JP7245859B2 - VEHICLE CONTROL DEVICE, VEHICLE, VEHICLE CONTROL METHOD AND PROGRAM - Google Patents

Description

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

In Patent Document 1, when the number of side road lanes in which the own vehicle is traveling is two lanes, the vehicle A, the main road vehicle B, and the following vehicle C are traveling in the side road lane. A travel control technology is disclosed that predicts the positional relationship and calculates a travel plan for the own vehicle A to merge from the side road lane to the main road.

JP 2017-019397 A

However, when another vehicle merges into the lane (main lane) in which your vehicle is traveling from a confluence of multiple lanes, consider the travel of other vehicles traveling in the confluence of multiple lanes. It may be necessary to control travel.

The present invention determines whether or not other vehicles traveling in a plurality of lanes of a merging lane (main lane) where a vehicle (self-vehicle) is traveling will join the lanes, and based on the determination, the vehicle To provide a vehicle control technique capable of controlling running of a vehicle.

A vehicle control device according to one aspect of the present invention is a vehicle control device for controlling travel of a vehicle,
Acquisition means for acquiring information around the vehicle;
Based on the information acquired by the acquisition means, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. a control means for controlling travel of the vehicle;
with
The merging path includes a first merging lane adjacent to the lane and a second merging lane at a position spaced apart from the lane in the width direction of the lane compared to the first merging lane,
The control means is
When it is determined that the other vehicle merging into the lane from the confluence path exists,
When the other vehicle is traveling in the first merging lane as a different threshold value for controlling the relative position of the vehicle and the other vehicle in the traveling direction according to the merging lane in which the other vehicle is traveling. Set the first threshold to and set the second threshold when traveling in the second merging lane,
performing acceleration control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
Acceleration control of the vehicle is easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. , wherein the first threshold and the second threshold are set .

According to the present invention, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will join the lane, and based on the determination, the traveling of the vehicle is controlled. It is possible to provide a vehicle control technique capable of

1 is a block diagram showing the basic configuration of a vehicle control device; FIG. FIG. 2 is a control block diagram of a vehicle control device; The figure explaining the flow of the processing of the vehicle control which concerns on embodiment. FIG. 4 is a diagram schematically illustrating vehicle control in S340 that is executed when another vehicle merges into the main lane; FIG. 4 is a diagram schematically illustrating vehicle control in S360 that is executed when another vehicle merges into the main lane;

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

(Configuration of vehicle control device)
FIG. 1 is a diagram illustrating the basic configuration of a vehicle control device that performs automatic driving control of a vehicle (self-vehicle). The vehicle control device 100 has a sensor S, multiple cameras CAM, and a computer COM. The sensors S include, for example, a plurality of radars S1, a plurality of lidars S2 (Light Detection and Ranging (LIDAR)), a gyro sensor S3, a GPS sensor S4, a vehicle speed sensor S5, and the like. The sensor S and the camera CAM acquire information about the vehicle and various types of information around the vehicle, and input the acquired information to the control unit COM. Here, the vehicle control in the vehicle control device 100 includes not only automatic driving control but also vehicle control in driving support such as follow-up driving support.

The control unit COM includes a CPU (C1) that manages processing related to automatic driving control of the vehicle, a memory C2, a communication unit C3 that can communicate with servers and external devices on the network, and the like. The control unit COM performs image processing on information input from the sensor S (radar S1, lidar S2) and the camera CAM, extracts targets (objects) existing around the vehicle, and determines what kind of objects exist around the vehicle. Analyze whether the target is placed and monitor the target.

Also, the gyro sensor S3 detects the rotational motion and attitude of the vehicle, and the control unit COM can determine the course of the vehicle based on the detection result of the gyro sensor S3, the vehicle speed detected by the vehicle speed sensor S5, and the like. can. Based on the detection result of the GPS sensor S4, the control unit COM also determines the current position (position information) of the vehicle in the map information and the lane in which the vehicle (self-vehicle) is traveling (hereinafter also referred to as the main lane). Road information can be obtained. In addition, the control unit COM can acquire road information such as the road attributes of a merging road that merges with the main lane and the number of lanes of the merging road.

Here, the road attribute of the merging road includes the attribute of the merging lane that merges with the main lane and the attribute of the branching lane that connects with the merging lane and separates from the main lane. Moreover, the road attribute of a merging road having multiple lanes may have both the attribute of a merging lane and the attribute of a branching lane. For example, the merging road is a merging lane (first merging lane) adjacent to the lane (main lane), a merging lane (second merging lane) at a position spaced apart in the width direction of the lane (main lane), and a merging lane. It may have an attribute with a branch lane that connects and separates from the main lane. In addition, the road attribute of the merging road includes the attribute when all of the multiple lanes are merging lanes without the attribute of the branching lane. In addition, the control unit COM performs image processing on the information input from the sensor S (radar S1, lidar S2) and the camera CAM, and uses the information of the extracted target (object) to drive the confluence road. It is also possible to detect other vehicles. The control unit COM can perform automatic operation control of the vehicle based on information input from the sensor S and the camera CAM.

When the vehicle control device shown in FIG. 1 is installed in a vehicle, the control unit COM may be arranged in, for example, a recognition processing system ECU or an image processing system ECU for processing information from the sensor S or the camera CAM. , may be placed in an ECU that controls a communication device or an input/output device, or may be placed in an ECU in a control unit that controls driving of a vehicle, or in an ECU for automatic operation. For example, as shown in FIG. 2 described below, a plurality of ECUs constituting the vehicle control device 100, such as an ECU for a sensor S, an ECU for a camera, an ECU for an input/output device, and an ECU for automatic driving, have functions. may be dispersed.

FIG. 2 is a control block diagram of a vehicle control device 100 for controlling the vehicle 1. As shown in FIG. In FIG. 2, the vehicle 1 is shown schematically in a plan view and a side view. The vehicle 1 is, for example, a sedan-type four-wheel passenger car.

A control unit 2 in FIG. 2 controls each part of the vehicle 1 . The control unit 2 includes a plurality of ECUs 20-29 communicatively connected by an in-vehicle network. Each ECU (Electronic Control Unit) includes a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used for processing by the processor, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

The functions and the like handled by each of the ECUs 20 to 29 will be described below. It should be noted that the number of ECUs and the functions they are in charge of can be appropriately designed for the vehicle 1, and can be subdivided or integrated more than in the present embodiment.

The ECU 20 executes vehicle control related to automatic driving of the vehicle 1 (own vehicle) according to the present embodiment. In automatic driving, at least one of steering and acceleration/deceleration of the vehicle 1 is automatically controlled. Processing related to specific control related to automatic driving will be described in detail later.

The ECU 20 executes control related to automatic driving of the vehicle 1 . In automatic driving, steering of the vehicle 1, lane change, and acceleration/deceleration are automatically controlled.

The ECU 21 controls the electric power steering device 3 . The electric power steering device 3 includes a mechanism that steers the front wheels according to the driver's driving operation (steering operation) on the steering wheel 31 . Further, the electric power steering device 3 includes a motor for assisting the steering operation or exerting a driving force for automatically steering the front wheels, a sensor for detecting the steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20 to control the traveling direction of the vehicle 1 .

The ECUs 22 and 23 control the detection units 41 to 43 for detecting the surrounding conditions of the vehicle, and process information on the detection results. The detection unit 41 has a configuration corresponding to the camera CAM in FIG. 1, and is an imaging device that detects an object in front of the vehicle 1 by imaging (hereinafter sometimes referred to as camera 41). In the case of this embodiment, the camera 41 is attached to the vehicle interior side of the front window in the front part of the roof of the vehicle 1 so as to be able to photograph the front of the vehicle 1 . By analyzing (image processing) the image captured by the camera 41, it is possible to extract the outline of a target located in front of the vehicle 1 and the lane markings (white lines, etc.) on the road.

The detection unit 42 (lidar detection unit) is a Light Detection and Ranging (LIDAR: lidar) (hereinafter sometimes referred to as a lidar 42), detects targets around the vehicle 1 by light, detects targets Measure the distance to The detection unit 42 (the lidar 42) has a configuration corresponding to the lidar S2 in FIG. In this embodiment, five riders 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear.

The detection unit 43 (radar detection unit) is a millimeter wave radar (hereinafter sometimes referred to as the radar 43), and detects targets around the vehicle 1 by radio waves and measures the distance to the target. do. The detection unit 43 (radar 43) has a configuration corresponding to the radar S1 in FIG. In this embodiment, five radars 43 are provided, one in the center of the front portion of the vehicle 1, one in each corner of the front portion, and one in each corner of the rear portion.

The ECU 22 controls the one camera 41 and each rider 42 and processes information on detection results. The ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results. Equipped with two sets of devices to detect the vehicle's surroundings, the reliability of detection results can be improved. can be performed in a multifaceted manner.

The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of detection results or communication results. A gyro sensor 5 detects rotational motion of the vehicle 1 . The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. GPS sensor 24 b detects the current position of vehicle 1 . The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The ECU 24 can access a map information database 24a built in a storage device, and the ECU 24 searches for a route from the current location to the destination. The database 24a can be placed on a network, and the communication device 24c can access the database 24a on the network to obtain information. The gyro sensor 5, the GPS sensor 24b, and the communication device 24c have configurations corresponding to the gyro sensor S3, the GPS sensor S4, and the communication unit C3 in FIG. 1, respectively. The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity to exchange information between the vehicles.

ECU 26 controls power plant 6 . The power plant 6 is a mechanism that outputs driving force for rotating the drive wheels of the vehicle 1, and includes, for example, an engine and a transmission. For example, the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or controls the output of the engine or detects the vehicle speed sensor 7c (vehicle speed sensor 7c in FIG. 1). The gear stage of the transmission is switched based on information such as the vehicle speed detected by the sensor S5). When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to instructions from the ECU 20 to control the acceleration and deceleration of the vehicle 1 .

The ECU 27 controls lamps (headlights, taillights, etc.) including the direction indicators 8 (winkers). In the example of FIG. 2, the direction indicators 8 are provided at the front, door mirrors and rear of the vehicle 1 .

The ECU 28 controls the input/output device 9 . The input/output device 9 outputs information to the driver and receives information input from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged, for example, in front of the driver's seat and constitutes an instrument panel or the like. In addition, although voice and display are exemplified here, information may be notified by vibration or light. Information may also be notified by combining a plurality of sounds, displays, vibrations, and lights. Furthermore, depending on the level of information to be reported (for example, the degree of urgency), different combinations may be used or different modes of reporting may be used.

The input device 93 is a group of switches arranged at a position operable by the driver to give instructions to the vehicle 1, but may also include a voice input device.

The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, is provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the braking device 10 in response to instructions from the ECU 20 to control deceleration and stopping of the vehicle 1 . The brake device 10 and the parking brake can also be operated to keep the vehicle 1 stopped. Moreover, if the transmission of the power plant 6 is equipped with a parking lock mechanism, it can also be operated to keep the vehicle 1 in a stopped state.

<Control example>
An example of vehicle control of the vehicle 1 executed by the ECU 20 will be described. FIG. 3 is a diagram for explaining the flow of vehicle control processing according to the embodiment, and FIGS. 4 and 5 schematically illustrate the vehicle control executed by the ECU 20 when another vehicle merges with the lane LN1 (main lane). It is a diagram for explaining the When the destination and automatic driving are instructed by the driver, the ECU 20 automatically controls the traveling of the vehicle 1 toward the destination according to the route searched by the ECU 24 (lane (LN1) in FIGS. 4 and 5). . During automatic control, the ECU 20 acquires information about the surrounding conditions of the vehicle 1 from the ECUs 22 and 23, and based on the acquired information, instructs the ECUs 21, 26, and 29 to control the steering, acceleration control, and constant-speed running of the vehicle 1. , to execute deceleration control.

The ECU 22 controls the one camera 41 and each rider 42 and processes information on detection results. In addition, the ECU 23 controls the other camera 41 and each radar 43 and performs information processing of detection results. The ECU 20 executes control related to automatic driving of the vehicle 1 .

In step S<b>300 , the camera 41 , each lidar 42 and each radar 43 detect the surroundings of the vehicle 1 .

In step S<b>310 , the ECU 22 and the ECU 23 function as acquisition units and acquire information about the detection area around the vehicle 1 . Based on the detection result of the GPS sensor S4, the ECU 22 and the ECU 23 (acquisition unit) obtain the current position (position information) of the vehicle in the map information and the road information of the lane (main lane) in which the vehicle (self-vehicle) is traveling. to get In addition, the ECU 22 and the ECU 23 (acquisition unit) acquire road information such as the road attribute of the merging road and the number of lanes of the merging road based on the map information.

In step S320, the ECU 20 that executes control related to automatic driving of the vehicle 1 functions as a control unit, and the ECU 20 (control unit) controls the vehicle 1 to travel based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit). Determine the road attribute of the merging road connected to the lane (main lane).

The ECU 20 (control unit) determines whether or not the junction road connected to the lane (main lane) is a multi-lane road, and if the junction road is not a multi-lane road (S320-No), the process proceeds to step S350, ) performs vehicle control when another vehicle merges into the lane (main lane) from the junction of one lane. The merging from the merging road of one lane is the same as the case of merging from the first merging lane (lane LN2 in FIG. 5) to the lane 1 (main lane) among the merging of multiple lanes described later in step S360, The ECU 20 (control unit) can set a threshold (first threshold TH1) similar to that for the first merging lane (lane LN2 in FIG. 5) to perform vehicle control.

On the other hand, if it is determined in step S320 that the merging road connecting to the lane (main lane) is plural lanes (S320-Yes), the ECU 20 (control unit) advances the process to step S330. In step S330, the ECU 20 (control unit) determines that the road attribute of the merging road includes the attribute of the merging lane that joins the lane (main lane) and the attribute of the branching lane that is connected to the merging lane and separates from the main lane. determine whether the

If the merging road has the attributes of both a merging lane and a diverging lane (S330-Yes), in step S340, the ECU 20 (control unit) determines whether the merging road has the attributes of both a merging lane and a diverging lane. Vehicle control is performed when another vehicle joins the lane (main lane) from the merging lane adjacent to the lane (S340).

FIG. 4 is a diagram for explaining vehicle control (S340) when another vehicle merges into a lane from a merging road having attributes of both a merging lane and a diverging lane. In ST41 of FIG. 4, the main lane in which vehicle 1 (self-vehicle) travels is lane LN1, and vehicle 1 (self-vehicle) travels along lane LN1 along arrow AR1.

Lane LN2 is a merging lane (first merging lane) adjacent to lane LN1 (main lane), and lane LN3 is a merging lane (second merging lane) separated from lane LN1 (main lane) in the width direction. , the lane LN4 is a branch lane that connects with the merging lanes (LN2, LN3) and separates from the lane LN1 (main lane).

The merging road has the attributes of a merging lane (LN2, LN3) and a branching lane (LN4). Second merging lane: This shows a state in which the vehicle is traveling in lane LN3) and another vehicle 404 is traveling in the branching lane (lane LN4). Arrows AR2-AR4 indicate the traveling directions of the other vehicles 402-404.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) controls that the other vehicles 402 to 404 traveling in a plurality of lanes of the merging road joining the lane LN1 on which the vehicle 1 is traveling are It is determined whether or not to merge with LN1, and the running of the vehicle 1 is controlled based on the determination.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) determines a merging lane (lane LN2) adjacent to the lane LN1 and a merging lane (lane LN3) spaced apart in the width direction of the lane LN1. ) and a branching lane (lane LN4) connected to the merging lanes (lanes LN2 and LN3) and separated from the lane LN1. It is determined whether or not another vehicle (another vehicle 402 in ST41 of FIG. 4) merges into the lane LN1 (main lane), and based on the determination, the traveling of the vehicle 1 is controlled.

In the determination process, the ECU 20 (control unit) controls the other vehicle 403 traveling in the merging lane (lane LN3) separated in the width direction of the lane LN1, and the merging lane (lane LN2, lane LN3). Vehicle travel is controlled except for other vehicles 404 traveling in a branch lane (lane LN4) separated from (main lane). That is, the ECU 20 (control unit) determines the relative positions of the other vehicle 402 traveling in the merging lane (lane LN2) adjacent to the lane LN1 (main lane) and the vehicle 1 (self-vehicle) as the object of determination processing. , and the other vehicles 403 and 404 traveling in the merging lane (lane LN3) or the branching lane (lane LN4) are excluded from the vehicle control at the time of merging.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) moves from the merging lane (lane LN2) adjacent to the lane LN1 to the branching lane (lane LN4) as indicated by an arrow AR5 in ST42. If there is another vehicle (another vehicle 405 in ST42) that changes lanes to LN2, the traveling of the vehicle is controlled except for the other vehicle 405 that has changed lanes from a plurality of other vehicles traveling in the merging lane (lane LN2). .

Further, the ECU 20 (control unit) causes another vehicle (another vehicle 406 in ST42) to change lanes from the merging lane (lane LN2) adjacent to the lane LN1 to the merging lane (lane LN3) as indicated by an arrow AR6 in ST42. exists, the running of the vehicle is controlled except for the other vehicle 406 that has changed lanes from the plurality of other vehicles traveling in the merging lane (lane LN2). The timing of excluding the other vehicle 406 changing lanes from the merging lane (lane LN2) to the merging lane (lane LN3) from the vehicle control of the vehicle 1 depends on the timing of turn signal lighting by the other vehicle 406 and the timing of the merging lane (lane LN2). is the timing at which the other vehicle 406 has moved a predetermined width-direction distance toward the merging lane (lane LN3) from the vehicle 1, and before the other vehicle 406 has completely moved toward the merging lane (lane LN3), the vehicle 1 is excluded from vehicle control. be able to. In this way, by excluding other vehicles that do not merge into the lane LN1 (main lane) from processing in vehicle control in advance, it is possible to prevent the other vehicles that do not merge from being over-detected as merging vehicles. , it is possible to suppress the execution of vehicle control for adjusting the relative position with other vehicles, which is not necessary.

Returning to FIG. 3, if it is determined in step S330 that the attribute of the merging road does not include the attribute of the branch lane separating from the lane (main lane), the ECU 20 (control unit) determines that all of the multiple lanes It is determined that the lane is a merging lane, and the process proceeds to step S360. Then, in step S360, the ECU 20 (control unit) performs vehicle control when another vehicle merges into a lane (main lane) from a merging path having a plurality of merging lane attributes (S360).

FIG. 5 is a diagram illustrating vehicle control (S360) when another vehicle merges into a lane (main lane) from a merging road having a plurality of merging lane attributes. In FIG. 5, the main lane in which vehicle 1 (own vehicle) travels is lane LN1, and vehicle 1 (own vehicle) travels along lane LN1 along arrow AR1. Lane LN2 is a merging lane (first merging lane) adjacent to lane LN1 (main lane), and lane LN3 is separated in the width direction of lane LN1 (main lane) compared to the merging lane (first merging lane). This is the merging lane (second merging lane) of the position. Another vehicle 502 is traveling in a merging lane (first merging lane: lane LN2), and another vehicle 503 is traveling in a merging lane (second merging lane: lane LN3). Arrows AR2-AR3 indicate the running directions of the other vehicles 402-403.

Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), if the attribute of the merging road does not include the attribute of the branch lane separating from the lane (main lane), the ECU 20 (control unit) It is determined that another vehicle traveling on the road merges with the lane LN1 (main lane) from the merging road (lane LN2, lane LN3). When the ECU 20 (control unit) determines that there is another vehicle merging into the lane LN1 (main lane) from the merging road, the vehicle 1 (own vehicle), the other vehicle 502, Set different thresholds (TH1, TH2) to control the position relative to 503 . Based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit), the ECU 20 (control unit) sets a first threshold TH1 when the other vehicle 502 is traveling in the first merging lane (lane LN2), A second threshold TH2, which is smaller than the first threshold TH1, is set when the other vehicle 503 is traveling in the second merging lane (lane LN3).

When the other vehicle 502 is traveling in the first merging lane (lane LN2), the ECU 20 (control unit) determines that the relative distance between the vehicle 1 and the other vehicle 502 behind in the traveling direction is greater than the first threshold value TH1. When it is larger, acceleration control for accelerating the vehicle 1 is performed. Further, when the other vehicle 503 is traveling in the second merging lane (lane LN3), the ECU 20 (control unit) determines that the relative distance between the vehicle 1 and the other vehicle 503 behind in the traveling direction is the second threshold value. If it is greater than TH2, acceleration control is performed.

The ECU 20 (control unit) must perform acceleration control based on the relative speed between the vehicle 1 (own vehicle) and the other vehicles 502 and 503 based on the information acquired by the ECU 22 and the ECU 23 (acquisition unit). Also, if it is determined that it is possible to overtake another vehicle while traveling at the current speed at a constant speed, overtaking control is performed to overtake the other vehicle while traveling at a constant speed. Whether or not the overtaking control can be executed is based on a set threshold value. When the relative distance to the other vehicle is greater than the first threshold value TH1, overtaking control is performed to overtake the other vehicle 502 by running the vehicle 1 at a constant speed, and the other vehicle 503 runs in the second merging lane (lane LN3). If the relative distance is greater than the second threshold TH2, overtaking control is performed. Here, overtaking is not limited to the case where the vehicle 1 (own vehicle) overtakes another vehicle from behind. A case where the speed is higher than the speed of the other vehicle and the relative distance between the vehicle 1 (own vehicle) and the other vehicle is increased is also included.

Since the second threshold TH2 is a value smaller than the first threshold TH1, the ECU 20 (control unit) controls acceleration and It becomes possible to execute overtaking control. That is, the ECU 20 (control unit) controls the acceleration and tracking of the other vehicle 503 traveling in the second merging lane (lane LN3) compared to the other vehicle 502 traveling in the first merging lane (lane LN2). This makes it easier to perform overrun control. In other words, the ECU 20 (control unit) accelerates the other vehicle 502 traveling in the first merging lane (lane LN2) more than the other vehicle 503 traveling in the second merging lane (lane LN3). Make it difficult to perform control and overtaking control.

On the other hand, the ECU 20 (control unit) performs deceleration control for decelerating the vehicle 1 when the relative position between the vehicle 1 and the other vehicle is equal to or less than a set threshold value, so that the other vehicle merging into the lane 1 (main lane) is controlled. Deceleration control is performed to secure a merging space.

When the other vehicle 502 is traveling in the first merging lane (lane LN2), the ECU 20 (control unit) determines that the relative distance between the vehicle and the other vehicle behind in the traveling direction is equal to or less than the first threshold TH1. In this case, deceleration control for decelerating the vehicle 1 is performed. Further, the ECU 20 (control unit) performs deceleration control when the other vehicle 503 is traveling in the second merging lane (lane LN3) and the relative distance is equal to or less than the second threshold TH2.

Since the first threshold TH1 is a larger value than the second threshold TH2, the relative positional relationship with the vehicle 1 causes the ECU 20 (control unit) to perform deceleration control at a longer relative position in the first merging lane. be able to execute. That is, the ECU 20 (control unit) performs deceleration control on the other vehicle 502 traveling in the first merging lane (lane LN2) compared to the other vehicle 503 traveling in the second merging lane (lane LN3). easier to execute. In other words, the ECU 20 (control unit) decelerates the other vehicle 503 traveling in the second merging lane (lane LN3) compared to the other vehicle 502 traveling in the first merging lane (lane LN2). Make control difficult to implement.

As a result, the second merging lane (lane LN3 ) control the vehicle 1 so as not to perform acceleration control or overtaking control until a sufficient relative position can be secured for a longer time than the other vehicle 503; It can be controlled to reserve space.

In addition, the second merging lane (lane LN3), which is farther in the vehicle width direction than the vehicle 1 (own vehicle), is located in the first merging lane (lane LN2) with respect to the other vehicle 503. Compared to the other vehicle 502, even if the relative distance in the running direction is short, the positional relationship is that they are spaced apart in the vehicle width direction. For this reason, the ECU 20 (control unit) controls the vehicle 1 so as to perform acceleration control and overtaking control in a state in which the relative distance of the second threshold TH2, which is shorter than the first threshold TH1, is secured, and the relative position cannot be secured, control can be performed to secure a merging space by deceleration control.

In the control example of the vehicle control explained with reference to FIGS. 4 and 5, the case where the other vehicle is positioned behind the vehicle 1 (own vehicle) is explained as an example, but the vehicle control by the vehicle control device is performed in this way. The present invention is not limited to this example, and the other vehicle may be located ahead of the vehicle 1 (own vehicle). In this case, if the first threshold value TH1 and the second threshold value TH2 are reversed, the above-described vehicle control is the same as the vehicle control when the other vehicle is positioned ahead of the vehicle 1 (own vehicle). can be applied to

<Summary of embodiment>
The above embodiment discloses at least the following vehicle control device, a vehicle having the vehicle control device, a vehicle control method for the vehicle control device, and a program.

Configuration 1. The vehicle control device of the above embodiment is a vehicle control device (e.g., 100 in FIG. 1) that controls running of a vehicle (e.g., 1 in FIG. 2),
Acquisition means (e.g., ECUs 22 and 23) for acquiring information around the vehicle (1);
Based on the information acquired by the acquisition means (ECUs 22, 23), other vehicles traveling in a plurality of lanes of a merging road (for example, lane LN1 in FIG. 4) where the vehicle (1) is traveling and control means (e.g., ECU 20) for determining whether or not to merge into the lane (lane LN1), and controlling travel of the vehicle (1) based on the determination.

According to the vehicle control device of configuration 1, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging road where the vehicle is traveling will merge into the lane, and based on the determination, the vehicle is moved. It is possible to control running.

Configuration 2. In the vehicle control device (100) of the above-described embodiment, the merging road includes, as the plurality of lanes,
a first merging lane adjacent to the lane (e.g., lane LN2 in FIG. 5);
A second merging lane (for example, lane LN3 in FIG. 5) at a position spaced apart from the lane (LN1) in the width direction of the lane compared to the first merging lane (lane LN2),
The control means (20)
When it is determined that there are other vehicles (for example, 502 and 503 in FIG. 5) that merge into the lane from the merging road,
Different thresholds ( For example, TH1 and TH2) in FIG. 5 are set.

Configuration 3. In the vehicle control device (100) of the above embodiment, the control means (ECU 20), based on the information acquired by the acquisition means (ECUs 22, 23),
A first threshold value (TH1) is set when the other vehicle (502) is traveling in the first merging lane (lane LN2), and when the second merging lane (lane LN3) is traveling, , to set a second threshold (TH2).

Configuration 4. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs acceleration control of the vehicle when the relative distance between the vehicle and the other vehicle is greater than a set threshold,
The acceleration of the vehicle is greater when the other vehicle is traveling in the second merging lane (lane LN3) than when the other vehicle is traveling in the first merging lane (lane LN2). The first threshold (TH1) and the second threshold (TH2) are set so as to facilitate control execution.

Configuration 5. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs overtaking control of the vehicle when the relative distance between the vehicle and the other vehicle is greater than a set threshold,
When the other vehicle is traveling in the second merging lane (lane LN3), it is easier for the vehicle to follow the vehicle than when the other vehicle is traveling in the first merging lane (lane LN2). The first threshold value (TH1) and the second threshold value (TH2) are set so as to facilitate execution of the excess control.

Configuration 6. In the vehicle control device (100) of the above embodiment, the control means (ECU 20) performs deceleration control of the vehicle when the relative distance between the vehicle and the other vehicle is equal to or less than a set threshold,
The deceleration of the vehicle is greater when the other vehicle is traveling in the first merging lane (lane LN2) than when the other vehicle is traveling in the second merging lane (lane LN3). The first threshold (TH1) and the second threshold (TH2) are set so as to facilitate control execution.

According to the vehicle control devices of configurations 1 to 6, the other vehicle 502 in the first merging lane, which is closer to the vehicle 1 in the vehicle width direction, The vehicle 1 is controlled so as not to perform acceleration control or overtaking control until a sufficient relative position can be secured for a longer time than the vehicle 503, and when the relative position cannot be secured, a merging space is secured by deceleration control. can be controlled to

In addition, relative to the other vehicle 503 in the second merging lane, which is located farther in the vehicle width direction than the vehicle 1, relative to the other vehicle 502 in the first merging lane, the distance in the traveling direction is relatively low. Even if the distance is short, there is a positional relationship in which they are spaced apart in the vehicle width direction. For this reason, the ECU 20 (control unit) controls the vehicle 1 so as to perform acceleration control and overtaking control in a state in which the relative distance of the second threshold TH2, which is shorter than the first threshold TH1, is secured, and the relative position cannot be secured, control can be performed to secure a merging space by deceleration control.

Configuration 7. In the vehicle control device (100) of the above embodiment, the control means (ECU 20), based on the information acquired by the acquisition means (ECUs 22, 23),
The merging path includes a merging lane adjacent to the lane (for example, LN2 in FIG. 4), a merging lane at a position spaced apart in the width direction of the lane (for example, LN3 in FIG. 4), and the merging lane (LN2, LN3) and a branch lane (for example, LN4 in FIG. 4) that is connected to the lane (LN1) and is separated from the lane (LN1).
determining whether or not another vehicle (for example, 402, 405, 406 in FIG. 4) traveling in a merging lane (LN2) adjacent to the lane (LN1) among the attributes merges with the lane (LN1); Driving of the vehicle (1) is controlled based on the determination.

Configuration 8. In the vehicle control device (100) of the above-described embodiment, the control means (ECU 20), in the processing of the determination, controls the other vehicle (for example, 403 in FIG. 4) traveling in the separated merging lane (LN3), and control the running of the vehicle except for other vehicles (eg, 404 in FIG. 4) running in the branch lane (LN4).

Configuration 9. In the vehicle control device (100) of the above embodiment, the control means (ECU 20), based on the information acquired by the acquisition means (ECUs 22, 23), from the merging lane (LN2) adjacent to the lane (LN1) When there is another vehicle (for example, 405 in FIG. 4) that changes lanes to the diverging lane (LN4), a plurality of other vehicles traveling in the merging lane excluding the other vehicle (405) that has changed lanes , to control the running of the vehicle.

Configuration 10. In the vehicle control device (100) of the above embodiment, the control means (ECU 20), based on the information acquired by the acquisition means (ECUs 22, 23), from the merging lane (LN2) adjacent to the lane (LN1) When there is another vehicle (for example, 406 in FIG. 4) that changes lanes to the merging lane (LN3) at the separated position, the other vehicle (406) that has changed lanes from a plurality of other vehicles traveling in the merging lane is detected. ) to control the running of the vehicle.

According to the vehicle control devices of configurations 7 to 10, by preliminarily excluding other vehicles that do not merge onto lane LN1 (main lane) from processing in vehicle control, it is possible to over-detect other vehicles that do not merge as merging vehicles. It is possible to suppress the execution of vehicle control for adjusting the relative position with other vehicles, which is not necessary in the running control of the vehicle 1 .

Configuration 11. The vehicle of the above embodiment is a vehicle (eg, 1 in FIG. 2) that has a vehicle control device (eg, 100 in FIG. 1) that controls running of the vehicle, and the vehicle control device (100) is configured to control the running of the vehicle. Acquisition means (e.g., ECUs 22 and 23) for acquiring surrounding information of (1);
Based on the information acquired by the acquisition means (ECUs 22, 23), other vehicles traveling in a plurality of lanes of a merging road (for example, lane LN1 in FIG. 4) where the vehicle (1) is traveling and control means (e.g., ECU 20) for determining whether or not to merge into the lane (lane LN1), and controlling travel of the vehicle (1) based on the determination.

According to the vehicle of configuration 11, it is determined whether or not other vehicles traveling in a plurality of lanes in a merging lane where the vehicle is traveling will join the lane, and based on the determination, the vehicle is stopped traveling. It is possible to provide a vehicle (eg 1 in FIG. 2) with a vehicle controller (eg 100 in FIG. 1) that can be controlled.

Configuration 12. The vehicle control method of the above embodiment is a vehicle control method for a vehicle control device (for example, 100 in FIG. 1) that controls the running of the vehicle,
an acquisition step of acquiring information around the vehicle (for example, S300 and S310 in FIG. 3);
Based on the information acquired in the acquisition step, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. and a control step (for example, S320 to S360 in FIG. 3) for controlling the running of the vehicle.

Configuration 13. The program of the above embodiment is a program that causes a computer to execute each step of a vehicle control method of a vehicle control device (for example, 100 in FIG. 1) that controls running of a vehicle, the vehicle control method comprising:
an acquisition step of acquiring information around the vehicle (for example, S300 and S310 in FIG. 3);
Based on the information acquired in the acquisition step, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. and a control step (for example, S320 to S360 in FIG. 3) for controlling the running of the vehicle.

According to the vehicle control method of configuration 12 and the program of configuration 13, it is determined whether or not other vehicles traveling in a plurality of lanes in a merging lane where the vehicle is traveling will join the lane. Based on this, it becomes possible to control the running of the vehicle.

(Other embodiments)
The present invention provides a program that implements the functions of the above-described embodiments to a system or device via a network or a storage medium, and one or more processors in the computer of the system or device reads and executes the program. It is feasible.

The invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the invention.

20, 22, 23: ECU, 42: Rider, 43: Radar, S: Sensor,
COM: computer, CAM: camera, 100: vehicle control device 20: ECU (control unit), 22, 23: ECU (acquisition unit)

Claims (10)

A vehicle control device for controlling running of a vehicle,
Acquisition means for acquiring information around the vehicle;
Based on the information acquired by the acquisition means, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. a control means for controlling travel of the vehicle;
with
The merging path includes a first merging lane adjacent to the lane and a second merging lane at a position spaced apart from the lane in the width direction of the lane compared to the first merging lane,
The control means is
When it is determined that the other vehicle merging into the lane from the confluence path exists,
When the other vehicle is traveling in the first merging lane as a different threshold value for controlling the relative position of the vehicle and the other vehicle in the traveling direction according to the merging lane in which the other vehicle is traveling. Set the first threshold to and set the second threshold when traveling in the second merging lane,
performing acceleration control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
Acceleration control of the vehicle is easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. , a vehicle control device that sets the first threshold value and the second threshold value . The control means is
performing overtaking control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
The overtaking control of the vehicle is made easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. 2. The vehicle control device according to claim 1 , wherein the first threshold value and the second threshold value are set to . The control means is
performing deceleration control of the vehicle when the relative position between the vehicle and the other vehicle is equal to or less than a set threshold;
To make it easier to execute deceleration control of the vehicle when the other vehicle is traveling in the first merging lane than when the other vehicle is traveling in the second merging lane. , wherein the first threshold value and the second threshold value are set. The control means, based on the information acquired by the acquisition means,
When the merging path has attributes of a merging lane adjacent to the lane, a merging lane at a position spaced apart in the width direction of the lane, and a branch lane connected to the merging lane and separated from the lane,
2. It is determined whether or not another vehicle traveling in a merging lane adjacent to said lane among said attributes will merge with said lane, and based on said determination, the driving of said vehicle is controlled. 4. The vehicle control device according to any one of items 1 to 3 . The control means, in the processing of the determination, controls the running of the vehicle except for the other vehicle running in the separated merging lane and the other vehicle running in the diverging lane. Item 5. The vehicle control device according to item 4 . Based on the information acquired by the acquisition means, the control means controls, when there is another vehicle changing lanes from a merging lane adjacent to the lane to the branching lane, a plurality of other vehicles traveling in the merging lane to 6. The vehicle control device according to claim 4 , wherein the running of the vehicle is controlled except for another vehicle that has changed lanes. Based on the information acquired by the acquisition means, when there is another vehicle changing lanes from the merging lane adjacent to the lane to the merging lane at the separated position, the control means controls a plurality of vehicles traveling in the merging lane. 6. The vehicle control device according to claim 4 , wherein the vehicle control system controls the running of the vehicle except for the other vehicle that has changed lanes from the other vehicle. A vehicle having a vehicle control device that controls running of the vehicle,
The vehicle control device is
Acquisition means for acquiring information around the vehicle;
Based on the information acquired by the acquisition means, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. a control means for controlling travel of the vehicle;
with
The merging path includes a first merging lane adjacent to the lane and a second merging lane at a position spaced apart from the lane in the width direction of the lane compared to the first merging lane,
The control means is
When it is determined that the other vehicle merging into the lane from the confluence path exists,
When the other vehicle is traveling in the first merging lane as a different threshold value for controlling the relative position of the vehicle and the other vehicle in the traveling direction according to the merging lane in which the other vehicle is traveling. Set the first threshold to and set the second threshold when traveling in the second merging lane,
performing acceleration control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
Acceleration control of the vehicle is easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. , wherein the first threshold value and the second threshold value are set . A vehicle control method for a vehicle control device for controlling running of a vehicle, comprising:
an acquisition step of acquiring information around the vehicle;
Based on the information acquired in the acquisition step, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. a control step for controlling the running of the vehicle;
has
The merging path includes a first merging lane adjacent to the lane and a second merging lane at a position spaced apart from the lane in the width direction of the lane compared to the first merging lane,
In the control step,
When it is determined that the other vehicle merging into the lane from the confluence path exists,
When the other vehicle is traveling in the first merging lane as a different threshold value for controlling the relative position of the vehicle and the other vehicle in the traveling direction according to the merging lane in which the other vehicle is traveling. Set the first threshold to and set the second threshold when traveling in the second merging lane,
performing acceleration control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
Acceleration control of the vehicle is easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. and setting the first threshold and the second threshold . A program that causes a computer to execute each step of a vehicle control method of a vehicle control device that controls running of a vehicle, the vehicle control method comprising:
an acquisition step of acquiring information around the vehicle;
Based on the information acquired in the acquisition step, it is determined whether or not other vehicles traveling in a plurality of lanes of a merging lane where the vehicle is traveling will merge into the lane, and based on the determination. a control step for controlling the running of the vehicle;
has
The merging path includes a first merging lane adjacent to the lane and a second merging lane at a position spaced apart from the lane in the width direction of the lane compared to the first merging lane,
In the control step,
When it is determined that the other vehicle merging into the lane from the confluence path exists,
When the other vehicle is traveling in the first merging lane as a different threshold value for controlling the relative position of the vehicle and the other vehicle in the traveling direction according to the merging lane in which the other vehicle is traveling. Set the first threshold to and set the second threshold when traveling in the second merging lane,
performing acceleration control of the vehicle when the relative position between the vehicle and the other vehicle is greater than a set threshold;
Acceleration control of the vehicle is easier to execute when the other vehicle is traveling in the second merging lane than when the other vehicle is traveling in the first merging lane. , and setting the first threshold and the second threshold .

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