JP6900843B2 - Vehicle travel control method and vehicle travel control device - Google Patents

Description

The present invention relates to a vehicle travel control method and a vehicle travel control device.

Conventionally, when another vehicle is detected on the side of the own vehicle, it is determined whether or not it is a merging point, and if it is a merging point, there is a high possibility of interruption, and the inter-vehicle distance extension adjustment is performed. Distance control devices are known (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2013-177054

The above technology is a technology for controlling the side to be handed over to another vehicle at the time of merging, that is, the side receiving an interrupt (non-merging side), and there is no disclosure about the control of the side to be handed over (merging side). Therefore, depending on the situation on the non-merging side, it may not be possible to merge forever.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle travel control method and a vehicle travel control device capable of allowing a vehicle to enter the lane after merging.

In the vehicle travel control method according to one aspect of the present invention, a vehicle in front traveling in front of a vehicle traveling in a lane enters a lane after merging after the lane and another lane have merged, and then next to the vehicle in the other lane. Detects that an adjacent vehicle traveling in the lane has entered the lane after merging. Then, after the detection, when the inter-vehicle distance between the following vehicle traveling immediately after the adjacent vehicle and the adjacent vehicle is equal to or greater than the preset approachable inter-vehicle distance, the vehicle is brought into the lane after merging.

According to the present invention, the own vehicle can enter the lane after merging.

FIG. 1 is a functional block diagram showing a part of a vehicle equipped with a vehicle travel control device according to an embodiment of the present invention. FIG. 2 is a flowchart for explaining a vehicle running control method for the vehicle of FIG. FIG. 3 is a diagram for explaining how the vehicle of FIG. 1 enters the lane after merging.

Hereinafter, embodiments will be described with reference to the drawings. In the description of the drawings, the same parts are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 1, the vehicle includes an automatic driving controller 1, an external sensor unit 2, an internal sensor unit 3, and an actuator unit 4. This vehicle is called "own vehicle" so as not to be confused with other vehicles.

The automatic driving controller 1 corresponds to a vehicle travel control device, and can be realized by using a microcomputer including a CPU (central processing unit), a memory, and an input / output unit. A computer program for operating the microcomputer as the automatic operation controller 1 is installed and executed on the microcomputer. As a result, the microcomputer functions as the automatic operation controller 1. Here, an example of realizing the automatic driving controller 1 by software is shown, but of course, it is also possible to configure the automatic driving controller 1 by preparing dedicated hardware for executing each of the following information processing. It is possible.

The external sensor unit 2 includes a radar device such as a laser radar or a millimeter wave radar, or a camera such as a monocular or compound eye stereo camera (both not shown), and information on an object around the own vehicle obtained from the radar device or the camera. (Referred to as peripheral object information) is output to the automatic operation controller 1. Peripheral object information includes at least information about objects in front of and to the side of the own vehicle. Peripheral object information includes the type of object, the relative position with the own vehicle, and the relative speed with the own vehicle.

The internal sensor unit 3 detects the vehicle speed, acceleration, angular acceleration, etc. of the own vehicle (these are referred to as own vehicle information) and outputs them to the automatic driving controller 1. The internal sensor unit 3 includes, for example, a wheel speed sensor that detects the rotation speed of each vehicle as a signal, a G sensor that detects acceleration or deceleration applied to the vehicle body in the front-rear, left-right, and up-down directions as a signal, and a turning direction. It is equipped with a yaw rate sensor that detects the rate of change of the rotation angle to as a signal.

The automatic driving controller 1 generates speed control information for controlling the vehicle speed of the own vehicle and steering control information for controlling the steering of the own vehicle based on the peripheral object information and the own vehicle information, and outputs the information to the actuator unit 4. To do.

The actuator unit 4 controls the operation amount (driving force) of the accelerator pedal of the own vehicle, the operation amount (braking force) of the brake pedal, and the steering angle (steering amount) of the steering wheel based on the speed control information and the steering control information. , Automatically drive your vehicle.

The automatic driving controller 1 has lane approach determination unit 11 (lane approach determination circuit), inter-vehicle distance measurement unit 12 (inter-vehicle distance measurement circuit), and vehicle travel control unit 13 as functional components realized by executing a computer program. (Vehicle running control circuit) is provided.

The lane entry determination unit 11 is an adjacent vehicle that travels in front of the own vehicle and travels next to the own vehicle in the other lane after entering the lane after the merging, which is the lane after the lane and the other lane have merged. Detects that the vehicle has entered the lane after merging. The lane after merging includes not only the lane 24 after merging that is neither the own lane nor the other lane, but also the other lane after the own lane is combined with the other lane.

Specifically, the lane entry determination unit 11 first uses known methods such as dead reckoning, odometry, and Kalman filter based on peripheral object information and own vehicle information obtained by the external sensor unit 2 and the internal sensor unit 3. Use to identify the location of your vehicle on the map. Then, based on the peripheral object information acquired by the external sensor unit 2, the positions of the vehicle in front and the adjacent vehicle on the map are identified and tracked.

The inter-vehicle distance measuring unit 12 measures the inter-vehicle distance between the following vehicle and the adjacent vehicle traveling immediately after the adjacent vehicle after detecting that the adjacent vehicle has entered the lane after the merging after the preceding vehicle has entered the lane after merging. To do. Specifically, the above-mentioned inter-vehicle distance can be measured from the relative positions of the following vehicle and the adjacent vehicle with respect to the own vehicle acquired by the external sensor unit 2.
The vehicle travel control unit 13 causes the own vehicle to enter the lane after merging when the inter-vehicle distance is equal to or greater than a preset approachable inter-vehicle distance.

Next, with reference to FIG. 2, an example of the vehicle running control method for the own vehicle of FIG. 1 will be described. The own vehicle repeats the process of FIG. 2 while traveling.
Step S1: The automatic driving controller 1 detects other vehicles around the own vehicle based on the peripheral object information. In addition, the shape of the road around the own vehicle is detected based on the peripheral object information.

Step S3: Next, the automatic driving controller 1 merges another lane (another lane) with the lane (own lane) in which the own vehicle is currently traveling based on the shape of the road around the own vehicle detected in step S1. It is determined whether or not the own vehicle is traveling at a point (referred to as a merging point) that becomes one lane (the lane after merging). Here, the lane is not limited to one of a plurality of lanes constituting the road. The one-lane road itself is also called a lane. It also includes cases where the lane in which the vehicle is traveling is blocked due to road construction or a traffic accident.

If the vehicle is not traveling at the confluence (S3: NO), the vehicle is continued (S5), the process is completed, and if the vehicle is traveling at the confluence (S3: YES), the process proceeds to step S7.
Step S7: The automatic driving controller 1 determines whether or not there is a vehicle (adjacent vehicle) traveling next to the own vehicle in another lane based on the peripheral object information. If there is no adjacent vehicle (S7: NO), the process proceeds to step S9, and if there is an adjacent vehicle (S7: YES), the process proceeds to step S11.

The autonomous driving controller 1 uses, for example, based on the highly accurate position information and peripheral object information of the feature in the traffic environment acquired in advance, that is, by the position estimation method based on the image, the positions of the adjacent vehicle and the own vehicle and the adjacent vehicle. Estimate the relative position of your vehicle. Then, based on the relative position, it is determined whether or not there is an adjacent vehicle. The position of the own vehicle may be estimated based on the vehicle speed, acceleration, angular acceleration, etc. (own vehicle information) of the own vehicle by a method called odometry, dead reckoning method, or the like.

Step S9: The automatic driving controller 1 suppresses the own vehicle from entering the lane after merging, and finishes the process. Specifically, the vehicle travel control unit 13 outputs steering control information and speed control information to the actuator unit 4 so that the own vehicle does not enter the lane after merging. In some cases, the vehicle slows down.

Step S11: The automatic driving controller 1 decelerates the own vehicle so that the adjacent vehicle can enter the lane after merging before the own vehicle (in order to give it to the adjacent vehicle). Specifically, the vehicle travel control unit 13 outputs speed control information for decelerating the own vehicle to the actuator unit. As a result, the own vehicle decelerates. By decelerating the own vehicle, it is possible to make it easier for the adjacent vehicle to enter the lane after merging before the own vehicle, and it is possible to make it easier for the own vehicle to enter the lane after merging following the adjacent vehicle.

Step S13: Next, the lane entry determination unit 11 of the automatic driving controller 1 enters the lane after the vehicle (front vehicle) traveling in front of the own vehicle enters the lane after merging based on the peripheral object information and the own vehicle information. It is determined whether or not a vehicle (adjacent vehicle) traveling next to the own vehicle in another lane has entered the lane after merging.

Here, the lane entry determination unit 11 recognizes the traveling locus of the preceding vehicle and the adjacent vehicle by tracking the positions of the preceding vehicle and the adjacent vehicle on the map based on, for example, peripheral object information and own vehicle information. Based on the travel locus, the lane entry determination unit 11 determines whether or not the vehicle in front has entered the lane after merging and then the adjacent vehicle has entered the lane after merging, in accordance with the shape of the road.

For example, the lane entry determination unit 11 detects the traveling direction and speed of the vehicle in front based on the peripheral object information, and when the vehicle in front accelerates while the traveling direction of the vehicle in front is facing the lane after merging, the vehicle ahead It is judged that the vehicle has entered the lane after merging.

Similarly, when the lane entry determination unit 11 detects the traveling direction and speed of the adjacent vehicle based on the peripheral object information, and the adjacent vehicle accelerates while the traveling direction of the adjacent vehicle is facing the lane after merging. Determines that the adjacent vehicle has entered the lane after merging.

If the preceding vehicle enters the lane after merging and the adjacent vehicle enters the lane after merging (S13: YES), the process proceeds to step S15. If the vehicle in front has not entered the lane after merging (S13: NO), or if the vehicle in front has entered the lane after merging but the adjacent vehicle has not yet entered the lane after merging (S13). : NO), the process proceeds to step S9.

Step S15: The inter-vehicle distance measuring unit 12 of the automatic driving controller 1 measures the inter-vehicle distance between the vehicle (following vehicle) traveling immediately after the adjacent vehicle and the adjacent vehicle based on the peripheral object information. Here, the inter-vehicle distance measuring unit 12 can measure the inter-vehicle distance from the relative positions of the following vehicle and the adjacent vehicle with respect to their own vehicles acquired by the external sensor unit 2.

Step S17: Next, it is determined whether the entry distance d _A or the inter-vehicle distance is set in advance. The approachable distance d _A is the inter-vehicle distance that the own vehicle can enter between the adjacent vehicle and the following vehicle, and is, for example, about 5 m.

If the inter-vehicle distance is _{equal to or greater than the approachable distance d A} (S17: YES), the process proceeds to step S19, and if the inter-vehicle distance is _{less than the approachable distance d A} (S17: NO), the process proceeds to step S9.

Step S19: The automatic driving controller 1 causes the own vehicle to enter the lane after merging, and finishes the process. Specifically, the vehicle travel control unit 13 outputs steering control information and speed control information for the own vehicle to enter the lane after merging to the actuator unit. As a result, the own vehicle enters the lane after merging.

A state in which the own vehicle enters the lane after merging will be described with reference to FIG.
The own vehicle A is traveling in the own lane 21 toward the confluence point 23 with the other lane 22. Further, the front vehicle B traveling in front of the own vehicle A is about to enter the lane 24 after merging. After the vehicle B in front enters the lane 24 after merging, the own vehicle A recognizes the adjacent vehicle C traveling next to the own vehicle A in an attempt to enter the lane 24 after merging in the other lane 22 (S7: YES). Decelerate (S11). On the other hand, the adjacent vehicle C accelerates and enters the lane 24 after merging (S13: YES).

As the adjacent vehicle C accelerates, the inter-vehicle distance d _CD with the following vehicle D that was traveling immediately after that is increased. Then, when the inter-vehicle distance d _CD is equal to or greater than the _{approachable distance d A (d CD} ≧ d _A ) (S15: YES), the own vehicle A enters the lane 24 after merging (S17). That is, the own vehicle A enters the lane 24 after merging as a following vehicle of the adjacent vehicle C before the following vehicle D. The own vehicle A does not control the following vehicle D to enter (yield) to the lane 24 after merging first.

In some cases, the following vehicle D accelerates together with the adjacent vehicle C, the inter-vehicle distance d _CD does not exceed the approachable distance d _A , and the following vehicle D enters the lane 24 after merging before the own vehicle A. is there. Even in this case, when the inter-vehicle distance between the following vehicle D and the vehicle traveling immediately after it is equal to _{or greater than the approachable distance d A} , the own vehicle A can enter the lane 24 after merging.

That is, the inter-vehicle distance between the vehicle that entered the lane 24 after merging from the other lane 22 (not limited to the adjacent vehicle C that entered next to the preceding vehicle B and the following vehicle D) and the following vehicle is equal to or greater than the _{approachable distance d A.} At this time, the own vehicle A can enter the lane 24 after merging.

By the way, in order to secure a sufficient inter-vehicle distance, the inter-vehicle distance between the own vehicle A and the vehicle in front (hereinafter, referred to as the inter-vehicle distance d) is _{longer than a predetermined distance (for example, the approachable distance d A} (hereinafter, the distance). d _B hereinafter)) less than (d <own vehicle a that it d _B) is stopped, if not exceed the distance d _B, there is a case where the vehicle control can not be started traveling. In this case, the own vehicle A that has stopped can _not d _{<d B} if the running start even when the _{d CD} ≧ _{d A.} Therefore, in the meantime, there is a high possibility that vehicles in the other lane 22 will enter the lane 24 after merging first. If a vehicle in the other lane 22 enters the lane 24 after merging first, the inter-vehicle distance d decreases, and it becomes more difficult to start traveling. By repeating this process, the own vehicle A may not be able to enter the lane 24 for a long time after merging.

However, even if there is a premise of such control, if the vehicle running control as in the embodiment is prioritized (for example, under such a condition, the predetermined distance is temporarily set short. Alternatively, the control based on the inter-vehicle distance d is stopped), and the own vehicle A can enter the lane 24 after merging. That is, it is possible to prevent the own vehicle A from being unable to enter the lane 24 after merging for a long time, and to allow the own vehicle A to enter the lane 24 after merging.

As described above, according to the embodiment, after the vehicle in front traveling in front of the own vehicle enters the after-merging lane, which is the lane after the own lane and the other lane have merged, the vehicle is next to the own vehicle in the other lane. It is detected that the traveling adjacent vehicle has entered the lane after merging (S13: YES). Then, after the detection, when the inter-vehicle distance (S15) between the following vehicle traveling immediately after the adjacent vehicle and the adjacent vehicle is equal to or greater than the preset approachable inter-vehicle distance (S17: YES), the own vehicle enters the lane after merging. (S19). Therefore, it is possible to prevent the own vehicle from being unable to enter the lane after merging for a long time, and it is possible to allow the own vehicle to enter the lane after merging.

It is useful to let vehicles adjacent to other lanes enter the lane after merging (give way) to avoid risks such as collisions. However, in situations such as when the vehicle is congested and the vehicle enters the lane after merging alternately in the own lane and the other lane, even if there is a vehicle in the other lane, the vehicle enters the lane after merging. I need to let you. Especially when the own vehicle is autonomously driving, if the own vehicle is constantly driving to avoid risk, the own vehicle cannot enter the lane after merging, and as a result, the own lane is stagnant. It leads to the end.

In the embodiment, by performing the above control, it is possible to allow the own vehicle to enter the lane after merging even in a situation where the vehicles are alternately entered, and it is possible to prevent the vehicle from staying in the own lane. In other words, from the situation of the vehicle traveling in front and the vehicle traveling on the side, it is recognized as a scene where the vehicles are merging alternately, so that the vehicle can be moved even at the inter-vehicle distance where the vehicle normally stops. , Can be merged.

In addition, when there is an adjacent vehicle traveling next to the own vehicle in another lane (S7: YES), the own vehicle is decelerated (S11) so that the adjacent vehicle can easily enter the lane after merging before the own vehicle. In addition, it becomes easier for the own vehicle to enter the lane after merging following the adjacent vehicle. Therefore, the merging can be performed smoothly.

Further, when the vehicle in front has not entered the lane after merging (S13: NO), or when the vehicle in front has entered the lane after merging and the adjacent vehicle has not entered the lane after merging (S13: NO). , Suppress the own vehicle from entering the lane after merging (S9). Therefore, the approach to the vehicle in front can be prevented, and the merging can be smoothly performed as in the deceleration (S11).

Further, when the inter-vehicle distance is less than the approachable inter-vehicle distance (S17: NO), the own vehicle approaches the adjacent vehicle or the following vehicle by suppressing the own vehicle from entering the lane after merging (S9). Can be prevented and merging can be performed smoothly.

In the present embodiment, the vehicle travel control device is mounted on the vehicle subject to the travel control. However, the same applies by mounting a server device capable of communicating with the target vehicle or a vehicle travel control device on another vehicle that is not the target vehicle, and transmitting and receiving necessary information and instructions by communication between the server device or the other vehicle and the target vehicle. The vehicle running determination method may be performed remotely. Communication between the server device and the target vehicle can be executed by wireless communication or road-to-vehicle communication. Communication between another vehicle and the target vehicle can be executed by so-called vehicle-to-vehicle communication.

Although embodiments of the present invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

Each function shown in each of the above embodiments may be implemented by one or more processing circuits. The processing circuit includes a programmed processing device such as a processing device including an electric circuit. Processing devices also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

1 Automatic driving controller 2 External sensor unit 3 Internal sensor unit 4 Actuator unit 11 Lane approach determination unit 12 Inter-vehicle distance measurement unit 13 Vehicle travel control unit 21 Own lane 22 Other lane 23 Confluence point 24 Confluence rear lane A Own vehicle B Front vehicle C Adjacent vehicle D Subsequent vehicle

Claims (5)

It is a vehicle travel control method of a vehicle travel control device that controls the travel of a vehicle traveling in a lane.
After the vehicle in front traveling in front of the vehicle enters the lane after merging, which is the lane after the lane and the other lane have merged, the adjacent vehicle traveling next to the vehicle in the other lane is in the lane after merging. Detects that you have entered the
After the detection, when the distance between the following vehicle traveling immediately after the adjacent vehicle and the adjacent vehicle is equal to or greater than a preset approachable inter-vehicle distance, the vehicle travels in the lane after merging. Control method. The vehicle travel control method according to claim 1, wherein the vehicle is decelerated when there is an adjacent vehicle traveling next to the vehicle in the other lane. When the vehicle in front has not entered the lane after merging, or when the vehicle in front has entered the lane after merging and the adjacent vehicle has not entered the lane after merging, the vehicle has merged. The vehicle traveling control method according to claim 1 or 2, wherein the vehicle is prevented from entering the rear lane. The vehicle traveling according to any one of claims 1 to 3, wherein when the inter-vehicle distance is less than the approachable inter-vehicle distance, the vehicle is prevented from entering the lane after merging. Control method. After the vehicle in front traveling in front of the vehicle traveling in the lane enters the lane after merging, which is the lane after the lane and the other lane have merged, the adjacent vehicle traveling next to the vehicle in the other lane is described above. A lane entry judgment circuit that detects that you have entered the lane after merging,
An inter-vehicle distance measurement circuit that measures the inter-vehicle distance between the following vehicle traveling immediately after the adjacent vehicle and the adjacent vehicle, and
A vehicle travel control device including a vehicle travel control circuit that allows the vehicle to enter the lane after merging when the inter-vehicle distance is equal to or greater than a preset approachable inter-vehicle distance after detection.

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