JP7239622B2 - VEHICLE, VEHICLE CONTROL METHOD, AND COMPUTER PROGRAM - Google Patents

Description

The present invention relates to a vehicle, a vehicle control method, and a computer program.

In recent years, by monitoring moving objects around the vehicle using cameras, sensors, etc., it is possible not only to avoid contact between the vehicle and other moving objects, but also to avoid contact between other moving objects around the vehicle. A safe driving support device for avoiding contact has also been proposed (see, for example, Patent Document 1).

In the safe driving support device disclosed in Patent Document 1, for example, when the own vehicle is stopped at an intersection, a moving object sensor that detects moving objects around the own vehicle detects moving objects passing beside the own vehicle. (hereinafter also referred to as a "passing vehicle"), the vehicle's headlights flash to indicate the presence of the passing vehicle that is about to pass by the vehicle's side and enter the intersection. and a moving object waiting for a right turn (hereinafter also referred to as an "oncoming vehicle"). This avoids contact between passing vehicles and oncoming vehicles around the own vehicle.

JP 2018-72875 A

However, in the safe driving support system disclosed in Patent Document 1, after the overtaking vehicle passes the side of the own vehicle, only the oncoming vehicle is notified, so contact between the overtaking vehicle and the oncoming vehicle is notified. It may not be possible to avoid it.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle, a vehicle control method, and a computer program that can avoid contact between a following moving body of the own vehicle and an oncoming moving body of the own vehicle.

(1) A vehicle according to the present invention (for example, a vehicle 1 to be described later) includes following moving body detection means (for example, an on-board vehicle to be described later) for detecting a following moving body (for example, a following moving body 9a to be described later) on the rear side of the own vehicle. Sensor ECU 22, rear camera unit 71b, rider units 72c to 72e, and radar units 73d to 73e), and opposing moving body detection means (for example, opposing moving body 9b described later) that detects an opposing moving body (for example, an opposing moving body 9b) on the front side of the vehicle ( For example, an in-vehicle sensor ECU 22, a front camera unit 71a, rider units 72a, 72b, and radar units 73a to 73c, which will be described later), and based on the detection results of the following moving body detection means, the following moving body can overtake the own vehicle. Determining whether or not there is an intention to overtake, and when it is determined that there is an intention to overtake and the oncoming moving body is detected by the oncoming moving body detection means, the following moving body warning control and the opposing movement for the following moving body It is characterized by comprising warning control means (for example, an automatic driving ECU 20 to be described later) that executes oncoming moving body warning control for the body.

(2) In this case, the warning control means causes the following moving body to move in the vicinity of a center line (for example, a center line Lc to be described later) that separates the running lane of the own vehicle from the running lane of the oncoming moving body. The first condition is that the vehicle continues to run for a period of one hour or longer, and the second condition is that the following moving object turns on the direction indicator on the centerline side continuously for a second period or longer. , a third condition that the following moving body continuously travels at a vehicle speed faster than the own vehicle for a third time threshold or more; and the center line side along the vehicle width direction of the following moving body It is preferable to determine that there is the overtaking intention when any one or more of the fourth conditions that the moving speed to the direction is equal to or higher than the lateral speed threshold are satisfied.

(3) In this case, the vehicle further includes a rear lighting device (for example, a rear lighting device 52 and a direction indicator 53 to be described later) provided behind the own vehicle, and the warning control means It is preferable that the rear lighting device is lit in a predetermined manner in the warning control for the succeeding moving body.

(4) In this case, the vehicle further includes a front lighting device (for example, a front lighting device 51, a direction indicator 53, etc., which will be described later) provided in front of the own vehicle, and the warning control means Preferably, in the oncoming moving body warning control, the front lights are lit in a predetermined manner.

(5) In this case, the vehicle is a first vehicle-to-vehicle communication means (for example, a first vehicle-to-vehicle communication device to be described later) capable of communicating with a subsequent mobile communication device (for example, a mobile communication device 91a to be described later) mounted on the subsequent mobile body. 2 in-vehicle communication device 42), and the warning control means preferably causes the first inter-vehicle communication means to transmit a first warning notification to the subsequent mobile communication device in the subsequent mobile body warning control.

(6) In this case, the vehicle is a second vehicle-to-vehicle communication means (for example, a second vehicle to be described later) capable of communicating with an oncoming mobile body communication device (for example, a mobile body communication device 91b to be described later) mounted on the oncoming moving body. 2 in-vehicle communication device 42), and the warning control means preferably causes the second inter-vehicle communication means to transmit a second warning notification to the oncoming mobile communication device in the oncoming moving body warning control.

(1) In the vehicle according to the present invention, the warning control means determines whether or not the following moving body intends to overtake the own vehicle based on the detection result of the following moving body detecting means for detecting the following moving body behind the own vehicle. and when it is determined that there is an intention to overtake and the oncoming moving body detection means detects the oncoming moving body on the front side of the own vehicle, the following moving body warning control for the following moving body and the oncoming moving body for the oncoming moving body Perform both warning controls. As a result, the oncoming vehicle can recognize that there is a following moving object that may overtake the own vehicle, so it avoids contact in case the following moving object appears from behind the own vehicle. can take action to In addition, since the following moving body can recognize the presence of the oncoming moving body in front of the own vehicle, it can stop overtaking the own vehicle. This makes it possible to avoid contact between the trailing body and the counter-moving body.

(2) In the vehicle according to the present invention, the warning control means causes the following moving object to continue traveling in the vicinity of the center line that separates the traveling lane of the own vehicle from the traveling lane of the oncoming moving object for a first time threshold or more. The first condition is that the following moving body keeps turning on the direction indicator on the center line side continuously for a second time threshold or longer. The second condition is that the following moving body is faster than the own vehicle. The third condition is that the vehicle continues to travel for a third time threshold or more in the following condition, and the moving speed of the following moving body toward the center line along the vehicle width direction is the lateral speed threshold or more. If any one or more of the fourth conditions are satisfied, it is determined that the following moving object has an overtaking intention. As a result, the trailing moving body warning control and the oncoming moving body warning control can be executed before the trailing moving body straddles the center line to overtake the host vehicle. contact can be more reliably avoided.

(3) In the vehicle according to the present invention, the warning control means lights the rear lights in a predetermined manner in the following moving object warning control. As a result, subsequent moving object warning control can be performed using an existing device.

(4) In the vehicle according to the present invention, the warning control means turns on the front lights in a predetermined manner in the oncoming moving object warning control. This makes it possible to perform oncoming moving object warning control using an existing device.

(5) In the vehicle according to the present invention, the warning control means causes the first inter-vehicle communication means to transmit the first warning notification to the subsequent mobile communication device mounted on the subsequent mobile body in the subsequent mobile body warning control. As a result, the following moving body can recognize the presence of the oncoming moving body even when it is difficult to visually recognize the lighting of the lighting device of the own vehicle.

(6) In the vehicle according to the present invention, the warning control means causes the second vehicle-to-vehicle communication means to transmit the second warning notification to the oncoming body communication device mounted on the oncoming body in the oncoming body warning control. As a result, the oncoming moving body can recognize the presence of the following moving body even when it is difficult to visually recognize the lighting of the lighting device of the own vehicle.

1 is a diagram schematically showing configurations of a vehicle and a driving support system according to one embodiment of the present invention; FIG. It is a figure which shows an example of the relative positional relationship of the self-vehicle and two mobile bodies which drive|work around the self-vehicle. 4 is a flowchart showing a specific procedure of overtaking vehicle warning control;

A configuration of a vehicle and a driving support system including the vehicle according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a diagram schematically showing the configuration of a vehicle 1 and a driving support system S including the vehicle 1 according to this embodiment. A plan view of the vehicle 1 is shown in the upper part of FIG. 1, and a side view is shown in the lower part of FIG. In the following description, the vehicle 1 is a so-called right-hand drive four-wheeled vehicle in which the driver's seat on which the driver sits is provided on the right side in the vehicle width direction when viewed along the traveling direction. It is not limited to this. The vehicle may be a so-called left-hand drive four-wheeled vehicle in which the driver's seat is provided on the left side in the vehicle width direction when viewed along the traveling direction. The driving support system S includes a vehicle 1 and at least two moving bodies 9a and 9b that travel around the vehicle 1 and are capable of wireless inter-vehicle communication with the vehicle 1. FIG.

FIG. 2 is a diagram showing an example of a relative positional relationship between a vehicle 1, which is the vehicle, and two moving bodies 9a and 9b traveling around the vehicle.

As shown in FIG. 2, the moving object 9a is, for example, a motorcycle that runs in the same running lane as the own vehicle in the same direction as the own vehicle behind the own vehicle, and is hereinafter also referred to as the trailing moving object 9a. The moving body 9b is, for example, a four-wheeled vehicle that runs in the opposite direction to the vehicle in the front side of the vehicle in the driving lane on the opposite side of the vehicle's driving lane, and is hereinafter also referred to as the countermoving body 9b. As shown in FIG. 2, the own vehicle exists between the following moving body 9a and the opposing moving body 9b. Also, it becomes difficult to recognize the existence of the following moving body 9a.

Returning to FIG. 1, the vehicle 1 includes an electric power steering device 31 that steers the left and right front wheels Wf, a power plant 32 that generates a driving force to rotate the front wheels Wf that are driving wheels, and the front wheels Wf and the rear wheels Wr that are stopped. A braking device 33 that generates a braking force that causes the vehicle to brake, an in-vehicle communication device 41 and 42 that communicates wirelessly with a communication device outside the vehicle, a lighting device group 5 configured by a plurality of lighting devices visible from the outside of the vehicle, and the driver A steering wheel 61 for steering operation, an accelerator pedal 62 for accelerating and decelerating operation by the driver, a brake pedal 63 for decelerating operation by the driver, and a lamp for turning on and off the lamp group 5 by the driver A control unit that controls various in-vehicle devices such as the electric power steering device 31 and the power plant 32 based on the detection signal of the sensor unit 7, the driving operation by the driver, etc. 2 and a.

The electric power steering device 31 includes a gearbox 31b that connects a pinion shaft 31a extending from the steering wheel 61 and the left and right front wheels Wf, an electric motor 31c provided in the gearbox 31b, and a steering angle and steering speed of the steering wheel 61. and a steering sensor 31d for detecting.

The gear box 31b includes a rack shaft that extends along the vehicle width direction and meshes with the pinion shaft 31a, tie rods that connect both ends of the rack shaft and the left and right front wheels Wf, and the like. The left and right front wheels Wf are steered in the direction of travel by converting the rotational motion of 61 into motion along the vehicle width direction. The electric motor 31c rotates according to a control signal output from a steering ECU 21, which will be described later, of the control unit 2, and generates a driving force for assisting the driver's steering operation and for automatically steering the front wheels Wf. . The steering sensor 31 d detects the steering angle and steering speed of the steering wheel 61 and transmits a signal corresponding to the detected value to the steering ECU 21 of the control unit 2 .

The power plant 32 is a driving force generation source that generates a driving force for rotating the front wheels Wf as driving wheels in order to move the vehicle 1 forward or backward along the direction of travel. In the following description, the power plant 32 is an engine that consumes fuel stored in a fuel tank (not shown) to generate driving force in accordance with a control signal output from the control unit 2, or a gear that changes the output of this engine. Although the case where a transmission that transmits power to the front wheels Wf is used will be described, the present invention is not limited to this. The power plant 32 may be an engine, a transmission, or a drive motor that consumes power supplied from a high-voltage battery or a fuel cell stack (not shown) to generate driving force for rotating the front wheels Wf.

The braking device 33 is based on the deceleration operation of the brake pedal 63 by the driver, the control signal output from the control unit 2, and the like, mainly during running, by tightening the discs provided on the axles of the wheels Wf and Wr. A disc brake device that generates a braking force for decelerating or stopping the rotation of the wheels Wf and Wr, and a parking system that generates a braking force for maintaining the rotation of the wheels Wr and Wf in a stopped state mainly during parking. Equipped with brakes, etc.

The lighting device group 5 includes a front lighting device 51, a rear lighting device 52, a direction indicator 53, and the like. The front lamps 51 are composed of headlights, position lamps, and the like provided on both sides in the vehicle width direction in the front part of the vehicle 1 . It is composed of a rear lighting device 52 and a tail light, a brake light, and the like provided on both sides in the vehicle width direction of the rear portion of the vehicle 1 . The direction indicator 53 is a front right direction indicator provided on the right side of the front portion of the vehicle 1 when viewed along the direction of travel, and a direction indicator 53 is provided on the right side of the rear portion of the vehicle 1 when viewed along the direction of travel. A rear right turn indicator, a front left turn indicator provided on the left side of the front portion of the vehicle 1 when viewed along the traveling direction, and a front left turn indicator provided on the left side of the rear portion of the vehicle 1 when viewed along the traveling direction. and a rear left turn indicator. Therefore, in the present embodiment, among the plurality of lamps constituting the lamp group 5, the front lamps provided in front of the own vehicle and visible from the opposing moving body 9b are the front lamp 51 and the front right lamp. The rear lights, which are composed of a direction indicator and a front left direction indicator, are provided behind the vehicle and can be visually recognized from the following moving body 9a of the vehicle. It consists of an indicator and a rear left direction indicator. These front lamps 51 , rear lamps 52 , and direction indicators 53 are turned on based on control signals or the like output from the lamps ECU 27 of the control unit 2 .

The sensor unit 7 includes camera units 71a and 71b, multiple (eg, five) lidar units 72a, 72b, 72c, 72d, and 72e, and multiple (eg, five) radar units 73a, 73b, 73c, and 73d. , 73 e , a gyro sensor 74 and a GPS sensor 75 .

The front camera unit 71 a is a camera that captures the front of the vehicle 1 . The front camera unit 71a is mounted, for example, on the roof of the vehicle 1 at a position closer to the front window on the interior side of the vehicle. The rear camera unit 71b is a camera that photographs the rear of the vehicle 1 . The rear camera unit 71b is mounted, for example, on the roof of the vehicle 1 at a position closer to the rear window on the interior side of the vehicle. The images captured by these camera units 71a and 71b are transmitted to an in-vehicle sensor ECU 22 of the control unit 2, which will be described later.

The lidar units 72a to 72e are lidars (Light Detection and Ranging (LIDAR)) that detect objects around the vehicle 1 by measuring scattered light from the object in response to pulsed laser irradiation. The first rider unit 72a is provided in the front part of the vehicle 1 on the right corner side when viewed along the direction of travel, and detects an object in front and slightly to the right of the surroundings of the vehicle 1 . The second lidar unit 72b is provided on the left corner side of the front portion of the vehicle 1 when viewed along the direction of travel, and detects an object on the front and slightly left side of the surroundings of the vehicle 1 . The third rider unit 72c is provided at the center in the vehicle width direction of the rear portion of the vehicle 1 and detects an object behind the vehicle 1 around it. The fourth rider unit 72d is provided on the rear side of the right side of the vehicle 1, and detects objects on the right side or rear side of the surroundings of the vehicle 1. As shown in FIG. The fifth lidar unit 72 e is provided on the rear side of the left side of the vehicle 1 and detects an object on the left side or rear side of the surroundings of the vehicle 1 . Detection signals from these rider units 72a to 72e are sent to the vehicle-mounted sensor ECU 22 of the control unit 2. FIG.

The radar units 73a to 73e are millimeter-wave radars that detect objects around the vehicle 1 by measuring reflected waves from the objects with respect to millimeter-wave irradiation. The first radar unit 73a is provided on the right corner side of the front portion of the vehicle 1 when viewed along the direction of travel, and detects an object on the front and slightly right side of the surroundings of the vehicle 1 . The second radar unit 73b is provided on the left corner side of the front part of the vehicle 1 when viewed along the direction of travel, and detects an object on the front and slightly left side of the surroundings of the vehicle 1 . The third radar unit 73 c is provided at the center in the vehicle width direction of the front portion of the vehicle 1 and detects an object in front of the vehicle 1 . The fourth radar unit 73d is provided in the rear part of the vehicle 1 on the right corner side when viewed along the traveling direction, and detects an object on the rear and slightly right side of the surroundings of the vehicle 1 . The fifth radar unit 73e is provided on the left corner side of the rear portion of the vehicle 1 when viewed along the direction of travel, and detects an object on the rear and slightly left side of the surroundings of the vehicle 1 . Detection signals from these radar units 73a to 73e are sent to the vehicle-mounted sensor ECU 22 of the control unit 2. FIG.

The gyro sensor 74 transmits a signal corresponding to the rotational motion of the vehicle 1 to the navigation ECU 24 of the control unit 2, which will be described later. GPS sensor 75 transmits a signal corresponding to the current position of vehicle 1 to navigation ECU 24 of control unit 2 .

The first in-vehicle communication device 41 performs wireless communication with a server that provides map information, traffic information, and the like, acquires these information, and transmits them to the navigation ECU 24 of the control unit 2 . The second in-vehicle communication device 42 performs inter-vehicle communication by radio with the mobile communication devices 91a and 91b mounted on the mobile bodies 9a and 9b traveling around the vehicle 1, and communicates between the vehicle 1 and the mobile bodies 9a and 9b. exchange information between

The control unit 2 includes a plurality of ECUs 20-29 communicatively connected by an in-vehicle network. Each of the ECUs 20 to 29 is a computer including a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. A storage device of each of the ECUs 20 to 29 stores computer programs executed by the processor, data used by the processor for processing, and the like. Each of the ECUs 20-29 may have a plurality of processors, storage devices, interfaces, and the like. Functions performed by each of the ECUs 20 to 29 will be described below. The number of ECUs and the functions of the ECUs 20 to 29 can be appropriately designed, and it is possible to subdivide or integrate them more than in the present embodiment.

The automatic driving ECU 20 is a computer mainly responsible for controlling automatic driving of the vehicle 1 . In automatic driving, at least one of steering, acceleration/deceleration of the vehicle 1, and lighting of the lamp group 5 is automatically controlled. Here, specific examples of the automatic driving control by the automatic driving ECU 20 include lane keeping control, lane departure suppression control (road departure suppression control), lane change control, preceding vehicle following control, collision mitigation brake control, erroneous start suppression control, and overtaking vehicle warning control.

Lane keeping control is one of the control of the position of the vehicle 1 with respect to the lane, and is control to automatically run the vehicle 1 (without depending on the driving operation by the driver) on the traveling track set in the lane. be. Lane deviation suppression control is one of the control of the position of the vehicle 1 with respect to the lane, detects the white line or the median strip, and automatically steers the vehicle 1 so as not to cross the white line or the median strip. It is. Lane departure suppression control and lane keeping control have different functions in this manner.

Lane change control is control for automatically moving the vehicle 1 from the lane in which the vehicle 1 is traveling to an adjacent lane. The preceding vehicle follow-up control is control for automatically following another vehicle traveling in front of the vehicle 1 . Collision mitigation brake control is control that automatically applies brakes to assist collision avoidance when the possibility of collision with an obstacle in front of the vehicle 1 increases. The erroneous start suppression control is a control that limits the acceleration of the vehicle 1 when the acceleration operation by the driver is greater than or equal to a predetermined amount while the vehicle 1 is stopped, and suppresses sudden start.

The overtaking vehicle warning control determines whether or not there is an intention to overtake the own vehicle by the following moving body 9a traveling behind the own vehicle, and if it is determined that there is an intention to overtake the own vehicle, the following moving body 9a and the front of the own vehicle are controlled. The control is to perform warning control using the lamp group 5 and the second on-vehicle communication device 42 for both of the traveling opposite moving bodies 9b. A specific procedure for this overtaking vehicle warning control will be described later in detail with reference to FIG.

The steering ECU 21 is a computer that mainly controls the electric power steering device 31 . The steering ECU 21 assists the driver's steering operation of the steering wheel 61 by inputting a control signal generated based on the steering angle and steering speed detected by the steering sensor 31d to the electric motor 31c. Further, when the driving state of the vehicle 1 is automatic driving, the steering ECU 21 inputs a control signal generated in accordance with a command from the automatic driving ECU 20 to the electric motor 31c to generate driving force for automatically steering the front wheels Wf. generated to control the traveling direction of the vehicle 1 .

The in-vehicle sensor ECU 22 controls camera units 71a and 71b for detecting objects around the vehicle 1, lidar units 72a to 72e, and radar units 73a to 73e among the sensor units 7, and controls these units 71a, 71b, 72a to 72e, 73a to 73e perform information processing using the detection results.

More specifically, the in-vehicle sensor ECU 22 analyzes the images captured by the camera units 71a and 71b and the detection signals of the lidar units 72a to 72e and the radar units 73a to 73e to detect the countermovement in front of the vehicle. Detecting the positions of the body 9b and the following moving body 9a on the rear side of the own vehicle, detecting the distance from the own vehicle to the opposing moving body 9b and the following moving body 9a, and detecting the positions of the opposing moving body 9b and the following moving body 9a. , extract the contours of the oncoming moving body 9b and the following moving body 9a, and extract lane markings (white lines, etc.) on the road. Therefore, in this embodiment, the oncoming moving body detection means for detecting the oncoming moving body 9b on the front side of the vehicle is composed of the onboard sensor ECU 22, the front camera unit 71a, the rider units 72a and 72b, and the radar units 73a to 73c. The trailing moving body detection means for detecting the trailing moving body 9a on the rear side of the own vehicle is composed of the vehicle-mounted sensor ECU 22, the rear camera unit 71b, the lidar units 72c to 72e, and the radar units 73d to 73e.

The navigation ECU 24 is a computer that controls the gyro sensor 74, the GPS sensor 75, and the first vehicle-mounted communication device 41 and processes the detection results and communication results of the gyro sensor 74, the GPS sensor 75, and the first vehicle-mounted communication device 41. is. More specifically, the navigation ECU 24 calculates the current route and current running position of the vehicle 1 based on the detection results of the gyro sensor 74 and the GPS sensor 75 and the map information database 78 built in the storage device. get. The navigation ECU 24 can also search for a route from the current position to the destination based on map information, traffic information, and the like acquired via the first vehicle-mounted communication device 41 .

The vehicle-to-vehicle communication ECU 25 is a computer that mainly controls the second vehicle-mounted communication device 42 . The vehicle-to-vehicle communication ECU 25 performs the second vehicle-to-vehicle communication when mobile bodies 9a and 9b equipped with mobile communication devices 91a and 91b capable of wireless vehicle-to-vehicle communication with the second vehicle-to-vehicle communication device 42 exist around the vehicle 1. Various types of information are transmitted to these mobile communication devices 91a and 91b by wireless communication via the device 42. FIG. Therefore, in this embodiment, the inter-vehicle communication means capable of communicating with the mobile communication devices 91a and 91b mounted on the mobile bodies 9a and 9b around the own vehicle are the inter-vehicle communication ECU 25 and the second on-vehicle communication device 42. Configured.

The power plant ECU 26 is a computer that mainly controls the power plant 32 . The power plant ECU 26 controls the output of the engine based on the acceleration/deceleration operation of the accelerator pedal 62 by the driver, and switches gear stages of the transmission based on information such as vehicle speed detected by a vehicle speed sensor (not shown). . Further, when the driving state of the vehicle 1 is automatic operation, the power plant ECU 26 automatically controls the power plant 32 based on a command from the automatic operation ECU 20 to control the acceleration and deceleration of the vehicle 1 .

The lamp ECU 27 is a computer that mainly controls lighting and extinguishing of the lamp group 5 . While the vehicle 1 is running, the lighting unit ECU 27 turns on and off the lighting unit switch 64 by the driver and according to a command generated based on the overtaking vehicle warning control executed by the automatic driving ECU 20. Lighting and extinguishing the various lamps that make up the

The braking device ECU 29 is a computer that mainly controls the braking device 33 and the parking lock mechanism of the transmission. The brake device ECU 29 controls the disc brake device based on the deceleration operation of the brake pedal 63 by the driver. Further, when the driving state of the vehicle 1 is automatic driving, the braking device ECU 29 automatically controls the disc brake device based on a command from the automatic driving ECU 20 to control deceleration and stopping of the vehicle 1 . When the vehicle 1 is parked, the braking device ECU 29 operates the parking brake based on the operation of a parking brake button (not shown) by the driver, and operates the parking brake provided in the transmission based on the operation of the shift lever (not shown) by the driver. Activate the locking mechanism.

The mobile bodies 9a and 9b include mobile communication devices 91a and 91b capable of wireless inter-vehicle communication with the second on-vehicle communication device 42 of the vehicle 1, respectively, and a notification device 92a connected to these mobile communication devices 91a and 91b. , 92b. The reporting devices 92a and 92b report the contents of the information received by the mobile communication devices 91a and 91b to the drivers of the moving bodies 9a and 9b in a manner that they can recognize them. In the following, a case will be described in which an indicator for displaying a message corresponding to information received by the mobile communication devices 91a and 91b and lighting a warning light is used as the notification devices 92a and 92b. is not limited to Either or both of the notification devices 92a and 92b may be headsets that generate sounds according to the information received by the mobile communication devices 91a and 91b.

FIG. 3 is a flow chart showing a specific procedure of overtaking vehicle warning control. The processing shown in FIG. 3 is repeatedly performed by the automatic driving ECU 20 at predetermined intervals while the vehicle 1 is running. Each step shown in FIG. 3 is realized by the automatic driving ECU 20 executing a computer program stored in a storage device (not shown) while the vehicle 1 is running.

First, in step ST1, the automatic driving ECU 20 detects a following moving object that travels in the same direction as the own vehicle within a range of a predetermined first determination distance behind the own vehicle in the traveling direction based on the detection result of the following moving body detection means. It is determined whether or not the moving body 9a exists. The automatic driving ECU 20 ends the processing shown in FIG. 3 when the determination result of step ST1 is NO, and proceeds to step ST2 when the determination result is YES.

Next, in step ST2, based on the detection result of the oncoming moving object detection means, the automatic driving ECU 20 detects an oncoming vehicle that travels in the opposite direction from the own vehicle within a predetermined second judgment distance in the traveling direction forward from the own vehicle. It is determined whether or not the moving body 9b exists. The automatic driving ECU 20 ends the processing shown in FIG. 3 when the determination result of step ST2 is NO, and proceeds to step ST3 when the determination result is YES.

Next, in step ST3, the automatic driving ECU 20 determines whether or not the following moving object 9a detected in step ST1 has an intention to overtake the own vehicle, based on the detection result of the following moving object detecting means.

More specifically, the automatic driving ECU 20 determines whether or not a first condition, a second condition, a third condition, and a fourth condition, which will be described below, are satisfied based on the detection result of the following moving body detection means. If any one of these first to fourth conditions is satisfied, it is determined that the following moving body 9a has an intention to overtake the own vehicle. It is determined that there is no overtaking intention of the own vehicle.

In this embodiment, the automatic driving ECU 20 determines that the following moving body 9a has an overtaking intention when any one of the first to fourth conditions is satisfied, and none of the first to fourth conditions is satisfied. In this case, the case where it is determined that the following moving body 9a has no overtaking intention will be described, but the present invention is not limited to this. The automatic driving ECU 20 determines that the following moving body 9a has an overtaking intention when two or more of the first to fourth conditions are satisfied, and otherwise, the following moving body 9a has no overtaking intention. can be determined.

Here, the first condition is that, as shown in FIG. 2, the succeeding moving object 9a continues in the vicinity of the center line Lc that separates the traveling lane of the own vehicle from the traveling lane of the oncoming moving object 9b for a first time threshold or more. It is a condition that you run with The second condition is that the succeeding moving body 9a turns on the direction indicator on the center line Lc side continuously for a second time threshold or longer. The third condition is that the following moving body 9a continues to travel at a vehicle speed faster than the own vehicle for a third time threshold or longer. The fourth condition is that the moving speed of the succeeding moving body 9a toward the center line Lc along the vehicle width direction is equal to or greater than the lateral speed threshold.

The automatic driving ECU 20 terminates the process shown in FIG. 3 when the determination result in step ST3 is NO. Further, when the determination results in steps ST1 to ST3 are all YES, the automatic driving ECU 20 determines that the following moving body 9a has an intention to overtake the own vehicle and that the opposing moving body 9b exists, and proceeds to step ST4. .

Next, in step ST4, the automatic driving ECU 20 executes trailing moving object warning control for notifying the trailing moving object 9a, which has been determined to have an overtaking intention, that there is an opposing moving object 9b across the own vehicle. , the process proceeds to step ST5. More specifically, in the following moving body warning control, the automatic driving ECU 20 turns on the rear lighting device that is visible from the following moving body 9a in a predetermined manner, or causes the following moving body 9a to turn on from the second vehicle-mounted communication device 42. A warning notification is transmitted to the mounted mobile communication device 91a. By receiving the warning notification by the mobile communication device 91a of the following moving body 9a, the notification device 92a displays a message corresponding to the received warning notification or lights a warning light to prevent the vehicle from being caught. , the driver of the succeeding moving body 9a is notified of the presence of the opposing moving body 9b.

Next, in step ST5, the automatic driving ECU 20 executes oncoming moving object warning control to notify the oncoming moving object 9b of the presence of the following moving object 9a across the own vehicle, and ends the processing shown in FIG. do. More specifically, in the oncoming moving object warning control, the automatic driving ECU 20 turns on a front lighting device that is visible from the oncoming moving object 9b in a predetermined manner, or controls the oncoming moving object 9b from the second vehicle-mounted communication device 42. A warning notification is transmitted to the mounted mobile communication device 91b. By receiving the warning notification by the mobile communication device 91b of the opposite moving body 9b, the notification device 92b displays a message corresponding to the received warning notification or lights a warning light to prevent the vehicle from being caught. , the driver of the opposing moving body 9b is notified that the succeeding moving body 9a exists.

According to the vehicle 1 and its control method according to the present embodiment, the following effects are obtained.
(1) In the vehicle 1, the automatic driving ECU 20 determines whether or not the following moving body 9a intends to overtake the own vehicle based on the detection result of the following moving body detection means that detects the following moving body 9a on the rear side of the own vehicle. Then, when it is determined that there is an intention to overtake and the oncoming moving body detection means detects the oncoming moving body 9b on the front side of the own vehicle, the following moving body warning control for the following moving body 9a and the opposing moving body 9b are performed. Perform both mobile warning controls. As a result, the oncoming moving body 9b can recognize that there is a following moving body 9a that may overtake its own vehicle. can take action to avoid Further, the trailing moving body 9a can recognize that the opposing moving body 9b exists in front of its own vehicle, so it can stop overtaking its own vehicle. This makes it possible to avoid contact between the following moving body 9a and the opposing moving body 9b.

(2) In the vehicle 1, the automatic driving ECU 20 causes the following moving object 9a to continue traveling in the vicinity of the center line Lc that separates the traveling lane of the own vehicle and the traveling lane of the oncoming moving object 9b for a first time threshold or longer. The first condition is that the succeeding moving body 9a turns on the direction indicator on the center line Lc side continuously for a second time threshold or longer. A third condition is that the vehicle continuously travels at a high speed for a third time threshold or longer, and the moving speed of the succeeding moving body 9a toward the center line Lc along the vehicle width direction is a lateral speed threshold or higher. If any one or more of the fourth conditions are satisfied, it is determined that the succeeding moving body 9a has an overtaking intention. As a result, the trailing moving body warning control and the opposing moving body warning control can be executed before the trailing moving body 9a straddles the center line Lc to overtake the host vehicle. 9b can be more reliably avoided.

(3) In the vehicle 1, the automatic driving ECU 20 turns on the rear lights in a predetermined manner in the subsequent moving object warning control. As a result, subsequent moving object warning control can be performed using an existing device.

(4) In the vehicle 1, the automatic driving ECU 20 turns on the front lights in a predetermined manner in the oncoming moving object warning control. This makes it possible to perform oncoming moving object warning control using an existing device.

(5) In the vehicle 1, the automatic driving ECU 20 causes the second vehicle-mounted communication device 42 to transmit a warning notification to the mobile communication device 91a mounted on the subsequent mobile body 9a in the subsequent mobile body warning control. As a result, the following moving body 9a can recognize the presence of the opposing moving body 9b even when it is difficult to visually recognize the lighting of the lighting device of the own vehicle.

(6) In the vehicle 1, the automatic driving ECU 20 causes the second in-vehicle communication device 42 to transmit a warning notification to the mobile communication device 91b mounted on the oncoming moving body 9b in the oncoming moving body warning control. As a result, the oncoming moving body can recognize the presence of the following moving body 9a even when it is difficult to visually recognize the lighting of the lighting device of the own vehicle.

As mentioned above, although one Embodiment of this invention was described, this invention is not limited to this. Detailed configurations may be changed as appropriate within the scope of the present invention.

For example, in the above-described embodiment, in the following moving body warning control and the opposing moving body warning control, by lighting the existing lamps in a predetermined manner, the following moving body 9a and the opposing moving body 9b move with the own vehicle in between. Although the presence of the body was reported, the present invention is not limited to this. In these trailing moving object warning control and oncoming moving object warning control, dedicated lamps provided at the rear and front portions of the vehicle 1 are turned on, so that the trailing moving object 9a and the opposing moving object 9b sandwich the own vehicle. , the presence of the moving object may be notified.

S... Driving support system 1... Vehicle 2... Control unit 20... Automatic driving ECU (warning control means)
22... In-vehicle sensor ECU (subsequent moving body detection means, opposing moving body detection means)
42 Second in-vehicle communication device (first inter-vehicle communication means, second inter-vehicle communication means)
5... Lamp group 51... Front lamp (front lamp)
52... Rear lamp (rear lamp)
53... Direction indicator (front lamp, rear lamp)
7 sensor unit 7
71a ... front camera unit (countermoving body detection means)
71b... Rear camera unit (subsequent moving body detection means)
72a, 72b... rider unit (opposing moving body detection means)
72c, 72d, 72e... Rider unit (subsequent moving body detection means)
73a, 73b, 73c... Rider unit (countermoving body detection means)
73d, 73e... Radar unit (subsequent moving body detection means)
9a... Subsequent mobile body 9b... Counter mobile body 91a... Mobile communication device (subsequent mobile communication device)
91b... Mobile communication device (intermediate mobile communication device)
92a, 92b... Notification device

Claims (8)

a trailing moving body detecting means for detecting a trailing moving body on the rear side of the own vehicle;
and an oncoming moving body detection means for detecting an oncoming moving body in front of the vehicle,
Based on the detection result of the following moving body detection means , it is determined whether or not the following moving body intends to overtake the own vehicle from the side of the center line that separates the traveling lane of the own vehicle from the traveling lane of the oncoming moving body. and when it is determined that there is an intention to overtake and the opposing moving body is detected by the opposing moving body detection means, following moving body warning control for the following moving body and opposing movement for the opposing moving body A vehicle comprising warning control means for executing body warning control. The warning control means is
a first condition that the succeeding moving body continuously travels in the vicinity of the center line for a first time threshold or longer;
a second condition that the succeeding moving body keeps turning on the direction indicator on the center line side for a second time threshold or longer;
a third condition that the following moving object continues to travel at a speed faster than the own vehicle for a third time threshold or longer; and
The intention to overtake is present when two or more of the fourth conditions of the following condition that the moving speed of the following moving body toward the center line along the vehicle width direction is equal to or greater than a lateral speed threshold are satisfied. The vehicle according to claim 1, characterized in that it determines that Further comprising a rear lighting device provided behind the vehicle,
3. The vehicle according to claim 1, wherein the warning control means turns on the rear lights in a predetermined manner in the following moving object warning control. Further comprising a front lamp provided in front of the own vehicle,
4. The vehicle according to any one of claims 1 to 3, wherein said warning control means turns on said front lamp in a predetermined manner in said oncoming moving body warning control. further comprising a first vehicle-to-vehicle communication means capable of communicating with a subsequent mobile communication device mounted on the subsequent mobile;
5. The warning control means according to any one of claims 1 to 4, wherein the warning control means causes the first inter-vehicle communication means to transmit a first warning notification to the subsequent mobile body communication device in the subsequent mobile body warning control. vehicle. Further comprising a second vehicle-to-vehicle communication means capable of communicating with the oncoming mobile communication device mounted on the oncoming mobile,
6. The warning control means according to any one of claims 1 to 5, characterized in that, in the oncoming moving body warning control, the second warning notification is transmitted from the second vehicle-to-vehicle communication means to the oncoming moving body communication device. vehicle. a trailing moving body detecting means for detecting a trailing moving body on the rear side of the own vehicle;
A vehicle control method comprising oncoming moving object detection means for detecting an oncoming moving object in front of the vehicle,
The computer, based on the detection result of the following moving body detection means , intends to overtake the own vehicle by the following moving body from the side of the center line that separates the traveling lane of the own vehicle from the traveling lane of the oncoming moving body. a step of determining the presence or absence of
When the computer determines that there is the intention to overtake and the oncoming moving body is detected by the oncoming moving body detection means, the following moving body warning control for the following moving body and the opposing movement for the oncoming moving body and a step of executing body warning control. a trailing moving body detecting means for detecting a trailing moving body on the rear side of the own vehicle;
An in-vehicle computer of a vehicle equipped with oncoming moving object detection means for detecting an oncoming moving object in front of the own vehicle,
Based on the detection result of the following moving body detection means , it is determined whether or not the following moving body intends to overtake the own vehicle from the side of the center line that separates the traveling lane of the own vehicle from the traveling lane of the oncoming moving body. a step of determining;
When it is determined that there is an intention to overtake and the oncoming moving body is detected by the oncoming moving body detection means, following moving body warning control for the following moving body and oncoming moving body warning control for the oncoming moving body are performed. The steps to be performed and the computer program for causing the to be performed.

Images