JP6950269B2 - Vehicle control device - Google Patents

Description

The present invention relates to a vehicle control device, and more particularly to a vehicle control device that executes automatic driving driving in which the own vehicle is made to follow the preceding vehicle.

Conventionally, there is known a vehicle control device that executes automatic driving driving in which the own vehicle is made to follow the preceding vehicle (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2011-175367

In the conventional technique, when an obstacle (front obstacle) exists in front of the preceding vehicle when the autonomous driving is executed, after the preceding vehicle completes the lane change to the adjacent lane in order to avoid the preceding obstacle. , The own vehicle was following the preceding vehicle and changing lanes. However, in such automatic driving, it cannot be said that the lane can be changed with sufficient time margin when there is an obstacle in front of the preceding vehicle.

The present invention has been made in view of the above, and an object of the present invention is to have a front obstacle in front of the preceding vehicle at the time of executing automatic driving driving in which the own vehicle is made to follow the preceding vehicle. It is to provide a vehicle control device that can sometimes change lanes with a margin of time.

In order to achieve the above object, the vehicle control device according to the present invention determines whether or not the direction indicator of the preceding vehicle is activated at the time of executing the automatic driving driving in which the own vehicle is made to follow the preceding vehicle to travel. Then, as a result of this determination, the determination that the direction indicator has been activated is used as a trigger to start the determination of whether or not there is an obstacle in the adjacent lane, and as a result of this determination, the said in the adjacent lane. comprising the host vehicle lane change control unit that controls the vehicle to perform the lane change to the adjacent lane while following the preceding vehicle when the obstacle is determined not to exist.

According to the present invention, even if there is an obstacle in front of the preceding vehicle at the time of executing automatic driving, the preceding vehicle changes lanes in an attempt to change lanes to the adjacent lane in order to avoid the obstacle in front. When the turn signal is activated forward, the lane can be changed to the adjacent lane while following the preceding vehicle. As a result, the lane change can be performed with sufficient time margin as compared with the case where the lane change of the own vehicle is started after the lane change of the preceding vehicle is completed.

FIG. 1A is a schematic view showing a schematic configuration of the own vehicle. FIG. 1B is a schematic view showing an example of a state of the own vehicle during automatic driving. It is a functional block diagram of the own vehicle. It is a figure which shows an example of the flowchart of the lane change control process which concerns on Embodiment 1. It is a figure which shows an example of the flowchart of the lane change control process which concerns on Embodiment 2. It is a figure which shows an example of the flowchart of the lane change control process which concerns on Embodiment 3.

(Embodiment 1)
Hereinafter, the vehicle control device 10 according to the first embodiment of the present invention will be described with reference to the drawings. Specifically, first, the schematic configuration of the own vehicle 1 having the vehicle control device 10 will be described, and then the details of the vehicle control device 10 will be described.

FIG. 1A is a schematic diagram showing a schematic configuration of the own vehicle 1. Note that FIG. 1A shows the Cartesian coordinates of the right-handed XYZ for reference. In this Cartesian coordinate, the X direction corresponds to the front of the own vehicle 1, and the Z direction corresponds to the upper side. The own vehicle 1 is, for example, a commercial vehicle (specifically, a truck) having a cab 2 and a loading platform 3 arranged on the rear side of the cab 2. However, the specific type of the own vehicle 1 is not limited to such a commercial vehicle.

FIG. 1B is a schematic view showing an example of a state of the own vehicle 1 during automatic driving. The own vehicle 1 is traveling in the first lane 100. A second lane 101 is provided next to the first lane 100. That is, the second lane 101 is an example of an adjacent lane adjacent to the first lane 100. A preceding vehicle 5 is running in front of the own vehicle 1. An obstacle (referred to as a front obstacle 6) exists in front of the preceding vehicle 5. In the present embodiment, the front obstacle 6 is, for example, another vehicle (preceding vehicle) traveling in front of the preceding vehicle 5. In FIG. 1B, the own vehicle 1 is automatically driven so as to follow the preceding vehicle 5.

FIG. 2 is a functional block diagram showing each function of the own vehicle 1 as a block diagram. The own vehicle 1 according to the present embodiment includes a camera 20, a front radar sensor 30, an adjacent lane radar sensor 40, sensors 50, and a vehicle traveling system 60 in addition to the vehicle control device 10.

The camera 20 is a camera capable of photographing the front of the own vehicle 1 at a predetermined angle of view. The angle of view of the camera 20 is set to a value within a range in which the camera 20 can take a picture of a lane (white line) or the preceding vehicle 5. The image detected by the camera 20 is transmitted to the vehicle control device 10. The vehicle control device 10 uses an image processing technique to identify a lane (white line) from an image detected by the camera 20, and identifies the presence or absence of a preceding vehicle 5.

Further, in general, the direction indicator of the preceding vehicle 5 is provided at least at the rear end of the preceding vehicle 5. Therefore, the direction indicator of the preceding vehicle 5 can be photographed by the camera 20 of the own vehicle 1. Therefore, the vehicle control device 10 also identifies whether or not the direction indicator of the preceding vehicle 5 is operating (specifically, whether or not the direction indicator is blinking) from the image detected by the camera 20 by using the image processing technique. do.

The front radar sensor 30 detects the distance between the preceding vehicle 5 and the own vehicle 1 by sensing a predetermined area in front of the own vehicle 1. The detection result of the front radar sensor 30 is transmitted to the vehicle control device 10. In this embodiment, a radar sensor using a millimeter wave radar is used as an example of the forward radar sensor 30.

The adjacent lane radar sensor 40 detects an obstacle (adjacent obstacle) existing in the adjacent lane by sensing a predetermined area of the adjacent lane. Specifically, the adjacent lane radar sensor 40 according to the present embodiment includes a lateral radar sensor that senses a predetermined lateral region of the own vehicle 1 in the adjacent lane and an oblique rearward of the own vehicle 1 in the adjacent lane. It is configured to include an oblique rear radar sensor that senses a predetermined region of the vehicle 1 and an oblique forward radar sensor that senses a predetermined region diagonally forward of the own vehicle 1 in the adjacent lane. As a result, the adjacent lane radar sensor 40 according to the present embodiment detects the presence or absence of obstacles in the lateral direction, diagonally rearward, and diagonally forward of the own vehicle 1 in the adjacent lane, and uses this detection result as the vehicle control device 10. Tell to.

The sensors 50 are sensors other than the front radar sensor 30 and the adjacent lane radar sensor 40. Examples of the sensors 50 include a speed sensor that detects the speed of the own vehicle 1.

The vehicle traveling system 60 is a system for traveling the own vehicle 1. Specifically, the vehicle traveling system 60 controls the vehicle drive system, which is a system for driving the own vehicle 1 such as an engine and a transmission, the brake system, which is a system for braking the own vehicle 1, and the steering of the own vehicle 1. It includes a steering system, etc., which is a system to perform. In this embodiment, a diesel engine is used as an example of the engine. Further, as an example of the transmission, AMT (Automated Manual Transmission) is used.

The vehicle control device 10 is composed of a microcomputer 11 having a CPU 11 for executing various control processes and a storage device 12 for storing programs and various data used for the operation of the CPU 11. As the storage device 12, a ROM, RAM, or the like can be used. Further, the CPU 11 according to the present embodiment corresponds to a member having a function as a "lane change control unit".

Subsequently, the details of the control process of the vehicle control device 10 will be described. First, the vehicle control device 10 executes an automatic driving operation in which the own vehicle 1 is made to follow the preceding vehicle 5 to travel. Specifically, the vehicle control device 10 according to the present embodiment controls the vehicle traveling system 60 based on the detection results of the camera 20, the front radar sensor 30, and the sensors 50, thereby being the preceding vehicle 5 and itself. The vehicle 1 is automatically driven within the preset vehicle speed range of the vehicle 1 while maintaining a certain range of distance from the vehicle 1. Since a known control technique for automatic driving can be applied to the automatic driving itself, further detailed description thereof will be omitted.

When the vehicle control device 10 receives a request for starting automatic driving from the driver of the own vehicle 1, the vehicle control device 10 executes the above-mentioned automatic driving. Specifically, the driver's seat of the own vehicle 1 is provided with a switch for transmitting the start and stop of the automatic driving to the vehicle control device 10. Then, when the driver wishes to start the automatic driving driving, he / she turns on this switch to notify the vehicle control device 10 of the request to start the automatic driving driving. Upon receiving the signal of the request to start the automatic driving run, the vehicle control device 10 starts the execution of the automatic driving run. Further, when the driver wishes to end the automatic driving run, he / she turns off this switch to notify the vehicle control device 10 of the end request of the automatic driving run. Upon receiving the signal of the request for the end of the automatic driving run, the vehicle control device 10 ends the execution of the automatic driving run.

Further, the vehicle control device 10 is connected to a setting device (not shown) for the driver to set a vehicle speed range (for example, an upper limit speed of 100 km / h or the like) during automatic driving. Executes automatic driving within the vehicle speed range set in this setting device.

In addition, the vehicle control device 10 executes the lane change control process described below during automatic driving. FIG. 3 is a diagram showing an example of a flowchart of the lane change control process according to the present embodiment. Specifically, the lane change control unit (CPU 11) of the vehicle control device 10 starts the execution of the flowchart of FIG. 3 at the same time as the execution of the automatic driving run is started.

First, in step S10, in the lane change control unit of the vehicle control device 10, did the direction indicator of the preceding vehicle 5 operate during the execution of the automatic driving run (that is, during the execution of the automatic driving run)? Judge whether or not. Specifically, the lane change control unit according to the present embodiment acquires the image detected by the camera 20, and performs image processing on the acquired image to determine whether or not the direction indicator of the preceding vehicle 5 has been activated. To judge. A specific example of this is as follows.

For example, when the preceding vehicle 5 tries to change lanes to an adjacent lane in order to avoid an obstacle 6 ahead, a direction indicator provided at the rear end of the preceding vehicle 5 (that is, a direction instruction for changing lanes to the adjacent lane). Suppose that the vessel) is blinked. The blinking of this turn signal is photographed by the camera 20. In step S10, the lane change control unit determines whether or not the direction indicator of the preceding vehicle 5 has blinked by performing image processing on the image of the camera 20. In this way, step S10 is executed.

If NO is determined in step S10, the lane change control unit executes the flowchart from the start (return).

If YES is determined in step S10 (that is, if it is determined that the direction indicator of the preceding vehicle 5 has been activated), the lane change control unit determines whether or not there is an obstacle (adjacent obstacle) in the adjacent lane. (Step S20). Specifically, the lane change control unit determines whether or not there are adjacent obstacles in the lateral direction, diagonally rearward, and diagonally forward of the own vehicle 1 in the adjacent lane based on the detection result of the adjacent lane radar sensor 40. judge.

When it is determined as NO in step S20 (that is, when it is determined that there is an adjacent obstacle in the adjacent lane), the lane change control unit prohibits the lane change to the adjacent lane and executes the flowchart from the start (that is, when it is determined that there is an adjacent obstacle in the adjacent lane). return). That is, if NO is determined in step S20, the lane is not changed to the adjacent lane.

If YES is determined in step S20 (that is, if it is determined that there are no adjacent obstacles in the adjacent lane), the lane change control unit changes the lane to the adjacent lane while following the preceding vehicle 5. In addition, the own vehicle 1 is controlled (step S30). Specifically, the lane change control unit controls the vehicle traveling system 60 based on the detection results of the camera 20, the front radar sensor 30, and the sensors 50, so that the vehicle travels within a certain range from the preceding vehicle 5. While maintaining the inter-vehicle distance, the own vehicle 1 is made to follow the preceding vehicle 5 and change lanes to the adjacent lane within a preset vehicle speed range. After the execution of step S30, the lane change control unit executes the flowchart from the start (return).

According to the present embodiment, even if there is a front obstacle 6 in front of the preceding vehicle 5 when the automatic driving is executed, the preceding vehicle 5 avoids the front obstacle 6 in the adjacent lane. If the direction indicator is activated to change lanes before changing lanes to, and if there are no adjacent obstacles in the adjacent lane, the lane can be changed to the adjacent lane while following the preceding vehicle 5. .. As a result, it is possible to change lanes with sufficient time margin as compared with the case where the lane change of the own vehicle 1 is started after the lane change of the preceding vehicle 5 is completed, and further, an obstacle adjacent to the adjacent lane. Since the lane is changed when there is no lane change, the safety of the lane change can be improved.

Further, for example, when the physique of the preceding vehicle 5 is large, the driver of the own vehicle 1 cannot see the front obstacle 6 in front of the preceding vehicle 5, and the preceding vehicle 5 changes lanes to the adjacent lane before the front obstacle. It is conceivable that the object 6 can be visually recognized. Even in such a case, according to the present embodiment, the front obstacle 6 suddenly appears on the front side of the own vehicle 1, and the driver hurriedly changes the own vehicle 1 to the adjacent lane. You can avoid sudden situations. As a result, the driving burden on the driver can be reduced, and it is also possible to suppress the induction of driving operation mistakes (human error) by the driver. This makes it possible to improve the safety of changing lanes.

(Embodiment 2)
FIG. 4 is a diagram showing an example of a flowchart of a lane change control process of the vehicle control device 10a according to the second embodiment of the present invention. The vehicle control device 10a is different from the vehicle control device 10 according to the first embodiment in that the flowchart of FIG. 4 is executed instead of the flowchart of FIG. 3 described above when the automatic driving run is executed. The flowchart of FIG. 4 differs from the flowchart of FIG. 3 in that it does not include step S20.

With reference to FIG. 4, when the lane change control unit of the vehicle control device 10a determines that the direction indicator of the preceding vehicle 5 has been activated during the execution of automatic driving (when it is determined YES in step S10). ), The lane is changed to the adjacent lane while following the preceding vehicle 5 (step S30).

According to the present embodiment, even if there is a front obstacle 6 in front of the preceding vehicle 5 during automatic driving, the preceding vehicle 5 changes lanes to the adjacent lane in order to avoid the front obstacle 6. If the direction indicator of the preceding vehicle 5 is activated before the lane change, the lane can be changed to the adjacent lane while following the preceding vehicle 5. As a result, it is possible to change lanes with sufficient time margin.

When the above-described first embodiment and the present embodiment are compared, the first embodiment changes lanes when the condition that there are no adjacent obstacles in the adjacent lane is further satisfied. High safety of changing lanes. Therefore, from the viewpoint of improving the safety of changing lanes, the first embodiment is preferable.

(Embodiment 3)
FIG. 5 is a diagram showing an example of a flowchart of a lane change control process of the vehicle control device 10b according to the third embodiment of the present invention. The vehicle control device 10b is different from the vehicle control device 10 according to the first embodiment in that the flowchart of FIG. 5 is executed instead of the flowchart of FIG. 3 described above when the automatic driving run is executed. The flowchart of FIG. 5 differs from the flowchart of FIG. 3 in that it further includes steps S25 and S26.

With reference to FIG. 5, the lane change control unit of the vehicle control device 10b changes the lane to the adjacent lane for the driver of the own vehicle 1 before changing the lane to the adjacent lane according to step S30. (Step S25), and as a result of this notification, if there is a prohibition instruction from the driver, the lane change to the adjacent lane is prohibited (if NO in step S26), and if there is a permission instruction from the driver. (If YES in step S26), the lane is changed to the adjacent lane in step S30. Details of specific examples of this embodiment are as follows.

First, in the driver's seat of the own vehicle 1, a notification device for notifying the driver that the lane is changed to the adjacent lane is arranged. The specific configuration of this notification device is not particularly limited, and a display for displaying character information, graphic information, etc., a speaker for emitting voice information, a combination thereof, and the like can be used. In this embodiment, a speaker is used as an example of the notification device.

Further, in the driver's seat of the own vehicle 1, a switch (referred to as a "lane change prohibition instruction switch") is arranged for the driver to convey a lane change prohibition instruction and a permission instruction to the adjacent lane to the vehicle control device 10b. Has been done. Specifically, this lane change prohibition instruction switch is normally turned off. Then, when prohibiting the lane change, the driver turns on the lane change prohibition instruction switch.

Then, when the lane change control unit of the vehicle control device 10b determines YES in step S20 of FIG. 5, in step S25, the speaker as the notification device is informed that "the lane is changed to the adjacent lane". The voice information of is notified. This requires the driver to provide feedback on whether or not to allow lane changes.

When the driver who receives this notification turns on the lane change prohibition instruction switch (when the lane change prohibition instruction is given), it is determined as NO in step S26. In this case, the lane change control unit prohibits the execution of step S30 and executes the flowchart from the start (return). That is, in this case, the lane is not changed.

On the other hand, when the driver who has been notified in step S25 that "the lane is changed to the adjacent lane" does not turn on the lane change prohibition instruction switch (that is, when the lane change permission instruction is given), the driver does not turn on the lane change prohibition instruction switch. A determination of YES is made in step S26. In this case, the lane change control unit permits the execution of step S30 and actually executes step S30. As a result, the lane is changed to the adjacent lane.

According to the present embodiment, in addition to the action and effect of the first embodiment, the following actions and effects can be exhibited. Specifically, even when the direction indicator of the preceding vehicle 5 is activated and there is no adjacent obstacle in the adjacent lane (YES in step S10 and step S20), the driver can lane to the adjacent lane. If you do not like the change (that is, if you give a lane change prohibition instruction), you can prohibit the lane change to the adjacent lane, and if the driver allows the lane change to the adjacent lane (that is, if you give a lane change prohibition instruction) The lane can be changed in step S26 (if YES). As a result, the driver's intention can be respected and the lane can be changed to the adjacent lane.

In addition, this embodiment may be applied to the above-mentioned second embodiment. In this case, FIG. 5 has a configuration that does not include step S20. That is, in this case, when the lane change control unit determines that the direction indicator of the preceding vehicle 5 has been activated during the execution of the automatic driving (YES in step S10), the lane change control unit executes step S25 to notify the notification device. To notify that "the lane will be changed to the adjacent lane". Even in this configuration, the driver's intention can be respected and the lane can be changed to the adjacent lane.

Although the preferred embodiment of the present invention has been described above, the present invention is not limited to such a specific embodiment, and various modifications and modifications are made within the scope of the gist of the present invention described in the claims. Is possible.

1 Own vehicle 5 Leading vehicle 6 Forward obstacles 10, 10a, 10b Vehicle control device 11 CPU (lane change control unit)
100 1st lane 101 2nd lane (adjacent lane)

Claims (2)

It is determined whether or not the direction indicator of the preceding vehicle has been activated at the time of executing the automatic driving driving in which the own vehicle is made to follow the preceding vehicle, and as a result of this determination, it is determined that the direction indicator has been activated. With this as a trigger, the determination of whether or not there is an obstacle in the adjacent lane is started, and as a result of this determination, when it is determined that the obstacle does not exist in the adjacent lane, the own vehicle is said to be said. A vehicle control device including a lane change control unit that controls the own vehicle so as to change lanes to the adjacent lane while following the preceding vehicle. Before starting the lane change, the lane change control unit further notifies the driver of the own vehicle that the lane change is to be performed, and as a result of this notification, when there is a prohibition instruction from the driver. The vehicle control device according to claim 1, wherein the lane change is prohibited and the lane change is started when there is a permission instruction from the driver.

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