JPH10105239A - Vehicle traveling control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately go into other traffic lane where non-automatic driving vehicles travel from anyone traffic lane by controlling the traveling state of vehicles based on detection information that comes from a vehicle state detection system. SOLUTION: After each vehicle within a monitor range A is recognized by detection information from a monitoring unit, a control unit performs a predictive operation of a future relative position relation between a self-vehicle V1 and other vehicles V2 and V3 based on the positions of four corners of the vehicle V1 which are included in the detection information. That is, it operates a predictive movement locus of the right side of the vehicle V1 and also operates predictive movement locus of the left side of the vehicle V2 based on the current vehicle position by assuming that the vehicle V2 travels straight. Whether the vehicle V1 can go into a road 100 from a road 110 is decided based on the predictive result. When it is decided that the vehicle V1 can not go into the road 100, the control unit operates a stop position based on a vehicle speed. It decides such a decelerating speed at which the vehicle V1 can stop at the decided stop position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle travel control system for controlling the travel of a vehicle according to the condition of a road. More specifically, the present invention relates to a system in which a vehicle travels from one travel lane at a point where two travel lanes intersect. The present invention relates to a vehicle traveling control system that controls traveling of the vehicle so as to join a traveling vehicle row in the other traveling lane.

[0002]

2. Description of the Related Art In recent years, an automatic driving system for a vehicle has been proposed (for example, Japanese Patent Application No. Hei.
154857). In this automatic driving system for a vehicle, for example, magnetic markers are laid at predetermined intervals along a traveling lane on a road, a magnetic sensor provided on the vehicle detects the magnetic marker, and the traveling vehicle is driven based on the detection signal. Steering control is performed so as not to deviate from the traveling lane. Thereby, the vehicle is automatically driven along the traveling lane. In addition, wireless communication (vehicle-to-vehicle communication) of information on a traveling state is performed between vehicles running in parallel, and based on the information, control of a traveling speed or the like is performed so as to maintain a certain inter-vehicle distance. Further, wireless communication (road-vehicle communication) of information relating to road conditions and the like is performed between a communication facility provided along the road and the vehicle that is automatically driven as described above, and based on the information, a long-term communication is performed. The running speed control in the range, control for avoiding danger, and the like are performed.

In the above-described automatic driving system for a vehicle, for example, it is conceivable that one of a plurality of driving lanes on an expressway is determined as a driving lane dedicated to an automatically driving vehicle (autonomous driving vehicle). Also, it has been considered that the road itself is dedicated to the autonomous driving vehicle. Under such conditions, at the point where two traveling lanes intersect, the communication function (road-vehicle communication) and the communication function (vehicle-to-vehicle communication) can also be performed when the vehicle merges from one traveling lane into the traveling vehicle train of the other traveling lane. Only the self-driving vehicle having the travel control function needs to be considered.

Accordingly, as described above, when a vehicle merges from one traveling lane into the traveling vehicle train of the other traveling lane, each of the automatic traveling vehicles in the traveling vehicle train and the automatic driving vehicle that merges with each other. By transmitting control information related to the following distance, running speed, approach timing, and the like from outside (road-vehicle communication), and performing travel control based on the control information received by each of the automatic driving vehicles, the vehicle in the running vehicle train of the vehicle is controlled. Can be merged smoothly.

[0005]

However, it is difficult as a matter of fact to set up a driving lane exclusively for an automatic driving vehicle on an existing road or the like, or to provide a road exclusively for an automatic driving vehicle. Therefore, it is necessary to construct a system by assuming a situation in which an automatic driving vehicle and a normal vehicle (non-autonomous driving vehicle) having no communication function, traveling control function, and the like coexist.

Under these conditions, when an autonomous vehicle merges from one traveling lane into a traveling vehicle row on the other traveling lane at a point where two traveling lanes intersect, the traveling vehicle Should include non-autonomous vehicles.

[0007] Therefore, an object of the present invention is to provide a vehicle in which a vehicle that does not have a communication function or a travel control function (a non-autonomous driving vehicle) can be provided from one traveling lane at a point where two traveling lanes intersect. It is an object of the present invention to provide a vehicle travel control system that allows a vehicle to be controlled to appropriately join a traveling vehicle row in a lane.

[0008]

In order to solve the above-mentioned problems, the present invention provides, as described in claim 1, the situation of each vehicle existing within a predetermined range at a point where two driving lanes intersect. A vehicle travel control system that performs travel control of a vehicle to be controlled entering from one travel lane to the other travel lane based on detection information provided from a vehicle situation detection system that detects the vehicle situation detection system. Information receiving means for receiving the provided detection information, and traveling state recognition means for recognizing the position and traveling state of the control target vehicle and other vehicles within the predetermined range from the detection information received by the information receiving means. And the control target vehicle and one of the other vehicles based on the position and the driving state of the control target vehicle and the other vehicle recognized by the driving state recognition means. And from down a structure and a control means for controlling the running state of the control target vehicle to enter the other lane.

In such a system, the position and running state of the vehicle to be controlled and other vehicles are recognized from detection information (representing the state of each vehicle) provided by the vehicle state detection system. Then, based on the recognition result (the position and the running state of each vehicle), the traveling of the controlled vehicle is controlled so that the controlled vehicle enters the other traveling lane from one traveling lane without contacting another vehicle. The state is controlled.

[0010] The above-mentioned vehicle situation detection system can be constituted by using a camera which projects the predetermined range of the traveling lane intersection. In this case, the detection information is based on image information obtained by the camera. At least one of the speed (vehicle speed) and the acceleration / deceleration of the vehicle can be used as the information indicating the running state of the vehicle.

Further, according to the present invention, in the above-mentioned vehicle traveling control system, the control means may be configured such that the control means recognizes the position and the position of the vehicle to be controlled and other vehicles recognized by the traveling state recognition means. Prediction calculation means for predicting a future relative positional relationship between the control target vehicle and another vehicle based on the traveling state; and a future relative position between the control target vehicle and another vehicle obtained by the prediction calculation means. Judging means for judging whether or not the control target vehicle comes into contact with another vehicle when entering the other driving lane from one driving lane based on the positional relationship; , The traveling state of the control target vehicle can be controlled.

In such a system, a future relative positional relationship between the vehicle to be controlled and another vehicle is predicted. Then, the presence or absence of contact between the control target vehicle and another vehicle is determined based on the prediction result, and the traveling control of the control target vehicle is performed based on the determination result.

When it is determined that the two vehicles will come into contact with each other based on the predicted future relative positional relationship between the vehicle to be controlled and another vehicle, the control is performed so that at least such a relative positional relationship between the two vehicles does not occur. The running state of the target vehicle may be controlled. When it is determined that the two vehicles do not come into contact with each other based on the future relative positional relationship between the two vehicles, the traveling state of the controlled vehicle is controlled so that at least such a relative positional relationship between the two vehicles is maintained. May be controlled.

As described above, the control of the traveling state of the controlled vehicle so that the controlled vehicle enters the other traveling lane from one traveling lane without coming into contact with the other vehicle is performed based on the future relative positional relationship between the two vehicles. Can be easily performed on the basis of

[0015]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG.
A monitoring unit 10 having a predetermined range at a point where a road lane (including one driving lane) and a road 110 (including one driving lane) intersect is set as a monitoring range A is installed so as to be disposed above the intersection. I have. At such a point where the road 100 and the road 110 intersect, for example, as shown in FIG.
Join the vehicle trains V2 and V3 running on the vehicle. When the vehicle V1 joins the vehicle rows V2 and V3, each of the vehicles V1, V2, and V3 included in the monitoring range A of the monitoring unit 10 is provided.
Is detected. Then, detection information indicating the situation of each vehicle based on the detected planar outer shape of each vehicle is transmitted to a vehicle V1 that is about to merge from a road machine (not shown) provided near the intersection. Sent to.

As described above, the monitoring range A of the monitoring unit 10
The vehicle situation detection device that detects the planar outer shape of each vehicle included in the vehicle and transmits detection information representing the situation of each vehicle to the merging vehicle based on the information is configured, for example, as shown in FIG. Is done. In FIG. 3, this device is a control unit (MPU) composed of a microcomputer or the like.
20, a memory unit 22, a CCD camera 10 included in the monitoring unit 10, a transmission control circuit 24, and a transmitter 26. This CCD camera 12 is provided with
And outputs a corresponding image signal. The image signal output from the CCD camera 12 is provided to the control unit 20 via the interface circuit 14.

The control unit 20 performs overall control of the entire apparatus, and performs processing for detecting the outline of the vehicle based on an image signal from the monitoring unit 10 (CCD camera 12). The memory unit 22 stores image signals from the monitoring unit 10 (CCD camera 12), information obtained by processing in the control unit 20, and the like.

The transmission control circuit 24 controls the transmitter 22 based on a command from the control unit 20. Transmitter 22
Transmits detection information as described below under the control of the transmission control circuit 24. The transmitter 22 is housed in the above-described road device. An image signal from the CCD camera 12 of the monitoring unit 10 is stored in the memory unit 22,
The control unit 20 processes the image signal (image data) stored in the memory unit 22 by a known method, and extracts a lump outline corresponding to the vehicle included in the monitoring range A. Vehicles V1, V2, V3 within monitoring range A
Is present at some moment, for example, as shown in FIG.
The control unit 20 recognizes the planar outer shapes of the vehicles V1, V2, V3 based on the extracted outer lines as shown in FIG.

The control unit 20 further calculates, for example, the positions of the four corners of each vehicle from the planar outer shape of each vehicle within the monitoring range A recognized as described above. Further, the vehicle speed and acceleration / deceleration of each vehicle are calculated based on the current position calculation results and the past position calculation results. Then, the positions of the four corners, the vehicle speed, and the acceleration / deceleration of each vehicle are provided from the control unit 20 to the transmission control circuit 24 as detection information indicating the status of each vehicle. Based on the control of the transmission control circuit 24, the above-described detection information (including the positions of the four corners of each vehicle, the vehicle speed, and the acceleration / deceleration) is transmitted from the transmitter 26.

From the road 110 to the vehicle row V2 on the road 100,
The vehicle V1 that is about to merge with V3 is the vehicle to be controlled, and the detection information is transmitted to the vehicle V1.
The control target vehicle V1 has, for example, a control system configured as shown in FIG.

Referring to FIG. 5, the control system includes a control unit (MP) composed of a microcomputer or the like.
U) 51, a memory unit 52, a vehicle speed sensor 53, a receiver 56, and a reception control circuit 57. Receiver 56
Receives the detection information (the positions of the four corners of each vehicle, the vehicle speed, and the acceleration / deceleration) transmitted from the vehicle condition detection device (see FIG. 3) under the control of the reception control circuit 57 as described above. The detection information received by the receiver 56 is provided to the control unit 51 via the reception control circuit 57. Control unit 5
1 stores the received detection information in the memory unit 52.

The vehicle speed sensor 53 outputs a pulse signal (vehicle speed pulse) corresponding to the vehicle speed. The vehicle speed pulse from the vehicle speed sensor 53 is provided to the control unit 51 via the input interface 54. The control unit 51 has a function of calculating the vehicle speed of the control target vehicle V1 based on the vehicle speed pulse. Further, the control unit 51 has a function of calculating the position of the vehicle V1. This position calculation is G
Use of PS (Global Positioning System) or
This is performed based on information obtained from an infrastructure (magnetic marker, radio wave marker, optical marker, sign post, etc.) installed on the road.

The system further includes a braking unit 200 for braking the vehicle and an engine control unit 300 for controlling the engine.
The operation of the braking unit 200 and the engine control unit 300 is controlled based on a control signal from the control unit 51 given through the control unit 5. Thereby,
The running state (vehicle speed, acceleration / deceleration, etc.) of the vehicle is controlled.

The control unit 51 in the control system (see FIG. 5) for the vehicle V1 is controlled when the vehicle V1 enters the road 100 from the road 110 (FIG. 2).
For example, the processing is executed according to the procedure shown in FIG. The control unit 51 acquires the detection information (the positions of the four corners, the vehicle speed, and the acceleration / deceleration of each vehicle within the monitoring range A) received by the receiver 56 from the vehicle condition detection device (S1). Furthermore,
The control unit 51 compares the position information calculated by its own position calculation function with the acquired detection information, and identifies the own vehicle V1 from the detection information. As described above, by identifying the own vehicle V1 from the detection information, the control unit 51
Based on the detection information, the own vehicle V1 and another vehicle are distinguished and recognized (S
2).

After each vehicle within the monitoring range A is recognized, the control unit 51 determines the position of the vehicle based on the four corner positions of the vehicle included in the detection information (hereinafter, simply referred to as vehicle positions). It is determined whether V1 has already entered the road 100 from the road 110 (S3). If the vehicle V1 has not yet entered (the vehicle V1 has not joined the vehicle trains V2 and V3), the control unit 51 performs a prediction calculation of a future relative positional relationship between the own vehicle V1 and another vehicle based on the detection information. Perform (S4).

This prediction operation is performed, for example, as follows. For example, as shown in FIG. 7, when the own vehicle V1 traveling on the road 110 and the other vehicle V2 traveling on the road 100 are recognized, the current (N) vehicle position, the vehicle speed, and the acceleration / deceleration (detection information) are determined. Based on each time (N +
1), (N + 2),... On the road 110 are calculated, and the same time (N + 1), (N +
2),... Positions on the road 100 are calculated. Based on the calculated positions of the own vehicle V1 and the other vehicle V2 at each time, the own vehicle V1 and the other vehicle V at each time are calculated.
A relative positional relationship of 2 is predicted.

When the prediction calculation of the future relative positional relationship between the own vehicle V1 and the other vehicle V2 is completed, the control unit 51 sets the own vehicle V1 on the road 11 based on the prediction result.
It is determined whether it is possible to enter the road 100 from 0 (S
5). This determination is made as follows.

First, in such a situation (see FIG. 7),
The right side of the own vehicle V1 first contacts the left side of the other vehicle V2. From this, it is assumed that the vehicle V1 goes straight ahead, and a predicted movement locus of the right side of the vehicle V1 is calculated based on the current (N) vehicle position (the four corner positions). Further, assuming that the other vehicle V2 goes straight, a predicted movement trajectory of the left side of the other vehicle V2 is calculated based on the current (N) vehicle position. Then, based on the predicted relative positional relationship in the vicinity of the intersection of the predicted trajectories of the vehicles V1 and V2, the vehicle V1 moves from the road 110 to the road 100
It is determined whether or not the vehicle can enter. In the case of the example shown in FIG.
At time (N + 4), it is predicted that the own vehicle V1 will contact the other vehicle V2. Therefore, in this case, the vehicle V1 is on the road 1
It is determined that the vehicle cannot enter the road 100 from 10.

As described above, when it is determined that the own vehicle V1 cannot enter the road 100, the control unit 51 further
It is determined based on the detection information (vehicle speed) whether or not the vehicle V1 is currently stopped (S6). Then, when the vehicle V1 is not stopped, the control unit 51 calculates a stop position (S7). As described above, it is predicted that the own vehicle V1 and the other vehicle V2 will come into contact with each other at the time (N + 4). Therefore, a predetermined distance margin is added to the predicted position of the own vehicle V1 at the time (N + 4). The stop position is determined.

Further, the control unit 51 calculates the deceleration based on the calculated distance between the stop position and the current (N) position and the current vehicle speed (S8). That is, the deceleration is determined so that the host vehicle V1 stops at the determined stop position (vehicle speed is zero). The control unit 51 controls the braking unit 200 and the engine control unit 300 so that the traveling control of the vehicle V1 is performed at the determined deceleration.
(S9). Braking unit 200
Performs the braking of the vehicle V1 with the specified braking pressure, and the engine control unit 300 performs the engine control at the specified throttle opening.

The deceleration control (braking control, etc.)
Is performed, for example, according to a deceleration pattern as shown in FIG. The deceleration pattern shown in FIG.
From the front of the predetermined position x _N of intersection of 0,110 represents the vehicle speed V at each position reaching the stop position x _f.

For example, the vehicle V1 is about to enter.
When the speed of the other vehicle V2 traveling on the road 100 is relatively high
(For example, V_th1Above), the vehicle V1
Therefore, there is little possibility that the speed of the other vehicle V2 will decrease. There
In this case, the deceleration pattern Q _TwoIs selected. this
Reaches a sufficiently low speed relatively early, then gradually
The pattern is such that the vehicle stops (vehicle speed is zero).

The road on which the vehicle V1 is about to enter.
When the speed of the other vehicle V2 traveling on the road 100 is relatively low
(For example, V_th2Below), the vehicle V1
Therefore, there is a high possibility that the speed of the other vehicle V2 will decrease. There
In this case, the deceleration pattern Q _ThreeIs selected. this
Keeps the state as fast as possible, then stops suddenly
(Vehicle speed is zero). Excluding that
Case (Vehicle speed of other vehicle V2 is V _th2And V_th1During the
Turn Q₁Is selected. This means that the vehicle speed decreases linearly
And stops (zero vehicle speed).

Returning to FIG. 6, the own vehicle V1 is controlled by braking with the braking pressure based on the deceleration pattern determined as described above.
In the process of decelerating, the above processing is repeated. That is,
The received detection information (position, vehicle speed,
(Acceleration / deceleration) (S1), recognition of the own vehicle V1 and another vehicle V2 from the obtained detection information (S2), and the own vehicle V1 is already on the road 1
00 (S3), the own vehicle V1 and the other vehicle V2
Calculation (S4) of future relative positional relationship of vehicle and own vehicle V
A determination is made as to whether entry into the first road 100 is possible (S5).

Here, when the traveling state of the other vehicle V2 traveling on the road 100 on which the own vehicle V1 is about to enter does not change, at a certain time (N) when the own vehicle V1 and the other vehicle V2 approach each other, Of the future (N + 1, N + 2, N + 3) is predicted, for example, as shown in FIG. 8 (S4). In this case, it is predicted that the own vehicle V1 will come into contact with the other vehicle V2 at the time of (N + 3), so it is determined that the own vehicle V1 cannot enter the road 100 (S
5). Therefore, also in this case, similarly to the above, the calculation of the stop position (S7), the calculation of the deceleration (S8), and the deceleration control (S7)
9) is performed.

Further, when the control unit 51 determines that the host vehicle V1 stops at the stop position (vehicle speed is zero) (S6) by repeating the above processing, the stop braking pressure (for example, the maximum braking pressure).
Is set (S15), and the braking control with the stop braking pressure is performed (S9). As a result, the vehicle V1 on the road 110 stops before approaching the road 100 (determined stop position). The control unit 51 repeats the above process even after the host vehicle V1 stops. That is,
The prediction (S4) of the future relative positional relationship between the stopped own vehicle V1, the traveling V2, and the following vehicle (if present in the monitoring range A) is repeated, and each time the prediction is performed. It is determined whether the stopped vehicle V1 can enter the road 100 based on the prediction result (S1).
5).

Here, the own vehicle V1 in which the other vehicle V2 is stopped
Is passed, the control unit 51 determines that the vehicle V1 can enter the road 100 based on the vehicle speed of the vehicle following the other vehicle V2.
_G is calculated (S10). When there is no following vehicle, approach speed V _G is determined to speed determined in advance. Then, it is determined whether or not the vehicle speed V _N (zero) of the own vehicle V1 has reached the approach speed V _n (S11). If not, the control unit 51 determines that the current vehicle speed of the vehicle V1 and V _N
Then, the entry acceleration α _G is calculated based on the entry speed V _G (S13).

The control unit 51 outputs a control signal to the engine control unit 300 so that the obtained approach acceleration α _G is obtained (S14). Engine control unit 300 performs engine control (accelerator control and the like) of vehicle V1 based on the control signal. With this engine control, the own vehicle V1 starts to enter the road 100. If it is determined that the own vehicle V1 has completely entered the road 100 in the course of the above process (S3), the process ends.

On the other hand, in the process of prediction calculation (S4)
The vehicle V1 and the road 10
An example of the future relative positional relationship with another vehicle V2 running on the vehicle 0
For example, when predicted as shown in FIG.
51 determines that the vehicle V1 can enter the road 100
(S5). In this case, the approach speed V is calculated from the speed of the other vehicle V2. _G
Is calculated (S10), and the vehicle speed V of the own vehicle V1 is calculated._NIs this approach
Speed V_G(S11), the current vehicle speed V_N
Is maintained so that is maintained (S12). So
Then, in this state, the own vehicle V1 maintains the vehicle speed.
The vehicle merges with another vehicle V2 on the road 100.

In the above example, while the own vehicle V1 is being decelerated by the braking control, the vehicle speed of the other vehicle V2 rapidly decreases (it is estimated that there is an intention to join the own vehicle V1). For example, in a situation as shown in FIG. 9, the control unit 51 determines that the own vehicle V1 can enter the road 100 (S5). Also in this case, the own vehicle V1 maintains the decelerated current vehicle speed (S1), as described above.
2) Or while accelerating (S13, S1
4) Merge before the other vehicle V2 on the road 100.

In the example as described above, the vehicle V1 entering the road 100 from the road 110 and the other vehicle V2 traveling on the road 100 move to the road 100 based on the future relative positional relationship. When it is determined that the vehicle cannot enter, the own vehicle V1 is reliably stopped at the determined stop position. When it is determined that the vehicle V1 can enter the road 100, the vehicle V1 can smoothly enter the road 100 while maintaining the current vehicle speed or accelerating.

In the above example, the position (the four corners), the vehicle speed, and the acceleration / deceleration of each vehicle in the monitoring range A are detected by the vehicle condition detection device having the monitoring unit 10 as the detection information and the vehicle is going to join the vehicle line. Although transmitted, the present invention is not limited to this. For example, an image signal from the monitoring unit 10 (CCD camera 12) may be transmitted to vehicles on the road as detection information indicating the status of each vehicle. In this case, in the received vehicles, calculation of the position, vehicle speed, acceleration / deceleration, etc. of each vehicle is performed.

In the above example, the receiver 5 shown in FIG.
6 and the reception control circuit 57 correspond to the information receiving means, and the processing in steps S1 and S2 shown in FIG. 6 corresponds to the traveling state recognition means. Further, the processing of steps S4 to S15 shown in FIG. 6 and the braking unit 200 and the engine control unit shown in FIG. 5 correspond to the control means. In particular, the processing in step S4 corresponds to the prediction calculation means, and the processing in step S5
Corresponds to the determination means.

[0044]

As described above, according to the present invention described in each claim, each vehicle existing within a predetermined range of a point where two driving lanes intersect provided by an external vehicle condition detection system. Based on the detection information indicating the situation, the position and the running state of each vehicle are recognized, and based on the recognition result, the running control of the controlled vehicle that attempts to enter the other lane from one lane is performed. Therefore, it is possible to accurately join the control target vehicle to a traveling vehicle line of another traveling lane that may include a vehicle (a non-automatic driving vehicle) having no communication function and traveling control function.

[Brief description of the drawings]

FIG. 1 is a diagram showing a monitoring unit that monitors the status of a vehicle within a monitoring range of a road intersection.

FIG. 2 is a diagram illustrating an example of a positional relationship of a vehicle within a monitoring range.

FIG. 3 is a block diagram illustrating a configuration example of a vehicle situation detection device including a monitoring unit.

FIG. 4 is a diagram illustrating an example of a recognition result of each vehicle having the positional relationship illustrated in FIG. 2;

FIG. 5 is a block diagram illustrating an example of a travel control system mounted on a vehicle.

FIG. 6 is a flowchart showing a procedure of processing performed in the traveling control system shown in FIG.

FIG. 7 is a relative positional relationship of each recognized vehicle (part 1);
FIG.

FIG. 8 is a relative positional relationship of each recognized vehicle (part 2);
FIG.

FIG. 9 is a diagram illustrating a relative positional relationship between recognized vehicles (part 3);
FIG.

FIG. 10 is a diagram showing an example of a deceleration pattern.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Vehicle condition detection apparatus 12 CCD camera 14 Interface circuit 20 Control unit 22 Memory unit 24 Transmission control circuit 26 Transmitter 51 Control unit 52 Memory unit 53 Vehicle speed sensor 54 Input interface 55 Output interface 56 Receiver 57 Reception control circuit 100, 110 Road 200 braking unit 300 engine control unit

Continued on the front page (51) Int.Cl. ⁶ Identification symbol FI // G08G 1/16 G08G 1/16 D

Claims (2)

[Claims] 1. A vehicle according to claim 1, wherein said vehicle travels from one traveling lane to another traveling lane based on detection information provided by a vehicle situation detecting system for detecting a situation of each vehicle existing within a predetermined range at a point where two traveling lanes intersect. A vehicle traveling control system that performs traveling control of a control target vehicle entering the vehicle, comprising: an information receiving unit that receives detection information provided from the vehicle situation detection system; A traveling state recognizing means for recognizing a position and a traveling state of a controlled vehicle and another vehicle existing within a predetermined range; and a position and a traveling state of the controlled vehicle and the other vehicle recognized by the traveling state recognizing means. Controlling the traveling state of the controlled vehicle such that the controlled vehicle enters the other traveling lane from one traveling lane without contacting another vehicle. Vehicle running control system having a control means. 2. The vehicle travel control system according to claim 1, wherein the control means is configured to control the vehicle to be controlled based on the position and travel state of the vehicle to be controlled and other vehicles recognized by the travel state recognition means. Prediction calculation means for predicting a future relative positional relationship with another vehicle; and a control target vehicle based on a future relative positional relationship between the control target vehicle and another vehicle obtained by the prediction calculation means. Determining means for determining whether or not the vehicle comes into contact with another vehicle when entering from the one driving lane to the other driving lane; and the traveling state of the control target vehicle based on the determination result by the determining means. A vehicle travel control system adapted to control the vehicle.