JP6871724B2 - Vehicle travel control device - Google Patents

Description

The present invention relates to a vehicle travel control device that recognizes a travel environment, detects travel information of the own vehicle, and performs automatic driving control.

In recent years, in vehicles, various technologies have been proposed and put into practical use that recognize the driving environment, detect the driving information of the own vehicle, execute steering control and acceleration / deceleration control in a coordinated manner, and enable automatic driving. ing. For example, in Japanese Patent Application Laid-Open No. 2015-24746 (hereinafter, Patent Document 1), acceleration / deceleration control of the accelerator and brake is preceded by operation control in a rampway route from a general road to a main line confluence point of an expressway. Then, the technology of the automatic driving control device for switching from the manual driving mode to the automatic driving mode and suppressing giving a sense of discomfort to the driver is disclosed.

Japanese Unexamined Patent Publication No. 2015-24746

By the way, in the technique of the automatic driving control device as disclosed in Patent Document 1 described above, when it is determined that it is difficult to continue the automatic driving, it is necessary to take over the driving to the driver as quickly and safely as possible. ..

On the other hand, even when it is judged that it is difficult to continue automatic driving, there are various cases depending on the driving environment and the driving information of the own vehicle, and all driving controls are not necessarily released and automatic driving is changed to manual driving. It may not be necessary to migrate.

For example, at tollhouses on various tollhouses such as expressways, it is common to install multiple tollhouse gates that are larger than the number of lanes, and in the area in front of such tollhouses, the road width is wide. It widens rapidly and the lane markings disappear. Therefore, in the area in front of the tollhouse, it is difficult to recognize the driving lane of the own vehicle based on the information of the in-vehicle camera or the like, and it is assumed that the driving mode shifts from the automatic driving to the manual driving.

However, since the disappearance of lane markings in the area in front of the tollhouse can be expected in advance, it is desirable to take measures to continue automatic driving in such cases.

On the other hand, in the area in front of the tollhouse, it is difficult to grasp the sense of distance ahead, so peripheral vehicles such as preceding vehicles may behave unexpectedly. It is necessary to take measures against such behavior of surrounding vehicles.

The present invention has been made in view of the above circumstances, and provides a vehicle travel control device capable of appropriately guiding a vehicle to a tollhouse gate without canceling automatic driving even in an area in front of the tollhouse. The purpose is.

The vehicle travel control device according to one aspect of the present invention acquires the travel environment information on which the own vehicle travels, detects the travel information of the own vehicle, and controls a plurality of operations based on the travel environment information and the travel information. In the driving control device of the vehicle that executes the automatic driving control in coordination with the above, the peripheral environment recognition means for recognizing the driving environment information including the three-dimensional object information existing in front of the own vehicle as the driving environment information is stored in advance. The vehicle position information detecting means that detects the vehicle position information on the map data as the traveling environment information, and the charge that the vehicle should pass within the forward set distance on the map data by the vehicle position information detecting means. When the location is detected, the tollgate passage mode executing means for executing the tollgate passage mode as the mode of the automatic operation control and the own vehicle passage route to the tollgate are set when the tollgate passage mode is executed. When a preceding vehicle traveling along the own vehicle passing route is detected by the surrounding environment recognition means when the own vehicle passing route setting means and the toll gate passing mode are executed, the following vehicle follows the preceding vehicle. When the preceding vehicle traveling along the own vehicle passing route is not detected by the surrounding environment recognition means, the traveling control means at the time of passing through the tollgate that controls the traveling along the own vehicle passing route. The traveling control means when passing through the tollgate makes the target vehicle-to-vehicle distance of the follow-up traveling control when the tollgate passing mode is executed relative to the target vehicle-to-vehicle distance when not executing the tollgate passing mode. Set longer , the peripheral environment recognition means makes the number of samplings until the driving environment information is recognized when the tollgate passage mode is executed smaller than the number of samplings other than when the tollgate passage mode is executed. It is a thing.

According to the vehicle travel control device of the present invention, it is possible to appropriately guide the own vehicle to the tollhouse gate without canceling the automatic driving even in the area in front of the tollhouse.

Overall configuration diagram of the vehicle travel control device Flowchart showing tollhouse passage control routine (1) Flowchart showing tollhouse passage control routine (Part 2) A map showing the relationship between the speed of the preceding vehicle and the distance between the target vehicles A map showing the relationship between the distance to the tollhouse gate and the target vehicle speed Explanatory drawing showing an example of an image when a toll gate is in front of the vehicle Explanatory drawing showing an example of an image when the tollhouse gate in front of the own vehicle is blocked by the preceding vehicle Explanatory diagram showing an example of an image of the tollhouse gate after changing the target inter-vehicle distance from the preceding vehicle Explanatory drawing showing an example of the vehicle passing route to the tollhouse gate

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to one embodiment of the present invention, FIG. 1 is an overall configuration diagram of a vehicle travel control device, FIGS. 2 and 3 are flowcharts showing a tollhouse passage control routine, and FIG. 4 is a preceding vehicle speed and a target vehicle-to-vehicle distance. A map showing the relationship, FIG. 5 is a map showing the relationship between the distance to the tollhouse gate and the target vehicle speed, FIG. 6 is an explanatory diagram showing an example of an image when the tollhouse gate is in front of the vehicle, and FIG. 7 is an explanatory diagram. Explanatory drawing showing an example of an image when the tollhouse gate in front of the own vehicle is blocked by a preceding vehicle, FIG. 8 is an explanatory diagram showing an example of an image of the tollhouse gate after changing the target inter-vehicle distance from the preceding vehicle. FIG. 9 is an explanatory diagram showing an example of the vehicle passing route to the tollhouse gate.

In FIG. 1, reference numeral 1 indicates a vehicle travel control device, and the travel control device 1 includes a travel control unit 10, a peripheral environment recognition device 11, a driver state detection device 12, a travel parameter detection device 13, and an own vehicle. Position information detection device 14, vehicle-to-vehicle communication device 15, road traffic information communication device 16, switch group 17, each input device, engine control device 21, brake control device 22, steering control device 23, display device 24, speaker buzzer. Each of the 25 output devices is connected.

The surrounding environment recognition device 11 includes a camera device (stereo camera, monocular camera, color camera, etc.) equipped with a solid-state image sensor or the like provided in the vehicle interior for photographing the external environment of the vehicle and acquiring image information, and the periphery of the vehicle. It is composed of a radar device (laser radar, millimeter-wave radar, etc.) that receives reflected waves from a stereoscopic object existing in the camera, a sonar, etc. (not shown above).

The surrounding environment recognition device 11 performs, for example, a well-known grouping process on the distance information based on the image information captured by the camera device, and sets the grouped distance information in advance in a three-dimensional road shape. By comparing data and three-dimensional object data, lane marking data, side wall data such as guard rails and edge stones existing along the road, three-dimensional objects such as vehicles (preceding vehicle, oncoming vehicle, parallel running vehicle, parked vehicle) Data etc. are extracted together with the relative position (distance, angle) and speed from the own vehicle.

Further, the surrounding environment recognition device 11 detects the position (distance, angle) of the reflected three-dimensional object together with the speed based on the reflected wave information acquired by the radar device. As described above, the peripheral environment recognition device 11 is provided as a peripheral environment recognition means for configuring the traveling environment information acquisition means for acquiring the traveling environment information on which the own vehicle travels.

The driver state detection device 12 is composed of, for example, a heart rate sensor provided in the driver's seat or a handle as disclosed in Japanese Patent Application Laid-Open No. 2012-219979, and has a heart rate from a heart rate detection signal detected by the heart rate sensor. Is measured, and the arousal level of the driver is detected based on this heart rate. As described above, in the present embodiment, the driver state detecting device 12 is provided as an arousal level detecting means.

The traveling parameter detection device 13 includes traveling information of the own vehicle, specifically, vehicle speed, steering torque, steering wheel angle, yaw rate, accelerator opening, throttle opening, road surface gradient of the traveling road surface, estimated road surface friction coefficient, and the like. Is detected. As described above, the traveling parameter detecting device 13 has a function of traveling information detecting means.

The own vehicle position information detection device 14 is, for example, a known navigation system, for example, receives a radio wave transmitted from a GPS (Global Positioning System) satellite, and determines the current position based on the radio wave information. Detected and stored in advance on map data such as flash memory, CD (Compact Disk), DVD (Digital Versatile Disc), Blu-ray (registered trademark) disc, HDD (Hard Disk drive), etc. Identify the position of your vehicle.

The map data stored in advance includes road data and facility data. Road data includes link position information, type information, node position information, type information, curve curvature (or curve radius) at the node, and information on the connection relationship between the node and the link, that is, road branching and merging. It includes point information and maximum vehicle speed information at branch roads. The facility data has multiple records for each facility, and each record contains the name information, location information, and facility type (department store, store, restaurant, parking lot, park, vehicle failure) of the target facility. It has data showing information (by repair base). Then, when the position of the own vehicle on the map position is displayed and the destination is input by the operator, the route from the departure place to the destination is predeterminedly calculated and displayed on the display device 24 such as a display or a monitor. In addition, the speaker buzzer 25 allows guidance as voice guidance. As described above, the own vehicle position information detecting device 14 is provided as the own vehicle position information detecting means for forming the traveling environment information acquiring means.

The vehicle-to-vehicle communication device 15 is composed of a narrow-range wireless communication device having a communication area of about 100 (m) such as a wireless LAN, and directly communicates with another vehicle without going through a server or the like to transmit and receive information. It is possible to do it. Then, vehicle information, traveling information, traffic environment information, etc. are exchanged by mutual communication with other vehicles. The vehicle information includes unique information indicating a vehicle type (in this embodiment, a type of a passenger car, a truck, a motorcycle, or the like). Further, the traveling information includes vehicle speed, position information, lighting information of the brake lamp, blinking information of the direction indicator transmitted when turning left or right, and blinking information of the hazard lamp blinking at the time of emergency stop. Further, the traffic environment information includes information that changes depending on the situation such as road congestion information and construction information. As described above, the vehicle-to-vehicle communication device 15 is provided as a vehicle-to-vehicle communication means for forming the traveling environment information acquisition means.

The vehicle information and communication system 16 is a so-called vehicle information and communication system (VICS), which is used for FM multiplex broadcasting and transmitters on the road to cause traffic jams, accidents, construction, required time, and parking. It is a device that receives the road traffic information of the yard in real time and displays the received traffic information on the above-mentioned pre-stored map data. As described above, the road traffic information communication device 16 is provided as a road traffic information communication means for forming the traveling environment information acquisition means.

The switch group 17 is a group of switches related to driver's driving support control. For example, a switch that controls traveling at a constant speed set in advance, or a vehicle-to-vehicle distance and an inter-vehicle time from a preceding vehicle are set in advance. A switch for maintaining a constant value and performing follow-up control, a switch for lane keep control that maintains the driving lane in the set lane for driving control, a switch for lane departure prevention control that controls deviation from the driving lane, and a preceding switch. An overtaking control execution permission switch that executes overtaking control of a vehicle (vehicle to be overtaken), and an automatic driving control that performs all of these controls (operation control generally classified into steering control and acceleration / deceleration control) in cooperation with each other. It is composed of a switch for setting a vehicle speed, a vehicle-to-vehicle distance, an inter-vehicle time, a speed limit, etc. required for each of these controls, a switch for releasing each of these controls, and the like.

The engine control device 21 is a fuel for a vehicle engine (not shown) based on, for example, intake air amount, throttle opening degree, engine water temperature, intake air temperature, oxygen concentration, crank angle, accelerator opening degree, and other vehicle information. It is a known control unit that performs main controls such as injection control, ignition timing control, and electronically controlled throttle valve control.

The brake control device 22 controls the four-wheel brake device (not shown) independently of the driver's brake operation, based on, for example, a brake switch, four-wheel wheel speed, handle angle, yaw rate, and other vehicle information. It is a known control unit that performs yaw moment control (yaw brake control) that adds yaw moment to the vehicle, such as a known antilock brake system and side slip prevention control. Then, when the braking force of each wheel is input from the traveling control unit 10, the brake control device 22 calculates the brake fluid pressure of each wheel based on the braking force, and the brake driving unit (not shown). ) Is activated.

The steering control device 23 is known to control the assist torque by an electric power steering motor (not shown) provided in the steering system of the vehicle based on, for example, vehicle speed, steering torque, steering wheel angle, yaw rate, and other vehicle information. It is a control device. Further, the steering control device 23 is capable of lane keep control that maintains the above-mentioned traveling lane in the set lane and controls traveling, lane departure prevention control that controls deviation from the traveling lane, and obstacle avoidance steering control. The steering angle or steering torque required for these steering controls is calculated by the traveling control unit 10 and input to the steering control device 23, and the electric power steering motor drives and controls according to the input control amount. Will be done.

The display device 24 is, for example, a device that visually warns and notifies drivers of monitors, displays, alarm lamps, and the like. The speaker buzzer 25 is a device that visually warns and notifies the driver. That is, the display device 24 and the speaker buzzer 25 are provided as notification means.

Then, the travel control unit 10 is based on the input signals from the above-mentioned devices 11 to 17, and the collision prevention control with obstacles, the constant speed travel control, the follow-up travel control, the lane keep control, and the lane departure prevention control. , Overtaking control, obstacle avoidance steering control, and other steering controls and acceleration / deceleration control are coordinated to execute automatic driving control and the like.

In this case, when the preceding vehicle does not exist in front of the own vehicle, the traveling control unit 10 performs constant speed traveling control in which the set vehicle speed Vset set by the driver is set as the target vehicle speed Vtrg as the vehicle speed control related to the automatic driving control. .. That is, the traveling control unit 10 calculates a target acceleration a for converging the own vehicle speed V0 to the set vehicle speed Vset, outputs a signal to the engine control device 21 based on the target acceleration a, and feeds back the opening degree of the throttle valve. Alternatively, a deceleration signal is output to the brake control device 22 to activate the automatic brake.

Further, when the preceding vehicle is in front of the own vehicle, the traveling control unit 10 performs vehicle speed control for converging the inter-vehicle distance L with the preceding vehicle to the target inter-vehicle distance Dtrg as the vehicle speed control related to the automatic driving control. .. That is, the traveling control unit 10 calculates the target acceleration a using, for example, the following equation (1), outputs a signal to the engine control device 21 based on the target acceleration a, and feeds back the opening degree of the throttle valve. Alternatively, by outputting a deceleration signal to the brake control device 22 and operating the automatic brake, the inter-vehicle distance L is converged to the target inter-vehicle distance Dtrg.
a = af + ((V0-Vf) ² / (L-Dtrg)) ... (1)
Here, in the equation (1), af is the acceleration of the preceding vehicle, V0 is the own vehicle speed, and Vf is the preceding vehicle speed. Further, the target inter-vehicle distance Dtrg is variably set by referring to a preset map or the like, as shown by a solid line in FIG. 4, and the target inter-vehicle distance Dtrg is set as the preceding vehicle speed Vf increases. A large value is set.

Further, the traveling control unit 10 controls the automatic driving control when, for example, the own vehicle position information detecting device 14 or the like detects the tollhouse 50 through which the own vehicle should pass within the forward set distance L0 on the map data. Execute the tollhouse passage mode as the mode.

Then, when the tollhouse passage mode is executed, the travel control unit 10 reaches the tollhouse 50 as a route for continuing automatic driving control even if the lane marking line disappears in front of the tollhouse 50. The own vehicle passage route is set, and the operation control of the own vehicle (tollhouse passage control) is performed according to the own vehicle passage route.

Specifically, when the tollhouse gate 50a of the tollhouse 50 is recognized by the surrounding environment recognition device 11 (see, for example, FIG. 6), the traveling control unit 10 passes the vehicle to the recognized tollhouse gate 50a. Set the route. That is, when the surrounding environment recognition device 11 recognizes a plurality of tollhouse gates 50a at the tollhouse 50 in front of the vehicle, the traveling control unit 10 sets various conditions (for example, tolls) set in advance from among these. Depending on whether the tollhouse gate is an "ETC dedicated gate" or a "general gate", the direction of travel of the own vehicle after passing through the tollhouse, various conditions such as the degree of congestion at each tollhouse gate), the own vehicle The tollhouse gate 50a to be passed is selected, and the route to the selected tollhouse gate 50a (for example, the own vehicle passing route shown by the broken line in FIG. 9) is set.

On the other hand, when it is difficult for the surrounding environment recognition device 11 to recognize the tollhouse gate 50a, the traveling control unit 10 may, for example, own vehicle position information until the surrounding environment recognition device 11 recognizes the tollhouse gate 50a. A route preset in the map data or the like of the detection device 14 is set as a temporary route (own vehicle passing route).

Then, the travel control unit 10 checks whether or not there is a preceding vehicle traveling along the own vehicle traveling route based on the information from the surrounding environment recognition device 11 and the like, and determines whether or not there is a preceding vehicle traveling along the own vehicle traveling route. If there is a vehicle, follow-up travel control is performed to follow the preceding vehicle. At that time, the traveling control unit 10 sets the target inter-vehicle distance Dtrg (for example, see the alternate long and short dash line in FIG. 4) with respect to the preceding vehicle to the target inter-vehicle distance Dtrg (for example, FIG. Set relatively longer than the solid line inside).

On the other hand, when there is no preceding vehicle traveling along the own vehicle traveling route, the traveling control unit 10 performs traveling control along the own vehicle traveling route. At that time, for example, as shown in FIG. 5, the travel control unit 10 sets a preset value Vtrg0 as the target vehicle speed Vtrg, and when the distance Ltoll to the tollhouse becomes less than the set distance Lth, the target. The vehicle speed Vtrg is gradually reduced to a predetermined extreme constant speed (for example, 20 km / h or less).

Here, for example, as shown in FIG. 7, when the toll gate 50a is not recognized by the surrounding environment recognition device 11 and the preceding vehicle 51 is recognized in front of the own vehicle, the traveling control unit 10 Corrects the target inter-vehicle distance Dtrg with respect to the preceding vehicle 51 to a value larger than the current value, and temporarily controls the inter-vehicle distance with the preceding vehicle 51 in the separation direction.

As described above, in the present embodiment, the travel control unit 10 realizes each function as a tollhouse passage mode execution means, a own vehicle passage route setting means, a travel control means when passing through the tollhouse, and an inter-vehicle distance separation control means. To do.

Next, the tollhouse passage control executed by the travel control unit 10 will be described with reference to the flowchart of the tollhouse passage control routine shown in FIGS. This routine is, for example, an interrupt routine executed during automatic driving control, and when the routine starts, the travel control unit 10 first, in step S101, maps based on the information from the own vehicle position information detection device 14. It is checked whether or not the tollhouse 50 is detected so that the own vehicle can pass within the forward set distance on the data.

Then, when it is determined in step S101 that the tollhouse 50 has not been detected, the travel control unit 10 exits the routine as it is without executing the tollhouse passage mode as the control mode of the automatic driving control.

On the other hand, if it is determined in step S101 that the tollhouse 50 has been detected, the travel control unit 10 proceeds to step S102 in order to execute the tollhouse passage mode by the following processing.

From step S101 to step S102, the travel control unit 10 makes a change to set the control responsiveness to the travel environment information recognized by the surrounding environment recognition device 11 or the like higher than in the normal state.

Specifically, the travel control unit 10 changes the setting so that the number of samplings until the sensors included in the surrounding environment recognition device 11 or the like recognize various travel environment information is smaller than in the normal state. Increase control responsiveness.

Further, in step S102, when the surrounding environment recognition device 11 recognizes the preceding vehicle in front of the own vehicle, the traveling control unit 10 sets the target inter-vehicle distance Dtrg with respect to the preceding vehicle.

Specifically, for example, as shown by the alternate long and short dash line in FIG. 4, the traveling control unit 10 sets the target inter-vehicle distance Dtrg according to the preceding vehicle speed Vf with reference to a preset map or the like. In this case, as is clear from FIG. 4, the target inter-vehicle distance Dtrg at the time of executing the toll gate passing mode is set longer as the preceding vehicle speed Vf increases. Further, the target inter-vehicle distance Dtrg when the tollhouse passing mode is executed is larger than the target inter-vehicle distance Dtrg (see the solid line in FIG. 4) set at the same preceding vehicle speed Vf except when the tollhouse passing mode is executed. It is set relatively long.

Further, in step S102, the travel control unit 10 sets a target vehicle speed Vtrg for performing travel control along the own vehicle passage route.

Specifically, the travel control unit 10 sets the target vehicle speed Vtrg with reference to a preset map or the like, for example, as shown in FIG. In this case, as is clear from FIG. 5, when the distance Ltoll to the tollhouse is equal to or greater than the set distance Lth, the preset fixed value Vtrg0 is set as the target vehicle speed Vtrg, and the distance Ltoll to the tollhouse gate is set. When is less than the set distance Lth, the target vehicle speed Vtrg is gradually reduced to a predetermined extremely constant speed (for example, 20 km / h or less).

Proceeding from step S102 to step S103, the travel control unit 10 checks whether or not the own vehicle passage route is set based on the tollhouse gate 50a recognized by the surrounding environment recognition device 11.

Then, in step S103, when it is determined that the own vehicle passage route based on the tollhouse gate 50a is set, the travel control unit 10 proceeds to step S111.

On the other hand, in step S113, when it is determined that the own vehicle passage route based on the tollhouse gate 50a is not set (that is, it is determined that the tollhouse gate 50a is not recognized in front of the own vehicle by the surrounding environment recognition device 11). ), The travel control unit 10 proceeds to step S104.

From step S103 to step S104, the travel control unit 10 checks whether or not the tollhouse gate 50a is currently recognized by the surrounding environment recognition device 11, and the tollhouse gate 50a is recognized in front of the own vehicle. If it is determined to be present (see, for example, FIG. 6), the process proceeds to step S110.

On the other hand, if it is determined in step S104 that the toll gate 50a is not recognized in front of the own vehicle, the travel control unit 10 proceeds to step S105.

When the vehicle proceeds from step S104 to step S105, the traveling control unit 10 examines whether or not the preceding vehicle is recognized in front of the own vehicle by the surrounding environment recognition device 11, and if it is determined that the preceding vehicle is not recognized, The process proceeds to step S109.

On the other hand, when it is determined in step S105 that the preceding vehicle 51 is recognized, the traveling control unit 10 causes the tollhouse gate 50a not to be recognized, for example, as shown in FIG. 7, the tollhouse gate 50a is the preceding vehicle. It is determined that there is a high possibility that the shield is shielded by, and the process proceeds to step S106.

From step S105 to step S106, the travel control unit 10 sets the target inter-vehicle distance Dtrg according to the vehicle height of the preceding vehicle. That is, in step S106, the travel control unit 10 temporarily resets the target inter-vehicle distance Dtrg set in step S102 to the target inter-vehicle distance Dtrg according to the vehicle height of the preceding vehicle.

Here, the target inter-vehicle distance Dtrg temporarily reset in step S106 is, for example, a sufficiently longer inter-vehicle distance than the target inter-vehicle distance Dtrg normally set in the follow-up travel control, and is set in advance by an experiment or the like. Based on the map etc. (not shown), it is set so that the higher the vehicle height of the preceding vehicle, the longer it becomes.

Then, from step S106 to step S107, the travel control unit 10 controls the inter-vehicle distance with respect to the preceding vehicle 51 based on the target inter-vehicle distance Dtrg temporarily reset in step S106.

That is, the travel control unit 10 substitutes the target inter-vehicle distance Dtrg reset in step S106 into the above equation (1) to converge the inter-vehicle distance L with the preceding vehicle 51 to the target inter-vehicle distance Dtrg. Acceleration (target deceleration) a is calculated, and the inter-vehicle distance is controlled by deceleration.

Then, in step S108, the travel control unit 10 checks whether or not the tollhouse gate 50a can be recognized by the inter-vehicle distance control with the preceding vehicle 51, and if it has not yet recognized the tollhouse gate, step S109. Proceed to.

On the other hand, in step S108, when it is determined that the tollhouse gate 50a can be recognized by the inter-vehicle distance control with the preceding vehicle 51 (see, for example, FIG. 8), the travel control unit 10 proceeds to step S110.

When proceeding from step S104 or step S108 to step S110, the travel control unit 10 passes through the tollhouse gate 50a to which the own vehicle should pass from among the currently recognized tollhouse gates 50a based on preset conditions. Select and set the own vehicle passage route to the selected tollhouse gate 50a (see the broken line in FIG. 9).

Further, when the process proceeds from step S103 or step S110 to step S111, whether the traveling control unit 10 recognizes the guide line 50b for guiding the vehicle to the currently selected tollhouse gate 50a by the surrounding environment recognition device 11. If it is checked whether or not the guide line 50b is not recognized, the process proceeds to step S113.

On the other hand, when it is determined in step S111 that the guide line 50b is recognized by the surrounding environment recognition device 11, the traveling control unit 10 more precisely resets the own vehicle passage route based on the recognized guide line 50b. After that, the process proceeds to step S113.

Further, when proceeding from step S105 or step S108 to step S109, the travel control unit 10 uses, for example, the own vehicle position information detection device 14 as a temporary route until the tollhouse gate 50a is recognized by the surrounding environment recognition device 11. After setting the route set in advance in the map data or the like as the own vehicle passing route, the process proceeds to step S113.

When the vehicle proceeds from step S109, step S111, or step S112 to step S113, the traveling control unit 10 checks whether or not there is a preceding vehicle whose traveling direction matches the currently set own vehicle passing route.

That is, in step S113, the travel control unit 10 checks whether or not the preceding vehicle is recognized in front of the own vehicle, and if the preceding vehicle is recognized, for example, the direction and lateral speed of the preceding vehicle. It is examined whether or not the traveling direction estimated from is consistent with the own vehicle passing route within a predetermined error range.

Then, in step S113, when it is determined that there is a preceding vehicle whose traveling direction coincides with the own vehicle passing route, the traveling control unit 10 proceeds to step S114 and is based on the target inter-vehicle distance Dtrg set in step S102 described above. Then, after performing follow-up travel control with respect to the preceding vehicle, the process returns to step S101.

On the other hand, in step S113, when it is determined that the preceding vehicle is not recognized in front of the own vehicle, or the preceding vehicle is recognized in front of the own vehicle, the preceding vehicle and the own vehicle passing route do not match. If it is determined, the travel control unit 10 proceeds to step S115, performs travel control along the own vehicle passage route based on the target vehicle speed Vtrg set in step S102, and then returns to step S101.

According to such an embodiment, when the vehicle position information detection device 14 detects a toll station that the vehicle should pass within the forward set distance on the map data, the toll station passage mode is used as the mode of automatic driving control. When the surrounding environment recognition device 11 recognizes the toll gate 50a of the toll station 50, the vehicle passing route to the toll gate 50a is set and the set self is set. By controlling the operation of the own vehicle according to the vehicle passage route, it is possible to appropriately guide the own vehicle to the tollgate gate based on the information acquired in real time without canceling the automatic driving even in front of the tollgate. it can.

When the tollhouse passage mode is executed, when the tollhouse gate 50a is not recognized by the surrounding environment recognition device 11 and the preceding vehicle 51 is recognized in front of the own vehicle, the distance between the vehicle and the preceding vehicle 51 is determined. By temporarily controlling in the separation direction, the tollhouse gate 50a can be quickly recognized even when the tollhouse gate 50a is not recognized due to the preceding vehicle 51 blocking the front.

Further, when the tollhouse passage mode is executed, until the tollhouse gate 50a is recognized by the surrounding environment recognition device 11, up to the tollhouse 50 preset on the map data of the own vehicle position information detection device 14. By setting the route as the own vehicle traveling route, automatic driving control can be continuously performed until the tollhouse gate 50a is recognized.

Further, when the surrounding environment recognition device 11 detects a preceding vehicle traveling along the own vehicle passing route when the tollhouse passing mode is executed, the following traveling control that follows the preceding vehicle is used. By realizing the traveling along the passage route of the own vehicle, it is possible to realize the traveling control without a sense of discomfort. In this case, by setting the target inter-vehicle distance Dtrg of the follow-up travel control when the tollhouse passing mode is executed to be relatively longer than the target inter-vehicle distance Dtrg other than when the tollhouse passing mode is executed, the sense of distance ahead is felt. In an area in front of a tollhouse where it is difficult to grasp the above, it is possible to realize highly safe driving control even when a peripheral vehicle such as a preceding vehicle exhibits unexpected behavior such as sudden deceleration.

Further, when the tollhouse passing mode is executed, the control responsiveness to the traveling environment information is set higher than when the tollhouse passing mode is executed, so that more safe driving control can be realized.

The present invention is not limited to the above-described embodiments, and various modifications and changes can be made, which are also within the technical scope of the present invention.

1 ... Driving control device 10 ... Driving control unit 11 ... Surrounding environment recognition device (Peripheral environment recognition means (driving environment information acquisition means))
12 ... Driver state detection device (alertness detection means)
13 ... Driving parameter detection device (driving information detecting means)
14 ... Vehicle position information detection device (vehicle position information detection means (driving environment information acquisition means))
15 ... Vehicle-to-vehicle communication device (vehicle-to-vehicle communication means (driving environment information acquisition means))
16 ... Road traffic information communication device (road traffic information acquisition means (driving environment information acquisition means))
17… Switch group 21… Engine control device 22… Brake control device 23… Steering control device 24… Display device 25… Speaker buzzer 50… Tollhouse 50… Induction line 50… Tollhouse 50a… Tollhouse gate 51… Preceding vehicle

Claims (2)

Traveling of a vehicle that acquires driving environment information on which the own vehicle is traveling, detects the driving information of the own vehicle, and executes automatic driving control in which a plurality of driving controls are coordinated based on the driving environment information and the driving information. In the control device
A peripheral environment recognition means that recognizes driving environment information including three-dimensional object information existing in front of the own vehicle as the driving environment information, and
The vehicle position information detecting means for detecting the vehicle position information on the map data stored in advance as the driving environment information, and the vehicle position information detecting means.
When the tollhouse to which the own vehicle should pass is detected by the own vehicle position information detecting means within the forward set distance on the map data, the tollhouse passage mode for executing the tollhouse passage mode as the automatic driving control mode is executed. Mode execution means and
When the tollhouse passage mode is executed, the own vehicle passage route setting means for setting the own vehicle passage route to the tollhouse, and the own vehicle passage route setting means.
When the tollhouse passing mode is executed, when the preceding vehicle traveling along the own vehicle passing route is detected by the surrounding environment recognition means, the following traveling control is performed to follow the preceding vehicle, and the surrounding environment recognition means. When the preceding vehicle traveling along the own vehicle passing route is not detected, the traveling control means at the time of passing through the tollhouse that controls the traveling along the own vehicle passing route is provided.
The travel control means when passing through the tollhouse sets the target vehicle-to-vehicle distance of the follow-up travel control when the tollhouse passage mode is executed to be relatively longer than the target vehicle-to-vehicle distance when the tollhouse passage mode is not executed. And
The peripheral environment recognition means is characterized in that the number of samplings until the driving environment information is recognized when the tollhouse passing mode is executed is smaller than the number of samplings when the tollhouse passing mode is not executed. Vehicle travel control device. When the tollhouse is not recognized by the surrounding environment recognition means and the preceding vehicle is present, the traveling control means when passing through the tollhouse is the following driving control when the tollhouse passing mode is executed. The vehicle travel control device according to claim 1 , wherein the target inter-vehicle distance is temporarily set so as to become longer as the vehicle height of the preceding vehicle increases.

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