination unit, and S108 as a route estimation unit. This corresponds to the processing, and S109 corresponds to the processing as the execution unit.

[4. Other Embodiments]
Although the embodiments for implementing the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be implemented.

(1) In the above-described embodiment, the avoidance control is executed only when it is determined that there is an adjacent lane vehicle, and the avoidance movement amount is adjusted according to the predicted course. The control content of the avoidance control is not limited to this.

For example, the avoidance control may be executed even when it is determined that there is no adjacent lane vehicle.
Further, for example, the avoidance movement amount, that is, the displacement amount of the host vehicle may not be adjusted and may be constant. In other words, the host vehicle may always be moved to the opposite side of the obstacle lane from the current traveling position in the width direction of the host lane by a fixed displacement amount. With such a configuration, it is possible to reduce the processing load on the driving support device due to the calculation of the displacement amount, as compared with the configuration in which the displacement amount is adjusted.

Further, for example, although the avoidance movement amount, that is, the displacement amount of the own vehicle can be adjusted, even if the avoidance control is executed so that the position after the movement of the own vehicle is constant regardless of the position before the movement of the own vehicle. Good. In this case, for example, the avoidance control may be executed so that the host vehicle is moved to the end of the host vehicle lane. According to such a configuration, it is possible to further secure the clearance between the own vehicle and the vehicle in the adjacent lane as compared with the configuration in which the own vehicle is not moved to the end of the own lane.

Further, for example, the avoidance movement amount is adjusted according to the presence or absence of an object such as a vehicle on an adjacent lane on the opposite side of the obstacle lane (hereinafter referred to as a non-obstacle lane) or a road shoulder adjacent to the own lane. Good.

For example, as shown in FIG. 5, when the vehicle 41 exists in the non-obstacle lane adjacent to the own lane in which the own vehicle 21 travels, when there is no object such as the vehicle 41 in the non-obstacle lane. The avoidance control amount may be adjusted to be smaller than the above.

Similarly, as shown in FIG. 6, when the motorcycle 42 is present on the road shoulder adjacent to the vehicle lane in which the vehicle 21 is traveling, it is compared with the case where no object such as the motorcycle 42 is present on the road shoulder. Therefore, the avoidance control amount may be adjusted to be small.

According to such a configuration, the own vehicle and the vehicle 41 or the like can come into contact with each other as compared with the configuration in which the avoidance movement amount is not changed depending on whether the vehicle 41 or the like is present in the non-obstacle lane or the like. Can be reduced. Further, it is possible to prevent the own vehicle from hindering the traveling of the vehicle 41 and the like.

Further, for example, when there is an object such as the vehicle 41 in the non-obstacle lane, etc., the own vehicle is prohibited from entering the non-obstacle lane, etc., and the vehicle 41 etc. does not exist in the non-obstacle lane, etc. The avoidance control may be executed so that the host vehicle is allowed to enter the non-obstacle lane or the like.

Further, for example, it is possible to switch between a mode in which the own vehicle is prohibited from entering the non-obstacle lane and the like and a mode in which the own vehicle is allowed to enter the non-obstacle lane and the like depending on the intention of the driver or the like. May be.

Further, for example, based on the situation of the road on the opposite side of the obstacle lane with respect to the own lane, it may be determined whether entry into the road is permitted or prohibited. Specifically, for example, if the opposite road is a shoulder, the own vehicle is prohibited from entering, and if the opposite road is a normal lane that is not a shoulder, the own vehicle is allowed to enter. Good. Even if the road on the opposite side is a road shoulder, it is determined whether or not to enter the road shoulder is allowed or prohibited depending on the condition of the road shoulder (for example, whether or not the road shoulder is safe). Good.

Further, for example, the avoidance movement amount may be adjusted according to at least one of the size and speed of the adjacent lane vehicle. In the configuration in which the avoidance movement amount is adjusted according to the size of the adjacent lane vehicle, the avoidance movement amount increases as the size of the adjacent lane vehicle increases, for example, the avoidance movement amount increases in the order of a normal vehicle, a medium-sized vehicle, and a large vehicle. The movement amount may be adjusted to be large. Further, for example, the avoidance movement amount may be adjusted to increase or decrease only for a vehicle of a specific size. Specifically, for example, when the adjacent lane vehicle is a normal vehicle and the medium-sized vehicle, the avoidance movement amount is the same, but when the adjacent lane vehicle is a large vehicle, the adjacent lane vehicle is the normal vehicle. Alternatively, the avoidance movement amount may be adjusted to be larger than that in the case of a medium-sized vehicle.

In the configuration in which the avoidance movement amount is adjusted according to the speed of the vehicle in the adjacent lane, for example, the obstacle lane is the lane in which the vehicle traveling in the same direction as the own vehicle is traveling, and the adjacent lane traveling behind the own vehicle is When the speed of the lane vehicle is slower than that of the host vehicle, the avoidance control may not be executed. In other words, the avoidance control may not be executed when there is little possibility that the vehicle in the adjacent lane will overtake the own vehicle.

Further, for example, the avoidance movement amount may be adjusted according to at least one of the curvature and the gradient of the road on which the vehicle is traveling. In this case, for example, the curvature of the road on which the host vehicle is traveling may be specified based on the information on the curvature of the road included in the map information, and the gradient of the road on which the host vehicle is traveling is calculated based on the map information. May be specified based on the information on the road gradient included in the.

In the configuration in which the avoidance movement amount is adjusted according to the curvature of the road, for example, when the obstacle lane is located inside the own lane with respect to the center of the curvature circle that defines the curvature of the curve of the road, The avoidance movement amount may be adjusted to be larger than that in the case where the obstacle lane is located outside the own lane.

Specifically, for example, as shown in FIG. 7, when the road on which the vehicle 21 is traveling is a right curve and the obstacle 51 is present in the oncoming lane, the obstacle is detected with the center of the circle of curvature as a reference. The vehicle lane is located inside the vehicle lane. In this case, as shown in FIG. 8, when the road on which the vehicle 21 is traveling is a left curve and the obstacle 52 exists in the oncoming lane, that is, the obstacle lane is based on the center of the circle of curvature. The rear of the obstacle is more likely to be a blind spot when viewed from the own vehicle than when the vehicle is located outside the own lane. Therefore, in the case shown in FIG. 7, by adjusting the avoidance movement amount so as to be larger than that in the case shown in FIG. Can be secured.

Further, in the configuration in which the avoidance movement amount is adjusted according to the gradient of the road, for example, the host vehicle is traveling on an uphill, and in front of the host vehicle, there is an obstacle at a place where the road turns from an uphill to a downhill. When there is an obstacle, the avoidance movement amount may be adjusted to be larger than that when the obstacle is present on a flat road.

Specifically, for example, as shown in FIG. 9, when the own vehicle 21 is traveling on an uphill and the obstacle 61 is present at a place where the obstacle 61 turns from an uphill to a downhill, that is, near the top of the road, an obstacle occurs. The rear of the object 61 is likely to be a blind spot, and the adjacent lane vehicle 62 or the like behind the obstacle 61 is difficult to visually recognize. In such a case, by adjusting the avoidance movement amount to be large, it is possible to further secure the visibility behind the obstacle as compared with the configuration in which the avoidance movement amount is not adjusted to be large. It is possible to make the lane vehicle 62 and the like easy to see.

(2) In the above embodiment, the surrounding environment information is acquired from the surrounding environment detection device 15 including a laser radar or the like, but the source of the surrounding environment information is not limited to this. For example, the surrounding environment information may be acquired by communication from a center outside the host vehicle. That is, the surrounding environment information including the information about the objects existing around the vehicle may be acquired from at least one of the surrounding environment detection device and the center.

(3) In the above-described embodiment, the lane information is used in addition to the map information and the position information when the position of the own vehicle (hereinafter, the own vehicle position) including the lane on which the own vehicle is located is detected. Then, detection is performed. However, the method of detecting the vehicle position is not limited to this.

For example, when the position information has high accuracy, the own vehicle position may be detected based on the map information and the position information without using the lane information.
Further, for example, for a road such as an expressway where the lane the vehicle will enter when entering the road is determined, the number of times the own vehicle has changed lanes, which is acquired by detecting the lane markings with an imaging device or the like. The position of the host vehicle may be detected based on information such as which of the left and right lanes the lane is changed when viewed from the host vehicle.

(4) In the above embodiment, the host vehicle can automatically perform both vehicle speed control and steering control, but the configuration of the host vehicle is not limited to this. The host vehicle may be capable of automatically performing either one of the vehicle speed control and the steering control, for example.

(5) In the above embodiment, some or all of the functions executed by the driving support device 16 may be configured as hardware by one or a plurality of ICs.
(6) In addition to the driving support device 16 described above, a driving support system 1 including the driving support device 16 as a component, a program for causing a computer to function as the driving support device 16, a semiconductor memory storing the program, or the like. The present disclosure may be implemented in various forms such as a non-transitional substantive storage medium and a method of reducing the possibility of contact between an adjacent lane vehicle and the vehicle by executing avoidance control.

(7) A plurality of functions of one constituent element in the above-described embodiment may be realized by a plurality of constituent elements, or one function of one constituent element may be realized by a plurality of constituent elements. .. Further, a plurality of functions of a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above-described embodiment may be added or replaced with respect to the configuration of the other above-described embodiment. Note that all aspects included in the technical idea specified only by the wording recited in the claims are embodiments of the present disclosure.

1... Driving support system, 16... Driving support device, 21... Own vehicle, 22, 31, 51, 52, 61... Obstacle, 23, 32, 62... Adjacent lane vehicle, 24, 33... Expected course.

Claims (6)

A driving support device (16) mounted on a vehicle (21),
An acquisition unit (S105) for acquiring surrounding environment information which is information representing the surrounding environment of the own vehicle;
An obstacle (22, 31, 51, 52, 61) existing in front of the host vehicle is detected based on the surrounding environment information, and the detected obstacle is the traveling lane in which the host vehicle is traveling. An obstacle determination unit (S106) for determining whether or not the vehicle is located in an adjacent lane that is a traveling lane adjacent to
When the obstacle determining unit determines that the obstacle is located in the adjacent lane, control for moving the host vehicle to the opposite side of the obstacle lane that is the adjacent lane in which the obstacle is determined to be located An execution unit (S109) for executing the avoidance control
Equipped with
The executing unit adjusts the movement amount of the own vehicle in the avoidance control according to at least the curvature of the road on which the own vehicle is traveling,
The execution unit is a vehicle lane in which the obstacle lane is a traveling lane in which the vehicle is traveling with reference to a center of a curvature circle that defines a curvature of a curve of a road on which the vehicle is traveling. If the vehicle is located on the inner side of the vehicle, the obstacle lane is adjusted so that the movement amount of the vehicle in the avoidance control is larger than that in the case where the obstacle lane is located outside the vehicle lane.
Driving support device. The driving support device according to claim 1 ,
The executing unit adjusts the movement amount of the own vehicle in the avoidance control according to at least the gradient of the road on which the own vehicle is traveling,
When the vehicle is traveling on an uphill and there is the obstacle at a location where the road turns from an uphill to a downhill in front of the own vehicle, the execution unit flattens the obstacle. Driving assistance device that adjusts so that the amount of movement of the host vehicle in the avoidance control becomes large as compared with the case where the vehicle is on a different road. A driving support device (16) mounted on a vehicle (21),
An acquisition unit (S105) for acquiring surrounding environment information that is information representing the surrounding environment of the own vehicle;
An obstacle (22, 31, 51, 52, 61) existing in front of the own vehicle is detected based on the surrounding environment information, and the detected obstacle is the traveling lane in which the own vehicle is traveling. An obstacle determination unit (S106) for determining whether or not the vehicle is located in an adjacent lane that is a traveling lane adjacent to
When the obstacle determination unit determines that the obstacle is located in the adjacent lane, control for moving the host vehicle to the opposite side of the obstacle lane that is the adjacent lane in which the obstacle is determined to be located An execution unit (S109) that executes the avoidance control
Equipped with
The executing unit adjusts the movement amount of the own vehicle in the avoidance control according to at least the gradient of the road on which the own vehicle is traveling,
When the vehicle is traveling on an uphill and there is the obstacle at a location where the road turns from an uphill to a downhill in front of the own vehicle, the execution unit flattens the obstacle. Adjusting so that the movement amount of the own vehicle in the avoidance control becomes large as compared with the case of existing on a road.
Driving support device. The driving support device according to any one of claims 1 to 3 ,
The execution unit adjusts the movement amount of the own vehicle in the avoidance control according to the speed of a vehicle (23, 32) traveling in the obstacle lane in a direction approaching the obstacle,
The execution unit is a lane in which a vehicle traveling in the same direction as the obstacle lane travels, travels behind the own vehicle, and travels in a direction in which the obstacle lane approaches the obstacle. When the speed of the vehicle is slower than that of the host vehicle, the avoidance control is not executed. The driving support device according to any one of claims 1 to 3 ,
A vehicle determination unit (S107) for determining whether or not there is a vehicle (23, 32) traveling on the obstacle lane in a direction approaching the obstacle based on the surrounding environment information;
The execution unit, when the obstacle determination unit determines that the obstacle is located in the adjacent lane, the vehicle determination unit determines that the vehicle traveling in the direction in which the obstacle lane approaches the obstacle. A driving support device that executes the avoidance control when it is determined to be present, and does not execute the avoidance control when it is determined that there is no vehicle traveling in the obstacle lane in a direction approaching the obstacle. The driving support device according to any one of claims 1 to 5 ,
Path estimation for estimating an expected path (24, 33) of the vehicle (23, 32) traveling in the direction approaching the obstacle on the basis of the surrounding environment information when avoiding the obstacle. Further comprises a section (S108),
The said execution part is a driving assistance device which adjusts the movement amount of the said vehicle in the said avoidance control according to the said estimated course.