JP7294512B2 - vehicle controller - Google Patents

Description

The present invention relates to a vehicle control device.

Conventionally, Japanese Patent Application Laid-Open No. 2015-11458 is known as a technical document related to vehicle control devices. This publication discloses a vehicle information providing device that indicates whether or not the vehicle can change lanes based on surrounding situation information of the vehicle. A device is shown with a display that indicates the remaining time of impossibility if a lane change is not possible.

JP 2015-11458 A

By the way, it is conceived to suggest automatic overtaking to the driver when the vehicle has overtaken the preceding vehicle, and to execute automatic overtaking according to the driver's input. However, it is difficult to perfectly match the timing of the automatic overtaking proposal in the vehicle control with the timing at which the driver wants to overtake the preceding vehicle. Depending on the driver, it is conceivable to manually start overtaking the preceding vehicle prior to the automatic overtaking proposal, so there is room for examination.

Therefore, in the present technical field, it is desired to provide a vehicle control device that can prevent the driver from starting to overtake an unnecessary preceding vehicle by manual operation.

In order to solve the above-described problems, one aspect of the present invention is a vehicle control device that uses a display screen of the own vehicle to provide a driver of the own vehicle with information related to vehicle control of the own vehicle , comprising: If it is possible to change lanes from the driving lane to the adjacent lane, the overtaking proposal activation display and the preceding vehicle image corresponding to the preceding vehicle are displayed to indicate the timing of activating the automatic overtaking proposal of the preceding vehicle by the own vehicle. A display control unit for displaying on a display screen and controlling the display so that the overtaking proposal activation display and the preceding vehicle image approach according to the approach of the own vehicle and the preceding vehicle, and the overtaking proposal activation on the display screen. an automatic overtaking proposal unit that proposes automatic overtaking to the driver when the display reaches the image of the preceding vehicle.

As described above, according to one aspect or another aspect of the present invention, it is possible to prevent the driver from starting to overtake an unnecessary preceding vehicle by manual operation.

1 is a block diagram showing a vehicle control device according to a first embodiment; FIG. (a) It is a figure which shows the display of an overtaking proposal activation display, an own vehicle image, and a preceding vehicle image on a display screen. (b) is a diagram showing a case in which the display for activating the passing suggestion reaches the image of the preceding vehicle. 4 is a flowchart showing an example of automatic overtaking processing in the vehicle control system of the first embodiment; 4 is a flowchart showing an example of display condition determination processing in the vehicle control device of the first embodiment; It is a block diagram which shows the vehicle control apparatus which concerns on 2nd Embodiment. (a) It is a figure which shows the projection display of the overtaking proposal activation display on a windshield. (b) It is a figure which shows the case where the overtaking proposal activation display reaches the preceding vehicle on a windshield. 9 is a flowchart showing an example of an overtaking proposal activation display process in the vehicle control device of the second embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[First embodiment]
FIG. 1 is a block diagram showing a vehicle control device according to the first embodiment. A vehicle control device 100 according to the first embodiment shown in FIG. 1 is mounted in a vehicle (self-vehicle) such as a passenger car, performs vehicle control of the self-vehicle, and provides information on vehicle control to the driver. The vehicle control device 100 performs automatic overtaking as vehicle control of the own vehicle.

Automatic overtaking is vehicle control that automatically overtakes a preceding vehicle that is traveling in front of the own vehicle in its own lane. In automatic overtaking, the own vehicle changes lanes from the driving lane to the adjacent lane, and the own vehicle overtakes the preceding vehicle by traveling in the adjacent lane at a vehicle speed higher than that of the preceding vehicle. The vehicle control device 100 provides information on automatic overtaking to the driver as information related to vehicle control, and proposes automatic overtaking. Run Yue.

<Configuration of Vehicle Control Device of First Embodiment>
As shown in FIG. 1, the vehicle control device 100 includes an ECU (Electronic Control Unit) 10 that manages the system in an integrated manner. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], a CAN [Controller Area Network] communication circuit, and the like. The ECU 10 implements various functions by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The ECU 10 may be composed of a plurality of electronic units. Also, part of the functions of the ECU 10 described below may be executed by a server that can communicate with the host vehicle.

The ECU 10 is connected with the external sensor 1 , the internal sensor 2 , the driver's input unit 3 , the display 4 , the speaker 5 and the actuator 6 .

The external sensor 1 is a detection device that detects the surrounding conditions of the own vehicle. External sensor 1 includes at least one of a camera and a radar sensor.

A camera is imaging equipment that captures an image of the external situation of the own vehicle. The camera is provided on the back side of the windshield of the vehicle and captures an image of the front of the vehicle. The camera transmits to the ECU 10 imaging information regarding the external situation of the own vehicle. The camera may be a monocular camera or a stereo camera.

A radar sensor is a detection device that uses radio waves (eg, millimeter waves) or light to detect obstacles around a vehicle. Radar sensors include, for example, millimeter wave radar or lidar [LIDAR: Light Detection and Ranging]. A radar sensor detects obstacles by transmitting radio waves or light around the vehicle and receiving radio waves or light reflected by the obstacles. The radar sensor transmits detected obstacle information to the ECU 10 . Obstacles include fixed obstacles such as guardrails and buildings, as well as moving obstacles such as pedestrians, bicycles, and other vehicles.

The internal sensor 2 is a detection device that detects the running state of the own vehicle. Internal sensors 2 include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. A vehicle speed sensor is a detector that detects the speed of the host vehicle. As the vehicle speed sensor, for example, a wheel speed sensor that is provided for a wheel of the host vehicle or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor transmits detected vehicle speed information (wheel speed information) to the ECU 10 .

The acceleration sensor is a detector that detects acceleration of the own vehicle. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle and a lateral acceleration sensor that detects the lateral acceleration of the vehicle. An acceleration sensor transmits the acceleration information of the own vehicle to ECU10, for example. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle. A gyro sensor, for example, can be used as the yaw rate sensor. The yaw rate sensor transmits the detected yaw rate information of the host vehicle to the ECU 10 .

The driver input unit 3 is an input device for the driver to input approval for automatic overtaking. The driver input unit 3 can be a touch panel, for example. The driver input unit 3 may be a button or lever, or may be a voice input device. The method of inputting approval for automatic overtaking by the driver is not particularly limited.

The display 4 is a display device provided in front of the driver in the own vehicle. The display 4 is provided, for example, on the dashboard of the host vehicle. The display 4 has a display screen for displaying images to the driver. The display 4 displays an image on the display screen based on the control signal from the ECU 10 . Note that the display 4 may be a HUD (Head Up Display) that projects and displays on the windshield of the host vehicle or a projection screen.

The speaker 5 is an audio output device that is mounted on the vehicle and outputs audio to the driver. The speaker 5 is provided, for example, inside the door of the driver's seat. The speaker 5 outputs sound based on a control signal from the ECU 10 .

The actuator 6 is a device used for controlling the own vehicle. Actuators 6 include at least drive actuators, brake actuators, and steering actuators. The drive actuator controls the amount of air supplied to the engine (throttle opening) according to a control signal from the ECU 10, thereby controlling the driving force of the host vehicle. When the own vehicle is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the ECU 10 is input to the motor as the power source to control the driving force. When the own vehicle is an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source to control the driving force. A motor as a power source in these cases constitutes the actuator 6 .

The brake actuator controls the brake system according to a control signal from the ECU 10 and controls the braking force applied to the wheels of the own vehicle. A hydraulic brake system, for example, can be used as the brake system. The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system according to a control signal from the ECU 10 . Thereby, the steering actuator controls the steering torque of the own vehicle.

Next, the functional configuration of the ECU 10 will be described. The ECU 10 has a preceding vehicle recognition section 11 , a surrounding environment recognition section 12 , a display control section 13 , an automatic overtaking proposal section 14 , an approval determination section 15 and a vehicle control section 16 . A part of the functions of the ECU 10 may be executed in a server that can communicate with the own vehicle.

The preceding vehicle recognition unit 11 recognizes the relative situation of the preceding vehicle with respect to the own vehicle based on the detection result of the external sensor 1 (obstacle information from the radar sensor or imaging information from the camera). The relative situation of the preceding vehicle with respect to the own vehicle includes the relative distance (inter-vehicle distance) between the own vehicle and the preceding vehicle and the relative vehicle speed of the preceding vehicle with respect to the own vehicle.

The surrounding environment recognition unit 12 recognizes the surrounding environment of the vehicle based on the detection result of the external sensor 1 (obstacle information from the radar sensor or imaging information from the camera). The surrounding environment includes the presence or absence of adjacent lanes adjacent to the driving lane of the own vehicle and the status of obstacles (including other vehicles) around the own vehicle. The surrounding environment includes the conditions of other vehicles traveling in adjacent lanes (presence or absence of other vehicles, positions of other vehicles, relative vehicle speeds of other vehicles with respect to the own vehicle, etc.) if there are adjacent lanes. The surrounding environment recognition unit 12 recognizes the existence of the adjacent lane by performing white line recognition of the adjacent lane, for example, based on the detection result of the external sensor 1 . Note that the surrounding environment recognition unit 12 may recognize the presence of adjacent lanes using map information when the position of the own vehicle on the map is recognized.

The display control unit 13 displays the overtaking proposal activation display, the own vehicle image, and the preceding vehicle image on the display screen of the display 4 based on the relative situation of the preceding vehicle with respect to the own vehicle and the surrounding environment of the own vehicle. The overtaking proposal activation display is an image display for indicating the timing for activating a proposal for automatic overtaking of the preceding vehicle by the own vehicle. The self-vehicle image is an image display corresponding to the self-vehicle. The preceding vehicle image is an image display corresponding to the preceding vehicle. The own vehicle image and the preceding vehicle image may be simplified images. The display control unit 13 displays the overtaking proposal activation display at a position between the own vehicle image and the preceding vehicle image. The display control unit 13 controls display so that the own vehicle image and the overtaking proposal activation display approach the preceding vehicle image as the own vehicle approaches the preceding vehicle.

The display control unit 13 determines whether preset display conditions are satisfied based on the relative situation of the preceding vehicle with respect to the own vehicle and the surrounding environment of the own vehicle. The display condition is satisfied, for example, when the time to collision [TTC: Time To Collision] between the own vehicle and the preceding vehicle is less than the TTC threshold and the own vehicle can change lanes from the driving lane to the adjacent lane. . The TTC threshold is a preset threshold.

Note that the display control unit 13 may change the TTC threshold based on the driving history of the driver. The display control unit 13 may change the TTC threshold based on the time to collision between the own vehicle and the preceding vehicle when the driver overtakes during manual driving. The display control unit 13 may set the average value or the median value of the collision margin time when the driver overtakes during manual driving as the TTC threshold, and the preset value of the average value or the median value of the collision margin time may be set. A value obtained by adding the values may be used as the TTC threshold.

For example, when there is an adjacent lane adjacent to the driving lane, the display control unit 13 recognizes that the vehicle can change lanes from the driving lane to the adjacent lane. The display control unit 13 further refers to the traffic regulation information, and only when the vehicle is traveling in a section where lane changes are permitted under the traffic regulations, the vehicle is allowed to change lanes from the driving lane to the adjacent lane. recognize that it is possible. Traffic regulation information may be obtained from map information, or may be obtained by recognizing traffic signs on the roadside based on information captured by a camera.

Further, the display control unit 13 may recognize that the own vehicle can change lanes from the driving lane to the adjacent lane when there is no other vehicle on the adjacent lane that will hinder the lane change. The other vehicle that interferes with the lane change is, for example, another vehicle traveling in the adjacent lane, and a threshold value that is preset for the collision margin time for the own vehicle in the extending direction of the traveling lane (extending direction of the adjacent lane). Other vehicles can be: Other vehicles that interfere with the lane change may be recognized by other well-known techniques in the technical field of lane change control.

When the display control unit 13 determines that the display conditions are satisfied, the display control unit 13 causes the display screen of the display 4 to display the overtaking proposal activation display, the own vehicle image, and the preceding vehicle image. Here, FIG. 2(a) is a diagram showing the display of the overtaking proposal activation display, the own vehicle image, and the preceding vehicle image on the display screen. In FIG. 2(a), a display screen D, an overtaking proposal activation display G, an own vehicle image M, and a preceding vehicle image N are shown. In addition, a first lane marking image L1 corresponding to the left lane marking of the lane in which the vehicle is traveling, a second lane marking image L2 corresponding to the right lane marking (the left lane marking of the adjacent lane), and the adjacent lane. 3 shows a third lane marking image L3 corresponding to the right lane marking of .

As shown in FIG. 2A, the display control unit 13 displays the own vehicle image M and the preceding vehicle image N so as to correspond to the relative situation between the own vehicle and the preceding vehicle. The display control unit 13 displays the overtaking proposal activation display G at a position between the own vehicle image M and the preceding vehicle image N. FIG. The passing suggestion activation display G is a linear display extending in the width direction of the lane. The shape of the passing suggestion activation display G is not limited to a line shape. The passing suggestion activation display G may be V-shaped, triangular, or rectangular. The passing suggestion activation display G may be an area extending forward from the own vehicle image M. The overtaking proposal activation display G may have any shape as long as it conveys to the driver the timing of activating the automatic overtaking proposal by the own vehicle.

The display control unit 13 displays, for example, the overtaking proposal activation display G on the display screen D at a position at a certain distance from the own vehicle image M. The display control unit 13 displays the own vehicle image M and the passing suggestion activation display G so as to approach the preceding vehicle image N as the own vehicle approaches the preceding vehicle.

FIG. 2(b) is a diagram showing a case where the overtaking proposal activation display G reaches the preceding vehicle image N. As shown in FIG. As shown in FIG. 2(b), the display control unit 13 controls the display so that the overtaking proposal activation display G reaches the preceding vehicle image N at the timing of automatically overtaking the driver of the host vehicle. The timing at which the automatic overtaking proposal is made to the driver of the own vehicle is a preset timing. The timing at which the automatic overtaking is proposed to the driver of the own vehicle can be, for example, the timing when the time to collision between the own vehicle and the preceding vehicle becomes less than a preset automatic overtaking proposal threshold. In this case, the display control unit 13 controls the overtaking proposal activation display G to reach the preceding vehicle image N when the collision margin time between the own vehicle and the preceding vehicle becomes less than the preset automatic overtaking proposal threshold. to control the display.

Strictly speaking, the passing suggestion activation display G reaching the preceding vehicle image N is limited to the case where the end of the passing suggestion activation display G (the end on the preceding vehicle image N side) is in contact with the preceding vehicle image N. not something. It may be determined that the passing suggestion activation display G reaches the preceding vehicle image N when a part of the passing suggestion activation display G overlaps the preceding vehicle image N. In this determination, deviation due to image accuracy and calculation accuracy is allowed.

The automatic overtaking proposal unit 14 proposes automatic overtaking to the driver when the overtaking proposal activation display G reaches the preceding vehicle image N on the display screen D. The automatic overtaking proposal unit 14 changes the overtaking proposal activation display G on the display screen D to the image of the preceding vehicle when the collision margin time between the own vehicle and the preceding vehicle becomes less than a preset automatic overtaking proposal threshold. It may be determined that N is reached.

The automatic overtaking proposal unit 14 sends a control signal to the speaker 5 to suggest automatic overtaking to the driver. The automatic overtaking proposal unit 14 proposes to the driver, for example, by voice output that the own vehicle will overtake the preceding vehicle by changing lanes. Audio output includes the case of buzzer only.

In addition to the speaker 5 , the automatic overtaking proposal unit 14 may display an image display suggesting automatic overtaking on the display 4 . The automatic overtaking proposal unit 14 may suggest automatic overtaking only by displaying an image on the display 4 . When the own vehicle is automatically driving, the automatic overtaking proposal unit 14 may call the driver's attention by vibrating the steering wheel or vibrating the driver's seat in addition to the voice output or image display. good.

The approval determination unit 15 determines whether the driver has approved or denied automatic overtaking based on the input result of the driver input unit 3 . For example, when the driver touches the automatic overtaking execution icon displayed on the touch panel constituting the driver input unit 3, the approval determination unit 15 recognizes that the driver has approved the automatic overtaking. When the driver touches the icon indicating that automatic overtaking is not required displayed on the touch panel constituting the driver input unit 3, the approval determination unit 15 determines that the driver has denied automatic overtaking. The approval determination unit 15 may determine that the driver has denied automatic overtaking when there is no input from the driver for a certain period of time after the proposal of automatic overtaking. Note that the driver's input mode is not limited to touch on the touch panel, and may be operation of a button or the like, or voice recognition.

When the approval determination unit 15 determines that the driver has approved automatic overtaking, the vehicle control unit 16 executes automatic overtaking of the preceding vehicle by the host vehicle. The vehicle control unit 16 executes automatic overtaking of the own vehicle by transmitting a control signal to the actuator 6 . The vehicle control unit 16 can execute automatic overtaking by well-known vehicle control. Automatic overtaking may be performed by a combination of lane change control and vehicle speed control.

<Processing of the vehicle control device according to the first embodiment>
Next, processing of the vehicle control device 100 according to the first embodiment will be described. FIG. 3 is a flowchart showing an example of automatic overtaking processing in the vehicle control system 100 of the first embodiment. The automatic overtaking process is executed, for example, during automatic driving of the own vehicle. Alternatively, the automatic overtaking process is executed when the own vehicle is running and the driver permits the automatic overtaking proposal.

As shown in FIG. 3, the ECU 10 determines in S10 whether or not the display control unit 13 satisfies the display condition. The display control unit 13 determines whether display conditions are satisfied based on the relative situation of the preceding vehicle with respect to the own vehicle and the surrounding environment of the own vehicle. When the ECU 10 does not determine that the display condition is satisfied (S10: NO), the current process ends. The ECU 10 repeats the process from S10 again after a certain period of time has elapsed. When the ECU 10 determines that the display condition is satisfied (S10: YES), the process proceeds to S12.

In S<b>12 , the display control unit 13 of the ECU 10 causes the display screen of the display 4 to display the overtaking proposal activation display G, the own vehicle image M, and the preceding vehicle image N. The display control unit 13 performs display by transmitting a control signal to the display 4 . Note that the own vehicle image M does not necessarily have to be displayed. The display control unit 13 displays the overtaking proposal activation display G, the own vehicle image M, and the preceding vehicle image N based on the relative situation of the preceding vehicle with respect to the own vehicle. After that, the ECU 10 proceeds to S14.

In S<b>14 , the ECU 10 determines whether or not the passing suggestion activation display G reaches the preceding vehicle image N in the display control unit 13 . The display control unit 13 controls the display so that the overtaking proposal activation display G reaches the preceding vehicle image N at the timing when the automatic overtaking is proposed to the driver of the own vehicle. When the ECU 10 determines that the overtaking proposal activation display G has not reached the preceding vehicle image N (S14: NO), the process proceeds to S16. When the ECU 10 determines that the overtaking suggestion activation display G reaches the preceding vehicle image N (S14: YES), the process proceeds to S18.

In S<b>16 , the ECU 10 again determines whether the display condition is satisfied by the display control unit 13 . When the ECU 10 does not determine that the display condition is satisfied (S16: NO), the current process ends. The ECU 10 repeats the process from S10 again after a certain period of time has elapsed. When it is determined that the display condition is satisfied (S16: YES), the ECU 10 repeats the determination of S14 again after a certain period of time. During this time, the display control unit 13 controls the display so that the passing proposal activation display G approaches the preceding vehicle image N on the display screen D when the own vehicle and the preceding vehicle approach.

At S<b>18 , the ECU 10 uses the automatic overtaking proposal unit 14 to suggest automatic overtaking to the driver. The automatic overtaking proposal section 14 makes a proposal for automatic overtaking through voice output by, for example, transmitting a control signal to the speaker 5 . Audio output includes the case of buzzer only. After that, the ECU 10 proceeds to S20.

In S<b>20 , the ECU 10 determines whether or not the driver has approved automatic overtaking by the approval determination unit 15 . The approval determination section 15 makes a determination based on the input result of the driver input section 3 . When the ECU 10 determines that the driver has approved automatic overtaking (S20: YES), the process proceeds to S26. When the ECU 10 does not determine that the driver has approved the automatic overtaking (S20: NO), the process proceeds to S22.

In S<b>22 , the ECU 10 determines whether or not the driver has denied the automatic overtaking by the approval determination unit 15 . The approval determination section 15 makes a determination based on the input result of the driver input section 3 . When the ECU 10 determines that the driver has denied automatic overtaking (S22: YES), the current process ends. The ECU 10 repeats the process from S10 again after a certain period of time has elapsed. When the ECU 10 does not determine that the driver has denied automatic overtaking (S22: NO), the process proceeds to S24.

In S24, the ECU 10 determines whether or not the situation in which automatic overtaking is possible continues. For example, when the display control unit 13 determines that the display conditions are satisfied, the ECU 10 determines that the situation in which automatic overtaking is possible continues. When the display control unit 13 determines that the display condition is no longer satisfied, the ECU 10 determines that the situation in which automatic overtaking is possible has not continued. The ECU 10 may determine whether or not a situation in which automatic overtaking is possible continues under conditions different from the display conditions.

When the ECU 10 determines that the situation in which automatic overtaking is possible continues (S24: YES), the determination of S20 is performed again after a certain period of time. When the ECU 10 determines that the situation in which automatic overtaking is possible has not continued (S24: NO), the current process ends. At this time, the ECU 10 may notify the driver that automatic overtaking is no longer possible. The ECU 10 repeats the process from S10 again after a certain period of time has elapsed.

In S26, the ECU 10 causes the vehicle control unit 16 to automatically overtake the own vehicle. The vehicle control unit 16 executes automatic overtaking by transmitting a control signal to the actuator 6 . After that, the ECU 10 terminates the current process.

Next, the processing (display condition determination processing) of S10 in FIG. 3 will be specifically described. FIG. 4 is a flowchart showing an example of display condition determination processing in the vehicle control device of the first embodiment.

As shown in FIG. 4, in S30, the ECU 10 determines whether or not the time to collision between the own vehicle and the preceding vehicle is less than the TTC threshold by the display control unit 13. The display control unit 13 makes a determination based on the relative situation of the preceding vehicle with respect to the host vehicle. If the ECU 10 does not determine that the time to collision between the host vehicle and the preceding vehicle is less than the TTC threshold (S30: NO), the current process ends. The ECU 10 repeats the process from S30 again after a certain period of time has elapsed. A determination of NO is also made when there is no preceding vehicle. When the ECU 10 determines that the time to collision between the own vehicle and the preceding vehicle is less than the TTC threshold (S30: YES), the ECU 10 proceeds to S32.

In S<b>32 , the ECU 10 determines whether or not the vehicle can change lanes from the driving lane to the adjacent lane by the display control unit 13 . The display control unit 13 makes a determination based on the surrounding environment of the own vehicle. If the ECU 10 does not determine that the host vehicle can change lanes from the driving lane to the adjacent lane (S32: NO), the current process ends. The ECU 10 repeats the process from S30 again after a certain period of time has elapsed. When the ECU 10 determines that the vehicle can change lanes from the driving lane to the adjacent lane (S32: YES), the ECU 10 proceeds to S34.

In S<b>34 , the ECU 10 determines that the display condition is satisfied by the display control unit 13 . After that, the ECU 10 proceeds to S12 in FIG.

<Effects of the vehicle control device of the first embodiment>
According to the vehicle control device 100 of the first embodiment described above, the overtaking proposal activation display G and the preceding vehicle image N are displayed based on the relative situation between the preceding vehicle to be automatically overtaken and the host vehicle. When the overtaking proposal activation display G reaches the preceding vehicle image N, the automatic overtaking is proposed to the driver. It is possible to make it easier for the driver to understand the timing at which the suggestion of is activated. Therefore, the vehicle control device 100 prevents the driver from starting unnecessary manual overtaking of the preceding vehicle due to the driver's inability to understand the timing at which the automatic overtaking proposal for the preceding vehicle is activated. be able to.

Further, according to the vehicle control device 100, when the time to collision between the host vehicle and the preceding vehicle is less than the TTC threshold and the host vehicle can change lanes from the traveling lane to the adjacent lane, the overtaking proposal is activated. Since the display and the image of the preceding vehicle are displayed on the display screen, the overtaking proposal activation display G and the image of the preceding vehicle N are displayed in a situation where the need for the own vehicle to automatically overtake the preceding vehicle increases, and the driver manually operates the display. It is possible to suppress starting unnecessary overtaking due to.

[Second embodiment]
Next, a vehicle control device according to a second embodiment will be described with reference to the drawings. FIG. 5 is a block diagram showing a vehicle control device according to the second embodiment. The vehicle control device 200 shown in FIG. 5 projects and displays the overtaking proposal activation display G on the windshield in comparison with the first embodiment, and the overtaking proposal activation display is displayed on the windshield as seen from the driver. The difference is that the proposal for automatic overtaking is made when the vehicle is reached. Configurations that are the same as or correspond to those of the first embodiment are denoted by the same reference numerals, and overlapping descriptions are omitted.

<Configuration of vehicle control device according to second embodiment>
As shown in FIG. 5, the vehicle control device 200 has a HUD [Head Up Display] 7 in place of the display 4 of the first embodiment. Also, the ECU 20 of the vehicle control device 200 differs in the function of the display control section 21 from that of the first embodiment.

The HUD 7 is a device that is mounted on the vehicle and projects an image onto the windshield (display screen) of the vehicle. For example, the HUD 7 emits light from a projection unit embedded in the dashboard of the vehicle toward the windshield, and projects and displays an image when the light reflected by the windshield is visually recognized by the driver.

The display control unit 21 projects and displays the overtaking proposal activation display G on the windshield based on the relative situation of the preceding vehicle with respect to the own vehicle and the surrounding environment of the own vehicle. The display control unit 21 projects and displays the overtaking proposal activation display G when it determines that a preset display condition is satisfied based on the relative situation of the preceding vehicle with respect to the own vehicle and the surrounding environment of the own vehicle. . The display conditions can be the same conditions as in the first embodiment.

The display control unit 21 projects and displays the overtaking proposal activation display G by transmitting a control signal to the HUD 7 . The display control unit 13 controls the display so that the overtaking proposal activation display G on the windshield Fg approaches the preceding vehicle as viewed from the driver in accordance with the approach of the own vehicle and the preceding vehicle. The position of the preceding vehicle on the windshield Fg as seen from the driver can be obtained, for example, from the position of the driver's viewpoint and information captured by a camera in front of the vehicle.

Here, FIG. 6(a) is a diagram showing a projection display of the overtaking suggestion activation display G on the windshield. FIG. 6(a) shows the windshield Fg, the preceding vehicle P, and the overtaking proposal activation display G. FIG. The preceding vehicle P is not an image but another vehicle that the driver can actually see through the windshield Fg. The position of the driver's viewpoint can be a preset position. The position of the driver's viewpoint may be determined by settings entered by the driver during initialization of the HUD 7 of the ego vehicle. If the vehicle is equipped with a driver monitor camera, the driver's viewpoint can be calculated by analyzing the driver's face image from the captured image of the driver monitor camera. good.

The passing suggestion activation display G is a linear display extending in the width direction of the lane. As in the first embodiment, the shape of the overtaking suggestion activation display G is not limited to a line shape. The passing suggestion activation display G may be V-shaped, triangular, or rectangular. The passing suggestion activation display G may be an area extending forward from the own vehicle image M. The overtaking proposal activation display G may have any shape as long as it conveys to the driver the timing of activating the automatic overtaking proposal.

As shown in FIG. 6A, the display control unit 21 displays the overtaking proposal activation display G at a position between the own vehicle and the preceding vehicle P as seen from the driver. The display control unit 13 displays the overtaking proposal activation display G on the windshield Fg so as to approach the preceding vehicle P as seen from the driver as the own vehicle and the preceding vehicle P approach each other.

FIG. 6(b) is a diagram showing a case where the overtaking proposal activation display G reaches the preceding vehicle P on the windshield Fg. As shown in FIG. 6(b), the display control unit 21 causes the overtaking proposal activation display G to precede the overtaking proposal activation display G on the windshield Fg as seen from the driver at the timing of proposing automatic overtaking to the driver of the host vehicle. The display is controlled so as to reach the car P. The timing at which the automatic overtaking proposal is made to the driver of the own vehicle is a preset timing. The timing for proposing automatic overtaking to the driver of the own vehicle can be the same as in the first embodiment, for example.

It should be noted that the passing suggestion activation display G reaching the preceding vehicle P is not strictly limited to the case where the end of the passing suggestion activation display G (the end on the side of the preceding vehicle P) touches the preceding vehicle P. do not have. It may be determined that the passing suggestion activation display G reaches the preceding vehicle P when a part of the passing suggestion activation display G overlaps the preceding vehicle P. In this determination, deviation due to image accuracy and calculation accuracy is allowed.

<Processing of the vehicle control device according to the second embodiment>
Next, processing of the vehicle control device 200 according to the second embodiment will be described with reference to FIG. FIG. 7 is a flowchart showing an example of automatic overtaking processing in the vehicle control device 200 of the second embodiment. The automatic overtaking process is executed, for example, during automatic driving of the own vehicle. Alternatively, the automatic overtaking process is executed when the own vehicle is running and the driver permits the automatic overtaking proposal. The processes of S40, S46, S48-S56 are the same as the processes of S10, S16, S18-S26 of FIG.

As shown in FIG. 7, the ECU 20 determines whether or not the display condition is satisfied by the display control unit 21 in S40. When the ECU 20 does not determine that the display condition is satisfied (S40: NO), the current process ends. The ECU 20 repeats the process from S40 again after a certain period of time has elapsed. When it is determined that the display condition is satisfied (S40: YES), the ECU 20 proceeds to S42.

In S42, the ECU 20 causes the display control unit 21 to project and display the overtaking proposal activation display G on the windshield Fg. The display control unit 21 transmits a control signal to the HUD 7 to project and display the overtaking proposal activation display G on the windshield Fg. The display control unit 21 displays the overtaking proposal activation display G at a position between the own vehicle (for example, the front end of the own vehicle) and the preceding vehicle P on the windshield Fg based on the relative situation of the preceding vehicle P with respect to the own vehicle. do. After that, the ECU 20 proceeds to S44.

In S<b>44 , the ECU 20 determines whether or not the overtaking proposal activation display G reaches the preceding vehicle P in the display control unit 21 . The display control unit 21 controls the display so that the overtaking proposal activation display G reaches the preceding vehicle P on the windshield Fg as seen from the driver at the timing of proposing automatic overtaking to the driver of the own vehicle. ing. When the ECU 20 determines that the overtaking suggestion activation display G has not reached the preceding vehicle P (S44: NO), the process proceeds to S46. When the ECU 20 determines that the overtaking suggestion activation display G has reached the preceding vehicle P (S44: YES), the process proceeds to S48.

In S<b>46 , the ECU 20 again determines whether the display condition is satisfied by the display control unit 21 . When the ECU 20 does not determine that the display condition is satisfied (S46: NO), the current process ends. The ECU 20 repeats the process from S40 again after a certain period of time has elapsed. When the ECU 20 determines that the display condition is satisfied (S46: YES), the ECU 20 repeats the determination of S44 again after a certain period of time. During this time, the display control unit 21 controls the display so that the overtaking proposal activation display G approaches the preceding vehicle P on the windshield Fg when the host vehicle and the preceding vehicle approach each other.

At S<b>48 , the ECU 20 uses the automatic overtaking proposal unit 14 to suggest automatic overtaking to the driver. The automatic overtaking proposal section 14 makes a proposal for automatic overtaking through voice output by, for example, transmitting a control signal to the speaker 5 . After that, the ECU 20 proceeds to S50.

In S<b>50 , the ECU 20 determines whether or not the driver has approved automatic overtaking by the approval determination unit 15 . The approval determination section 15 makes a determination based on the input result of the driver input section 3 . When the ECU 20 determines that the driver has approved the automatic overtaking (S50: YES), the ECU 20 proceeds to S56. When the ECU 20 does not determine that the driver has approved the automatic overtaking (S50: NO), the ECU 20 proceeds to S52.

In S<b>52 , the ECU 20 determines whether or not the driver has denied automatic overtaking by the approval determination unit 15 . The approval determination section 15 makes a determination based on the input result of the driver input section 3 . When the ECU 20 determines that the driver has denied automatic overtaking (S52: YES), the current process ends. The ECU 20 repeats the process from S40 again after a certain period of time has elapsed. When the ECU 20 does not determine that the driver has denied the automatic overtaking (S52: NO), the ECU 20 proceeds to S54.

In S54, the ECU 20 determines whether or not the situation in which automatic overtaking is possible continues. For example, when the display control unit 21 determines that the display conditions are satisfied, the ECU 20 determines that the situation in which automatic overtaking is possible continues. When the display control unit 21 determines that the display condition is no longer satisfied, the ECU 20 determines that the situation in which automatic overtaking is possible has not continued. The ECU 20 may determine whether or not a situation in which automatic overtaking is possible continues under conditions different from the display conditions.

When the ECU 20 determines that the situation in which automatic overtaking is possible continues (S54: YES), the ECU 20 performs the determination of S50 again after a certain period of time. When the ECU 20 determines that the situation in which automatic overtaking is possible has not continued (S54: NO), the current process ends. At this time, the ECU 20 may notify the driver that automatic overtaking is no longer possible. The ECU 20 repeats the process from S40 again after a certain period of time has elapsed.

In S56, the ECU 20 causes the vehicle control unit 16 to automatically overtake the own vehicle. The vehicle control unit 16 executes automatic overtaking by transmitting a control signal to the actuator 6 . After that, the ECU 20 ends the current process.

Note that the display condition determination processing of the vehicle control device 200 can be the same as that of the first embodiment (see FIG. 4).

<Effects of the vehicle control device of the second embodiment>
According to the vehicle control device 200 of the second embodiment described above, the overtaking proposal activation display G is projected and displayed on the windshield Fg based on the relative situation between the preceding vehicle P to be automatically overtaken and the own vehicle. When the overtaking proposal activation display G reaches the preceding vehicle P on the windshield Fg as seen from the driver, the automatic overtaking is proposed to the driver, compared to the case where the overtaking proposal activation display G is not displayed. This makes it easier for the driver to understand the timing at which the automatic overtaking proposal is activated. Therefore, in the vehicle control device 200, the driver cannot understand the timing at which the automatic overtaking proposal for the preceding vehicle P is activated, and the driver starts overtaking the preceding vehicle P unnecessarily by manual operation. can be suppressed.

Also, in the vehicle control device 200, similarly to the first embodiment, the collision margin time between the own vehicle and the preceding vehicle P is less than the TTC threshold, and the own vehicle can change lanes from the traveling lane to the adjacent lane. In some cases, the overtaking proposal activation display G is projected and displayed on the windshield Fg, so that the overtaking proposal activation display G is displayed when the need for automatic overtaking of the preceding vehicle p by the own vehicle increases. start unnecessary overtaking by manual operation.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be embodied in various forms with various modifications and improvements based on the knowledge of those skilled in the art, including the embodiment described above.

For example, in the first embodiment, the image display for conveying the timing of the automatic overtaking proposal need not be the planar image display as shown in FIGS. 2(a) and 2(b). The display control unit 13 may display a side-view image such that, for example, the passing proposal activation display G, the own vehicle image M, and the preceding vehicle image N are arranged in the lateral direction (the width direction of the own vehicle). Alternatively, the display control unit 13 displays an image in which the overtaking proposal activation display G and the preceding vehicle image N are arranged in front of the own vehicle, as shown in FIGS. 6(a) and 6(b) of the second embodiment. good too. The image display mode is not particularly limited as long as the timing of the proposal for automatic overtaking is communicated to the driver.

In 1st Embodiment, the display of the own vehicle image M is not essential. Moreover, it is not always necessary to display the first marking line image L1, the second marking line image L2, and the third marking line image L3. Further, the display control unit 13 may display the own vehicle image M and the preceding vehicle image N at regular intervals regardless of the relative situation between the own vehicle and the preceding vehicle. The timing of the automatic overtaking proposal can be communicated to the driver by the interval between the preceding vehicle image N and the overtaking proposal activation display G.

The vehicle control devices 100 and 200 may use the time headway (THW) or the distance between vehicles instead of the time to collision. The display control units 13 and 21, for example, instead of the time to collision between the own vehicle and the preceding vehicle being less than the TTC threshold, the time between the own vehicle and the preceding vehicle is less than a preset THW threshold. Alternatively, it may be determined that the display condition is satisfied. Similarly, the display control units 13 and 21 may determine that the display condition is satisfied when the inter-vehicle distance between the own vehicle and the preceding vehicle is less than a preset inter-vehicle distance threshold. In this regard, the timing of the automatic overtaking proposal may also be based on the inter-vehicle time or the inter-vehicle distance instead of the collision margin time.

Note that the display control unit 13 may always display the passing proposal activation display G, the own vehicle image M, and the preceding vehicle image N while the own vehicle is running without setting display conditions. Alternatively, the display control unit 13 may always display the overtaking proposal activation display G, the own vehicle image M, and the preceding vehicle image N when the automatic overtaking proposal is permitted. The same applies to the second embodiment.

DESCRIPTION OF SYMBOLS 1... External sensor, 2... Internal sensor, 3... Driver input part, 4... Display, 5... Speaker, 6... Actuator, 7... HUD, 10, 20... ECU, 11... Leading vehicle recognition part, 12... Surrounding environment Recognition unit 13, 21 Display control unit 14 Automatic overtaking proposal unit 15 Approval determination unit 16 Vehicle control unit 100, 200 Vehicle control device.

Claims (1)

A vehicle control device for providing information regarding vehicle control of the own vehicle to a driver of the own vehicle using a display screen of the own vehicle ,
When the own vehicle can change lanes from the driving lane to the adjacent lane, an overtaking proposal activation display for indicating the timing of activating the automatic overtaking proposal of the preceding vehicle by the own vehicle and corresponding to the preceding vehicle. a display control unit for displaying an image of the preceding vehicle on the display screen, and controlling the display such that the display of triggering the overtaking proposal and the image of the preceding vehicle approach each other in accordance with the approach of the own vehicle and the preceding vehicle. and,
an automatic overtaking proposal unit that proposes the automatic overtaking to the driver when the overtaking proposal activation display reaches the preceding vehicle image on the display screen;
A vehicle control device.

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