RU2780639C1 - Motion control method and motion control device for a vehicle - Google Patents

Abstract

FIELD: traffic management.

SUBSTANCE: invention relates to a method for motion control. The method for controlling the movement of the vehicle includes providing the system start mode and the driver start mode. The system start mode includes, when the start condition is satisfied, information about the lane change is provided regarding whether to accept the automatic lane change function, when in response to the presentation of information about the lane change, a receiving input is detected confirming the automatic lane change function, determining whether a lane change is possible, and when determining that a lane change is possible, the automatic lane change function is performed. The driver start mode includes, when a predefined lane change instruction operation is performed, determining whether a lane change is possible, and when determining that a lane change is possible, performing an automatic lane change function. The time to determine whether a lane change is possible in the driver start mode is set shorter than the time to determine whether a lane change is possible in the system start mode.

EFFECT: timely lane change is achieved.

6 cl, 10 dwg

Description

[Technical field]

[0001]

The present invention relates to a motion control method and a motion control apparatus for a vehicle, which include autonomous motion control.

[Prior Art]

[0002]

Known automated driving system installed on a vehicle, which is configured so that when the vehicle is controlled to perform a lane change in automatic mode, delay the start time from determining the permission to change lanes to the actual start of the lane change in accordance with the traffic situation around of the vehicle so that the driver can easily view the environment (Patent Document 1).

[Prior art document]

[Patent Document]

[0003]

[Patent Document 1] JP2018-086966A

[Summary of the Invention]

[Problems solved by the invention]

[0004]

However, according to the above-mentioned prior art, if the start time of a lane change is delayed, the driving environment will change; therefore, another determination would need to be made to allow the lane change, and the start time of the lane change may be further delayed, which may cause the driver to feel uncomfortable about the start time of the lane change.

[0005]

The problem to be solved by the present invention is to provide a traffic control method and a traffic control device for a vehicle that can initiate a lane change without causing driver discomfort.

[Troubleshooting Tools]

[0006]

The present invention includes providing a system startup mode and a driver startup mode. In the system start mode, when the predetermined condition for performing the lane change is satisfied and the driver approves the execution of the automatic lane change function, the lane change is performed. In the driver start mode, when the driver performs a lane change instruction operation, a lane change is performed. The above problem is solved by setting the time for determining whether a lane change is possible in the driver start mode to be shorter than the time for determining whether a lane change is possible in the system start mode.

[Invention effect]

[0007]

According to the present invention, the time for determining whether a lane change is possible in the driver start mode is set to be shorter than the time for determining whether a lane change is possible in the system start mode; therefore, after the driver performs the lane change instruction operation, it can be determined whether the lane change is possible and perform the lane change in a shorter time than in the system startup mode. This allows you to initiate a lane change without the driver feeling uncomfortable.

[Brief Description of Drawings]

[0008]

FIG. 1 is a block diagram illustrating an embodiment of a motion control device for a vehicle according to the present invention.

FIG. 2 is a front view illustrating part of the input device of FIG. one.

FIG. 3 is a plan view illustrating automatic (autonomous) lane change control using the lane change assist function.

FIG. 4 is a plan view illustrating automatic (autonomous) lane change control using the overtaking assist function.

FIG. 5 is a plan view illustrating automatic (autonomous) lane change control to the original lane using the lane change assist function.

FIG. 6 is a plan view illustrating automatic (autonomous) lane change control using the route guidance function.

FIG. 7 is a plan view illustrating the relative speed and distance between vehicles between the vehicle in question and the preceding vehicle.

FIG. 8 is a graph for calculating a lane change rate based on relative speed and distance between vehicles between a considered vehicle and a preceding vehicle.

FIG. 9 is a block diagram illustrating the state transition of the control device of FIG. one.

FIG. 10 is a flowchart illustrating a basic motion control process of a motion control device for a vehicle according to the present invention.

[Embodiment(s) of the present invention]

[0009]

FIG. 1 is a block diagram illustrating the configuration of a motion control device 1 for a vehicle (also referred to as "subject vehicle" hereinafter) according to an embodiment of the present invention. The motion control device 1 for a vehicle according to the present embodiment is an embodiment for executing the motion control method for a vehicle according to the present invention. As shown in FIG. 1, the traffic control device 1 for a vehicle according to the present embodiment includes sensors 11, a device 12 for determining the position of the vehicle in question, a map database 13, an on-board equipment 14, a navigation device 15, a presentation device 16, an input device 17, a device 18 driving control and control device 19 . These devices are connected to each other, for example, via a controller network (CAN) or other on-board LAN for the mutual exchange of information.

[0010]

The sensors 11 detect the driving state of the vehicle in question. The sensors 11 include, for example, cameras such as a front camera that captures images in front of the vehicle in question, a rear camera that captures images behind the vehicle in question, and side cameras that capture images of the right and left sides of the vehicle in question. Additionally or alternatively, the sensors 11 include radar devices such as a front radar that detects obstacles in front of the vehicle in question, a rear radar that detects obstacles behind the vehicle in question, and side radars that detect obstacles existing to the right and the left side of the object from the vehicle in question. Additionally or alternatively, the sensors 11 include a vehicle speed sensor that detects the vehicle speed of the vehicle in question, a touch sensor (capacitance sensor) that detects a driver holding the steering wheel, a driver monitor that captures images of the driver, etc. The sensors 11 may be one of the various sensors described above, or may also be configured as a combination of two or more sensors. The results of the detection/definition of the sensors 11 are output to the control device 19 at predetermined time intervals.

[0011]

The device 12 for determining the position of the vehicle in question includes a GPS unit, a gyroscope, a vehicle speed sensor, and so on. The subject vehicle location device 12 detects radio waves transmitted from a plurality of communication satellites using a GPS unit to periodically acquire position information of the target vehicle (the subject vehicle). In addition, the subject vehicle position determining device 12 determines the current position of the target vehicle based on the received target vehicle position information, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. The subject vehicle location device 12 outputs the detected location information of the target vehicle to the control device 19 at predetermined time intervals.

[0012]

The map database 13 is a memory that stores three-dimensional high-precision map information, including information about the location of various objects and specific points, and is accessible from the control device 19. The 3D high-precision map information is 3D map information based on the shape of a road detected while driving on a real road using a data collection vehicle. 3D high-precision map information is map information in which detailed and high-precision location information items such as curved route and curve size (such as curvature or curvature radius), confluence point and branch point of the road, toll point, location where the number of lanes is reduced and the service area/parking area is associated with the map information as 3D information.

[0013]

On-board equipment 14 includes various modules equipped in the vehicle and controlled by the driver. Examples of such on-board equipment include a steering wheel, accelerator pedal, brake pedal, direction indicators, wipers, lights, horn, and other specialty switches. When the driver controls the onboard equipment 14, information about his work is displayed on the control device 19.

[0014]

The navigation device 15 receives current position information of the subject vehicle from the subject vehicle position determination device 12, and superimposes the position of the subject vehicle on the navigation map information to display the position of the vehicle in question and the map information on a display or the like. In addition, the navigation device 15 has a function of navigating to set a route to a destination and guide the driver along a predetermined route when a destination is set. This navigation function serves to display the route on the display map and inform the driver about the route by voice, etc. The route set by the navigation device 15 is also used in the route assistance function of the control device 19. The route assistance function is a function used to control the vehicle in question, on which it is located, to autonomously navigate to a destination based on a given route.

[0015]

The presentation device 16 includes, for example, one or more displays such as a display of the navigation device 15, a rear-view mirror integral display, a gauge integral display, and a head-up display projected onto the windshield. Additionally or alternatively, the presentation device 16 includes one or more devices other than displays, such as an audio device speaker and a seat with embedded vibrating bodies. The presentation device 16 informs the driver about various presentation information items under the control of the control device 19 .

[0016]

The input device 17 is, for example, a device such as a button switch or a touch panel located on the display screen, with which the driver can input information by manual operation, or a microphone, with which the driver can input information by voice. In the present embodiment, the driver may control the input device 17, thereby inputting setting information in response to the presentation information that is presented by the presentation device 16. FIG. 2 is a front view illustrating a part of the input device 17 of the present embodiment, and is an example including a set of pushbutton switches disposed on a spoke portion or the like of a steering wheel. The illustrated input device 17 is a push button switch used for turning on/off or the like. autonomous driving control functions (autonomous speed control function and autonomous steering control function) of the control device 19 . The input device 17 includes a main switch (MAIN SW) 171, a resume/accelerate switch (RES+) 172, a set/coast switch (SET-) 173, a cancel switch (CANCEL) 174, a vehicle-to-vehicle distance adjustment. switch (DISTANCE) 175 and lane change assist switch (L/C) 176.

[0017]

The main switch 171 is a switch for turning on/off the power supply of the system, which performs the function of autonomous speed control and the function of autonomous steering control of the control device 19. The resume/acceleration switch 172 is a switch for turning off the operation of the autonomous speed control function and then resuming the autonomous speed control function at the set speed before the OFF state, to increase the set speed, and/or to make the preceding vehicle stop and then restart. The set/coast switch 173 is a switch for starting the autonomous speed control function at a traveling speed and/or reducing the set speed. The cancel switch 174 is a switch for turning off the autonomous speed control function. The inter-vehicle distance adjustment switch 175 is a switch for setting the distance between vehicles from the previous vehicle, and, for example, a switch for selecting one of a plurality of setting steps such as short distance/medium distance/long distance. The lane change assist switch 176 is a switch for instructing (approving) the start of a lane change when the control device 19 confirms the start of a lane change with the driver. By operating the lane change assist switch 176 for a longer time than a predetermined time after the lane change start approval, the lane change approval proposed by the control device 19 can be cancelled.

[0018]

Additionally or as an alternative to the set of pushbutton switches shown in FIG. 2, a turn signal lever for turn indicators or a switch of other on-board equipment 14 can be used as an input device 17 . For example, in the case where the control device 19 proposes whether or not to automatically change lanes when the driver operates the turn signal lever, the lane change is performed in the direction in which the turn signal lever is actuated, rather than the suggested lane change. The input device 17 outputs input setting information to the control device 19 .

[0019]

The driving control device 18 controls the movement of the vehicle in question. For example, when the subject vehicle travels at a constant predetermined speed using the autonomous speed control function, the motion control device 18 controls the operation of the drive mechanism and the operation of the brake to achieve acceleration/deceleration and travel speed so that the speed of the subject vehicle becomes the set speed. Additionally or alternatively, also when the subject vehicle is moving to follow the preceding vehicle using the autonomous speed control function, the motion control device 18 controls the operation of the drive mechanism and the brake in the same manner as described above. The operation control of the drive mechanism includes operation control of an internal combustion engine in the case of an engine-powered vehicle, and control of an operation of an electric motor for driving in the case of an electric vehicle. In the case of a hybrid vehicle, the driving mechanism operation control includes torque distribution control for an internal combustion engine and an electric motor for driving.

[0020]

The motion control device 18 controls the operation of the steering gear using the autonomous steering control function in addition to the above-described drive and brake control, and thus performs steering of the subject vehicle. For example, when executing the lane keeping control using the autonomous steering control function, the traffic control device 18 detects the lane traces of the subject vehicle for the subject vehicle to travel, and controls the driving position of the subject vehicle in the road width direction so that the subject vehicle moves at a specific location in the lane of the vehicle in question. Additionally or alternatively, when executing the lane change assist function, the overtaking assistance function, or the route guidance function to be described later, using the autonomous steering control function, the traffic control device 18 controls the driving position of the vehicle in question. in the direction of the width of the road so that the subject changes lanes. Additionally or alternatively, when executing the right or left turn assist function using the autonomous steering control function, the traffic control device 18 performs right or left turn traffic control at an intersection or the like. The movement control device 18 controls the movement of the vehicle in question in accordance with commands from the control device 19, which will be described below. Any of the other known methods can also be used as the motion control method performed by the drive control device 18 .

[0021]

The control device 19 includes a read-only memory (ROM) that stores programs for controlling the motion of the vehicle in question, a central processing unit (CPU) that executes the programs stored in the ROM, a random access memory (RAM) that serves as an accessible storage device. etc. A microprocessor (MPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), and the like can be used as a replacement for or in addition to the CPU. as a working plan.

[0022]

The control device 19 executes the programs stored in the ROM using the CPU, thereby providing a trip information collection function for obtaining information regarding the driving state of the subject vehicle, and an autonomous driving function for autonomously controlling the speed and/or steering of the subject vehicle. funds. The trip information acquisition function of the control device 19 is a function used to obtain trip information regarding the driving state of the vehicle in question. For example, the control device 19 uses a trip information collection function to acquire external image information around the vehicle captured by the front camera, the rear camera, and the side cameras included in the sensors 11 as the trip information. Additionally or alternatively, the control device 19 uses the function collecting travel information to obtain, as traffic information, the detection results of the front radar, the rear radar, and the side radars included in the sensors 11. Additionally or alternatively, the control device 19 uses a motion information acquisition function to acquire information as motion information about the speed of the vehicle of the vehicle itself, determined by the vehicle speed sensor included in the sensors 11, and/or information of the image of the driver's face captured by the on-board camera included in the sensors 11.

[0023]

Additionally or alternatively, the control device 19 uses a traffic information collection function to obtain, as traffic information, current position information of the subject vehicle from the subject vehicle location device 12 . Additionally or alternatively, the control device 19 uses a trip information collection function to obtain a set destination and a route to the destination from the navigation device 15 as travel information. Additionally or alternatively, the control device 19 uses a traffic information collection function, to receive as traffic information information about the location of curved roads and the size of the curve (such as curvature or radius of curvature), merge points, branch points, road intersection points, etc., positions where the number of lanes decreases, etc. from the map database 13. In addition, the control device 19 uses a traffic information acquisition function to obtain, as traffic information, information about the operation of the on-board equipment 14 performed by the driver from the on-board equipment 14.

[0024]

The autonomous driving function of the control device 19 is a function used to autonomously control the movement of the subject vehicle without depending on the actions of the driver. The autonomous motion control function of the control device 19 includes an autonomous speed control function used for autonomous control of the traveling speed of the subject vehicle and an autonomous steering control function used for autonomous steering control of the subject vehicle. The autonomous speed control function and the autonomous steering control function of the present embodiment will be described below.

[0025]

"Autonomous speed control function"

The autonomous speed control function is a function used when detecting the predecessor vehicle to move, to follow the predecessor vehicle when performing vehicle-to-vehicle distance control, so as to maintain the vehicle-to-vehicle distance according to the upper limit vehicle speed. vehicle speed set by the driver. On the other hand, when the preceding vehicle is not detected, the autonomous speed control function is used to perform constant speed driving at a vehicle speed that is set by the driver. The former is also referred to as vehicle-to-vehicle distance control, and the latter is also referred to as constant speed control. The autonomous speed control function may include a function of detecting a speed limit of a moving road from a traffic sign using the sensors 11 or obtaining a speed limit from map information in the map database 13 to automatically set the speed limit to set the vehicle speed.

[0026]

To activate the autonomous speed control function, the driver first operates the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 illustrated in FIG. 2 to enter the desired driving speed. For example, when the set/coast switch 173 is pressed while the subject vehicle is running at 70 km/h, the current traveling speed is set without any change, but if the speed desired by the driver is 80 km/h, the switch resumes. 172 acceleration/acceleration can be pressed several times to increase the set speed. On the contrary, if the speed desired by the driver is 60 km/h, the set/coast switch 173 can be pressed a plurality of times to decrease the set speed. The distance between vehicles desired by the driver can be selected, for example, from a plurality of setting steps such as short distance/medium distance/long distance by operating the vehicle distance adjustment switch 175 of the input device 17 illustrated in FIG. 2.

[0027]

The constant speed control is performed when the front radar or the like of the sensors 11 does not detect any preceding vehicle in front of the subject vehicle in its lane. In constant speed control, the motion control device 18 controls the operation of a driving mechanism such as a motor and a brake while simultaneously returning vehicle speed data received by the vehicle speed sensor to maintain a predetermined traveling speed.

[0028]

The vehicle-to-vehicle distance control is performed when the front radar or the like of the sensors 11 detects the preceding vehicle in front of the subject vehicle in its lane. In vehicle-to-vehicle distance control, the traffic control device 18 controls the operation of a drive mechanism such as a motor and a brake while returning vehicle-to-vehicle distance data detected by the front radar to maintain a set vehicle-to-vehicle distance. distance with an upper vehicle speed limit set by the driver. If the preceding vehicle stops while the subject vehicle is moving under control of the inter-vehicle distance, the subject vehicle also stops following the preceding vehicle. Additionally or alternatively, if the predecessor vehicle is started within 30 seconds after the vehicle in question stops, the vehicle in question also starts moving to follow the predecessor vehicle again by controlling the distance between vehicles. If the vehicle in question stops for more than 30 seconds, the vehicle in question does not start automatically or autonomously even when the predecessor vehicle starts, and after the predecessor vehicle starts, the vehicle in question starts moving to follow the predecessor vehicle again by controlling the distance between vehicles when the resume/acceleration switch 172 or the accelerator pedal is depressed.

[0029]

"Autonomous Steering Control Function"

The autonomous steering control function is a function used when a predetermined condition is satisfied during execution of the above autonomous speed control function to control the operation of the steering actuator, thereby performing steering control of the subject vehicle. This autonomous steering control function includes, for example, a lane keeping function, a lane change assist function, an overtaking assist function, a route assist function, and other functions. The lane keeping function is a function used to control the steering actuator to move closer to the center of the lane, for example, to assist the driver in controlling the driver's steering operation. The lane keeping function is also referred to as a lane keeping function or the like.

[0030]

"Lane change assist function"

The lane change assist function is to turn on the turn signals when the driver operates the turn signal lever, as shown in FIG. 3, and also serves to start a lane change execution (hereinafter abbreviated as LCP), which is a series of processes for automatic or autonomous lane change when a predetermined lane change start condition is satisfied. The lane change assist function is used to determine whether or not a lane change start condition is satisfied based on various trip information items obtained using the trip information acquisition function. Examples of a lane change start condition include, but are not limited to, a condition where all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made a practical definition;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more; as well as

- The time elapsed after the driver presses the turn signal lever does not exceed one second.

[0031]

The lane keeping mode in the practice mode, which will be described in detail below, refers to a state in which the autonomous speed control function and the lane keeping function of the autonomous steering control function are executed, and the steering wheel holding by the driver is detected. The practical definition refers to the state in which the driver continues to hold the steering wheel.

[0032]

The lane change assist function is used to start the LCP when the lane change start condition is met. The LCP includes lateral movement of the vehicle in question to the adjacent lane and a lane change maneuver (hereinafter abbreviated as LCM) to actually move into the adjacent lane. During the execution of the LCP, the lane change assist function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment. Upon completion of the LCM, the lane change assist function is used to turn off the turn signals and initiate the lane keeping function in the adjacent lane.

[0033]

"Overtaking assistance function"

The overtaking assist function is used to control the presentation device 16 to provide the driver with overtaking information when a preceding vehicle slower than the subject vehicle is ahead of the subject vehicle in its lane, as illustrated in FIG. 4, and the predetermined overtaking suggestion condition that is predetermined is satisfied. In this case, the overtaking information refers to information prompting the driver to overtake the preceding vehicle. The overtaking assist function is for starting the above-described LCP when the driver operates the lane change assist switch 176 of the approval input device 17 (corresponding to the approval input) in response to the submission of overtaking information and the overtaking start condition that preset is satisfied . The overtaking assistance function serves to determine, based on various trip information items obtained using the trip information acquisition function, whether the overtaking suggestion condition and the overtaking start condition are satisfied.

[0034]

Examples of an overtake offer condition include, but are not limited to, a condition where all of the following conditions are met:

- The lane keeping mode is carried out in the mode without the participation of the driver;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible after 5 seconds;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more;

- The speed of the vehicle in question is lower than the established one by 5 km/h or more;

- The speed of the previous vehicle is 10 km / or more less than the set one;

- The distance between the vehicle in question and the preceding vehicle is less than a threshold value, which is preset based on the speed difference between the vehicle in question and the preceding vehicle; as well as

-The speed of the preceding vehicle in the lane as the lane change destination satisfies the specified condition.

[0035]

The lane keeping mode in the driverless mode, which will be described in detail below, refers to a mode in which the autonomous speed control function and the lane keeping function of the autonomous steering control function are performed, as well as the steering hold. The driver does not need a steering wheel. The condition that the speed of the preceding vehicle present in the lane as the lane change destination satisfies the predetermined condition is applied differently depending on the type of lane as the lane change destination. For example, when changing lanes from the left to the right lane on a multi-lane left-hand traffic road, the condition is that the speed of the vehicle in question, in the left lane, is higher than the speed of the preceding vehicle, in the right lane, by about 5 km/h In contrast, when changing lanes from right to left lane on a multi-lane left-hand traffic road, the condition is that the speed difference between the vehicle in question and the preceding vehicle in the left-lane is within 5 km/h. The conditions regarding the relative speed difference between the vehicle in question and the preceding vehicle are reversed on a right-hand traffic road.

[0036]

The overtaking assistance function is used to turn on the direction indicators to start the LCP when the driver approves the submission of overtaking information and the pre-set overtaking start condition is satisfied. Examples of an overtaking start condition include, but are not limited to, a condition under which all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made a practical definition;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more;

- The speed of the vehicle in question is lower than the established one by 5 km/h or more (when changing the lane to the right lane in left-hand traffic);

- The speed of the previous vehicle is 10 km / or more lower than the set speed (when changing lanes to the right lane in left-hand traffic);

- The speed of the preceding vehicle in the lane as the lane change destination satisfies the predetermined condition; as well as

- The time elapsed after the lane change assistant switch 176 has been actuated is less than 10 seconds.

[0037]

The condition that the speed of the preceding vehicle is 10 km/or more below the set speed can be changed by the driver settings, and the set speed after the change is the overtaking start condition. Variable speed can be selected, for example, 15 km/h and 20 km/h in addition to 10 km/h. The condition under which the speed of the preceding vehicle in the lane as the lane change destination satisfies the predetermined condition is the same as the overtaking suggestion condition described above.

[0038]

The overtaking assistance function is used to start the LCP when the overtaking start condition is met, and to carry out sideways movement to the adjacent lane and the LCM. During the execution of the LCP, the overtaking assistance function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment. Once the LCM is complete, the overtaking assist function is used to turn off the turn signals and initiate the lane keeping function in the adjacent lane. When the overtaking suggestion condition is satisfied again after overtaking the preceding vehicle, the overtaking assistance function is used to control the presentation device 16 to prompt the driver to return to the original lane. When the driver approves this proposal by actuating the lane change assist switch 176 of the input device 17 and the overtaking start condition is satisfied, the overtaking assist function serves to start the LCP so that the vehicle in question returns to its original lane.

[0039]

"Route Assist Function"

The route guidance function is to control the presentation device 16 to present traffic information on the route when there is a reversal point, such as a branch point, a confluence point, an exit or a toll on a given route, the distance to the reversal point. is within the predetermined distance, and the predetermined route suggestion condition is satisfied, and also serves to suggest a lane change at the change direction point. In addition, the route assist function serves to trigger the LCP when a lane change proposal is approved by operation of the lane change assistance switch 176 and a predetermined route start condition is satisfied. The route assistance function is used to determine, based on various items of trip information obtained using the trip information collection function, whether a route suggestion condition and a route start condition are satisfied.

[0040]

When a route is set by the navigation device 15, but the route guidance function is not performed or disabled in the setting, the navigation device 15 performs the normal navigation function that serves to guide the route.

[0041]

FIG. 6 illustrates an example in which, when driving on the right lane on a left-hand traffic road with three lanes on each side, the vehicle in question successively changes lanes twice in the direction of a junction point existing on the left lane, and moves from the junction point to the junction road running on the left side of the left lane. When the location is within the first predetermined distance to the bifurcation point (for example, about 2.5 km to 1.0 km to the bifurcation point) and the route suggestion condition is met, the route guidance function serves to suggest a lane change right side lane to center lane based on driving route information. The first predetermined distance (also referred to as the lane change suggestion section) is preset according to the number of lane changes required to move to the lane where the change direction point is present. For example, as shown in FIG. 6, when it is necessary to change lane twice from the right lane to the left lane through the center lane, the section from 2.5 km to 1.0 km to the fork point is the first predetermined distance (lane change proposal section).

[0042]

Examples of a route suggestion condition include, but are not limited to, a condition where all of the following conditions are met:

- The destination is set by the navigator 15;

- The lane keeping mode is carried out in the mode without the participation of the driver;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The type of lane markers indicates that lane changes are allowed; as well as

- The radius of curvature of the road is 250 m or more.

In the route suggestion condition, even if the lane as the lane change destination does not include the space to which the lane change is possible, the route traffic information is presented to notify the driver to change the lane along the route.

[0043]

The route guidance function is used to turn on the turn signals to trigger the LCP when the driver approves a lane change to travel to a junction point and the route start condition is met. Examples of a route start condition include, but are not limited to, a condition where all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made a practical definition;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The vehicle is moving in the lane change suggestions section; as well as

- The radius of curvature of the road is 250 m or more.

[0044]

The route guidance function is used to start the LCP when a route start condition is met, as well as to perform lateral movement to the center lane and LCM. Once the LCM is completed, the route guidance function is used to turn off the turn signals and initiate the lane keeping function in the center lane. During the execution of the LCP, the route assistance function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment.

[0045]

As shown in FIG. 6, during the execution of the lane keeping function on the center lane, when the location is within the second predetermined distance to the bifurcation point (for example, about 2.3 km to 700 m to the bifurcation point) and the route start condition is satisfied, the function Route Assistance is used to turn on the turn signals to start the second LCP and perform a lane change from the center lane to the left lane. After the completion of the second LCM, the route guidance function is used to turn off the turn signals and initiate the lane keeping function in the left lane.

[0046]

During the execution of the lane keeping function in the left lane, when the location is within the third predetermined distance to the bifurcation point (for example, about 800 m to 150 m to the bifurcation point) and the route start condition is satisfied, the lane guidance function route is used to turn on the direction indicators. In addition, the route assist function is used to initiate autonomous steering from a point beyond a fork point to a fork road and perform a lane change from the left lane to the fork road. When the lane change to the fork road is completed, the route guidance function is used to turn off the turn signals and start the lane keeping function of the fork road.

[0047]

As shown in FIG. 3, when the driver operates the turn signal lever (according to the lane change instructing operation), the lane change assist function (corresponding to the driver start mode) is to start the LCP within 1 second after the turn signal lever is actuated. That is, during this time of 1 second, it is determined whether a lane change is possible. Also, as shown in FIG. 4 and 5, when the driver to whom the overtaking information is presented turns on the lane change assist switch 176 (corresponding to the approval input), the overtaking assist function (corresponding to the system startup mode) serves to start the LCP within 10 seconds after the operation. switch 176 lane change assistant. That is, during this time of 10 seconds, it is determined whether a lane change is possible. Thus, the time for determining whether a lane change is possible in the driver start mode is set to be shorter than the time for determining whether a lane change is possible in the system start mode.

[0048]

Determining whether a lane change is possible with the lane change assist function and the overtaking assist function of the control device 19 includes calculating the lane change rate based on the relative speed Δv between the vehicle in question and the preceding vehicle and between - distance Δd of the vehicle between the vehicle in question and the preceding vehicle, as shown in FIG. 7. The lane change rate is calculated from the graph in FIG. 8 illustrating the correlation between relative speed Δv and distance Δd between vehicles. The lane change rate indicates the size of the lane change possible space in the lane as the lane change destination. The lane change rate is classified into ranks from "a" to "e", and when the lane change rate has the rank of "e", it is determined that the lane change is not possible in determining the lane change capability, because there is no space in which lane change is possible. On the other hand, when the lane change indicator has a rating of "d" or higher, it is determined that a lane change is possible because there is a space in which a lane change is possible. That is, the size of the space indicated by the lane change indicator has the ratios a>b>c>d>e.

[0049]

In determining whether the lane change is possible with the overtaking assistance function of the control device 19, the lane change is based on the autonomous traffic control, and therefore it is determined that the lane change is possible when the rank is "b" or higher, and the rank " b" or higher is maintained for the first predetermined duration T1, which is preset. On the other hand, when determining whether a lane change is possible with the lane change assist function of the control device 19, the lane change is performed based on the determination of the driver, and therefore it is determined that the lane change is possible when the rank is “c”; or higher, which is lower than the rank for the overtaking assistance function, and the rank “c”; or higher is maintained for a second predetermined duration T2 less than the first predetermined duration T1. The predetermined duration is related to the first predetermined duration T1 > the second predetermined duration T2.

[0050]

Thus, the lane change assist function of the control device 19 serves to perform lane change capability determination using a lower lane change rate than the overtaking assist function and a predetermined duration shorter than the overtaking assist function, and lane changes. Therefore, the probability determination can be performed in a shorter probability determination time than for the overtaking assistance function. The reason why the lane change capability detection time in the lane change assist function of the control device 19 is set to be shorter than the time in the overtaking assist function in this way is so as not to cause discomfort to the driver due to the lane change delay. because in the lane change assist function, the driver operates the turn signal lever after checking the surroundings, and therefore a lane change is possible even with a short detection time. Even when it is determined that a lane change is not possible during this short lane change determination time, the driver can operate the turn signal lever again to perform the lane change assist function, and thus the lane change can be performed without causing uncomfortable feeling. driver.

[0051]

FIG. 9 is a flowchart illustrating the transition between the states of each function installed in the control device 19. The system shown in the drawing means an autonomous motion control system implemented by the control device 19 . When the main switch 171 in FIG. 2 is turned on from the system OFF state shown in the figure, the system enters the standby state. From this idle state, the autonomous speed control is activated by turning on the set/coast switch 173 or the resume/boost switch 172 of FIG. 2. This makes it possible to start the above-described constant speed control or vehicle-to-vehicle distance control, and the driver can control the vehicle in question simply by operating the steering wheel without pressing the accelerator or brake.

[0052]

During the execution of autonomous speed control, when condition (1) in FIG. 9 is executed, the mode shifts to the lane keeping mode of the autonomous steering mode/manual mode. Examples of condition (1) include, but are not limited to, a condition where all of the following conditions are met:

- Lane markers are detected on both sides of the vehicle in question;

- The driver holds the steering wheel;

- The vehicle is moving in the center of the lane;

- Direction indicators do not work;

- The wiper does not work at high speed (HI); as well as

-When a high-precision map is provided, approximately 200 m ahead, there will be no gate, exit, merging point, intersection, or point where the number of lanes decreases.

[0053]

Manual mode refers to a mode in which autonomous steering control does not work if the driver does not hold the steering wheel, while driverless mode refers to a mode in which autonomous steering operates even when the driver releases the steering wheel. Holding the steering wheel by the driver is recognized by the touch sensor 11.

[0054]

During the execution of the lane keeping mode of the autonomous steering mode/manual mode, when the condition (2) in FIG. 9 is executed, the mode enters the lane keeping mode of the autonomous steering mode/driverless mode. Examples of condition (2) include a condition under which all of the following conditions are met:

- The vehicle in question is moving on a highway;

- The vehicle is moving on a road that is structurally separated from the oncoming lane;

- The vehicle is moving on a road for which a high-precision map has been prepared;

- The vehicle is moving at a speed not exceeding the set;

- GPS signals are effective;

- The driver holds the steering wheel;

- The driver looks ahead;

- Approximately 800 m ahead, there is no traffic gate, ramp, merge point, intersection or point where the number of lanes decreases;

- No sharp turn 100R or less within 500m ahead;

- The vehicle does not drive through a tunnel exceeding 500 m from the tunnel entrance; as well as

- The accelerator pedal is not depressed.

Whether the driver turns forward or not is determined, for example, on the basis of an image captured by the camera of the driver monitor of the sensors 11.

[0055]

On the contrary, during the execution of the lane keeping mode of the autonomous steering mode/driverless mode, when the condition (3) in FIG. 9 is executed, the mode shifts to the lane keeping mode of the autonomous steering mode/manual mode. Examples of condition (3) include, but are not limited to, a condition under which any of the following conditions is met:

- The vehicle in question is moving on a road other than a road;

- The vehicle is moving on a two-way street;

- The vehicle is driving on a road for which a high-precision map has not been prepared;

- The vehicle is moving at a speed higher than the set one;

- GPS signals are no longer received;

- The driver does not turn forward within 5 seconds after the forward looking alarm is triggered;

- The driver monitor camera can no longer detect the driver;

- There is any road gate, ramp, merge point, intersection or lane reduction point within approximately 800 m ahead;

- When driving at a speed of less than 40 km/h, there is a sharp turn of 100R or less ahead at a distance of about 200 m;

- When driving at a speed of about 40 km/h or more, there is a sharp turn of 170R or less ahead within 200 m;

- The vehicle is moving through a tunnel exceeding 500 m from the tunnel entrance;

- The driver presses the accelerator pedal while holding the steering wheel; as well as

- When approaching, the alarm works.

[0056]

During the execution of the lane keeping mode of the autonomous steering mode/driverless mode, when the condition (4) in FIG. 9 is satisfied, the autonomous steering control is terminated and changes to the autonomous speed control. Examples of condition (4) include, but are not limited to, a condition under which any of the following conditions is met:

- Lane markers on either side of the vehicle in question are no longer detected for a certain period of time;

- The driver controls the steering wheel; as well as

- The wiper operates at high speed (HI).

The driver's work on the steering wheel is determined by determining the torque applied to the steering wheel.

[0057]

During the execution of the lane keeping mode of the autonomous steering mode/driverless mode, when condition (5) in FIG. 9, autonomous steering control and autonomous speed control stop and enter the standby state. Examples of condition (5) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat;

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system has been activated;

-Included snow mode;

- the emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- The front camera has detected poor visibility, such as the inability to correctly recognize the object due to dirt, backlight, rain/fog, etc.;

- Forward radar detected shielding or radio interference;

- Front radar detected axle deviation;

- Lateral radar detected shielding or radio interference; as well as

- Lateral radar detected axle deviation.

[0058]

During the autonomous steering/manual mode execution, when the condition (6) in FIG. 9 is satisfied, the autonomous steering control is terminated and changes to the autonomous speed control. Examples of condition (6) include, but are not limited to, a condition under which any of the following conditions is met:

- Lane markers on both sides of the vehicle in question are no longer detectable;

- The driver was driving;

- The driver has activated the turn signal lever;

- The windshield wiper has operated at high speed (HI).

- The vehicle has arrived at the toll station when a high-precision map has been prepared; as well as

- The front camera has detected poor visibility, such as the inability to properly recognize the subject due to dirt, backlight, rain/fog, etc.

[0059]

During the autonomous steering/manual mode execution, when the condition (7) in FIG. 9, autonomous steering control and autonomous speed control stop and enter the standby state. Examples of condition (7) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat;

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system worked;

-Included snow mode;

- the emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- Forward radar detected shielding or radio interference; as well as

- Front radar detected axle deviation.

[0060]

During the execution of autonomous speed control, when condition (8) in FIG. 9 is executed, the control enters the waiting state. Examples of condition (8) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat;

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system has been activated;

- Included snow mode;

- the emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- Forward radar detected shielding or radio interference; as well as

- Front radar detected axle deviation.

[0061]

During the execution of the lane keeping mode of the autonomous steering/driverless mode, when the condition (9) in FIG. 7 is executed, the mode shifts to the lane change mode of the autonomous steering mode/manual mode. Examples of condition (9) include, but are not limited to, a condition under which any of the following conditions are met:

- The system suggested a lane change based on the overtaking assist function or the route assist function, and the driver actuated the lane change assist switch 176; as well as

- The driver has actuated the turn signal lever to perform the lane change assist function.

[0062]

During the execution of the lane change mode of the autonomous steering mode/manual mode, when the condition (10) in FIG. 7 is executed, the mode enters the lane keeping mode of autonomous steering/manual mode. Examples of condition (10) include, but are not limited to, a condition under which any of the following conditions are met:

- The speed limit was exceeded before the start of the LCP;

- The driver has pressed the accelerator pedal while holding the steering wheel until the paintwork starts;

- LCP can no longer be started within 10 seconds after the lane change assistant switch 176 is pressed during a lane change suggestion when a slow moving vehicle is in front;

- The LCP no longer starts and the vehicle has come too close to the junction point after pressing the lane change assist switch 176 during a lane change offer for route travel;

- LCM can no longer be launched within 5 seconds after LCP is triggered;

- Vehicle speed dropped below 50 km/h after LCP start and before LCM start;

- There is no more room in the adjacent lane to change lanes after working with the LCP and before starting the LCM;

- The driver performed a cancel operation before starting the LCM;

- Lane markers can no longer be detected before LCM starts;

- Before starting the LCM, it was determined that there is no adjacent lane in the direction of the lane change or that there will be no adjacent lane at a certain distance ahead;

- Before launching the LCM, it was determined that there is a curve with a radius of curvature of 250 m or more ahead at a certain distance;

- Before launching the LCM, it was determined that there is a section at a certain distance ahead in which the type of lane marking prohibits changing lanes to an adjacent lane;

- Lateral radar detected shielding or radio interference before launching LCM;

- Lateral radar detected axle deviation before launching LCM;

- The manual alarm worked;

- the driver stopped the direction indicators; as well as

- Improved paintwork.

[0063]

The manual alarm is triggered when any of the following conditions are met:

- the driver does not hold the steering wheel for about 2 seconds after the LCP is activated;

- The driver does not hold the steering wheel for about 2 seconds after pressing the lane change assistant switch 176 during lane change suggestion when a slow moving vehicle is in front; as well as

- The driver does not hold the steering wheel for about 2 seconds after the lane change assistant switch 176 is pressed when a lane change is suggested for route travel.

[0064]

The system is turned off when the main switch 171 is turned off in any of the autonomous steering/unassisted mode, the autonomous steering/manual mode, the autonomous speed control, and the standby state.

[0065]

Next, the motion control process according to the present embodiment will be described with reference to FIG. 10. FIG. 10 is a flowchart illustrating a motion control process according to the present embodiment. The control device 19 executes the motion control process to be described below at predetermined time intervals. The following description will be made on the assumption that the control device 19 uses the autonomous driving function to perform autonomous speed control and autonomous steering control, and uses the lane change assistance function, the overtaking assistance function, and the route guidance. a function for performing lane change assist control, overtaking assist control, and route guidance control, respectively.

[0066]

First, in step S1 of FIG. 10, it is determined whether the main switch 171 of the control device 19 is turned on, and when the main switch 171 is turned off, step S1 is repeated until the main switch 171 is turned on. When the main switch 171 is turned on, the process proceeds to step S2 in which it is determined whether the driving speed is set by the driver. If the running speed is not set, the process returns to step S1, from which steps S1 and S2 are repeated until the running speed is set. The driving speed setting is performed by the driver operating the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 illustrated in FIG. 2 to enter the desired driving speed.

[0067]

When the driving speed is set, autonomous speed control starts. In step S3, the forward radar (sensors 11) that detects an obstacle in front of the subject vehicle is used to determine whether there is a preceding vehicle ahead of the subject vehicle in its lane and when there is a preceding vehicle. vehicle, the process proceeds to step S4 in which vehicle-to-vehicle distance control is performed. When there is no preceding vehicle, the process proceeds to step S5 in which constant speed control is performed. This allows the driver to drive the vehicle in question at the desired speed by simply operating the steering wheel without pressing the accelerator or brake.

[0068]

During the execution of the vehicle-to-vehicle distance control in step S4 or the constant speed control in step S5, in step S6, a determination is made as to whether the above-described condition (1) for entering the lane keeping mode of the autonomous steering control/manual mode is satisfied. When condition (1) is satisfied, the process proceeds to step S7, and when condition (1) is not satisfied, the process returns to step S3.

[0069]

In step S7, the forward radar (of the sensors 11) that detects an obstacle in front of the subject vehicle is used to detect whether there is a preceding vehicle in front of the subject vehicle in its lane. When there is a predecessor vehicle, the process proceeds to step S8 in which the vehicle-to-vehicle distance control/lane keeping mode is executed. When there is no predecessor vehicle, the process proceeds to step S9 in which the constant speed control/lane keeping mode is executed.

[0070]

During the execution of the vehicle-to-vehicle distance control/lane keeping mode in step S8 or the constant speed control/lane keeping mode in step S9, a determination is made in the subsequent step S10 whether the above condition (2) is for shifting to the autonomous driving mode steering/driverless mode is satisfied. When condition (2) is satisfied, the process proceeds to step S11, and when condition (2) is not satisfied, the process returns to step S3. In step S11, in which the autonomous steering/driverless mode transition condition (2) is met, the front radar (of the sensors 11) that detects an obstacle in front of the subject vehicle is used to determine whether or not the subject vehicle is actually in front of the vehicle. vehicle in its lane is the preceding vehicle. When there is a preceding vehicle, the process proceeds to step S12 in which vehicle-to-vehicle distance control/lane keeping mode/driverless mode is performed. When there is no predecessor vehicle, the process proceeds to step S13 in which constant speed control/lane keeping mode/driverless mode is performed.

[0071]

In step S14, it is determined whether the turn signal lever has been operated by the driver. When the turn signal lever is actuated, the auto steering/manual mode lane changing condition (9) is satisfied, and the process proceeds to step S15. In step S15, lane change assistance control is performed. As described above, in the lane change assist control, the lane change capability is determined in a lane change detection time shorter than in the overtaking assist function, and therefore lane change can be performed without causing driver discomfort. When the lane change assist control in step S15 is completed, the process returns to step S3. When the turn signal lever has not been used by the driver in step S14, the process proceeds to step S16.

[0072]

In step S16, it is determined whether the predecessor vehicle has a slower than the set speed. When the speed of the vehicle in front is lower than the set one, a determination is made as to whether condition (9) is satisfied, and when condition (9) is satisfied, the mode shifts to the auto steering/manual lane changing mode, and the process proceeds to step S17. In step S17, overtaking assistance control is performed. As described above, in the overtaking assist function, the lane change capability is determined at the time of lane change detection longer than in the lane change assist function, and therefore, lane change by autonomous traffic control can be performed more reliably. When the overtaking assistance control in step S17 ends, the process returns to step S3. When there is no preceding vehicle whose speed is lower than that set in step S16, the process proceeds to step S18.

[0073]

In step S18, it is determined whether the route to the destination is set in the navigation device 15. If the route is not set, the process returns to step S1. When the route to the destination is set in the navigation device 15 in step S18, the process proceeds to step S19. In step S19, it is determined whether a predetermined distance has been reached to a reversal point such as a branch point existing on the route. When the predetermined distance to the change direction point is reached in step S19, a determination is made as to whether the condition (9) is satisfied, and when the condition (9) is satisfied, the mode shifts to the lane change of the autonomous steering mode/manual mode, and the process proceeds to step S20. In step S20, route assistance control is performed. When the route assistance control in step S20 is completed, the process returns to step S3. When the predetermined distance to the change direction point is not reached in step S19, the process returns to step S1.

[0074]

In the block diagram of FIG. 10, the need for lane change assist control, overtaking assist control, and route assist control are determined in this order, but in practice, the need for these control procedures is determined in parallel, and when, during any of the assistance control procedures, it becomes necessary perform another assistance control procedure, the need to execute is decided between the assistance control procedures, and the assistance control to be performed preferably is determined.

[0075]

As described above, according to the traffic control device 1 and the traffic control method for the vehicle of the present embodiment, an overtaking assist function (system start mode) and a lane change assist function (driver start mode) are provided. In the overtaking assistance function, when the predetermined condition for performing the lane change is satisfied, the driver is provided with lane change information regarding whether to approve the execution of the automatic lane change function for the vehicle to perform the lane change autonomously. travel control; when, in response to the submission of the lane change information, the input of the driver's approval to approve the execution of the automatic lane change function is detected, a determination is made as to whether the lane change is possible; and when it is determined that a lane change is possible, an automatic lane change function is performed. In the lane change assist function, when the driver performs a predetermined lane change instruction operation, a determination is made as to whether a lane change is possible, and when it is determined that a lane change is possible, an automatic lane change function is executed. The time for determining whether a lane change is possible with the lane change assist function is set to be shorter than the time for determining whether a lane change is possible with the overtaking assist function, and therefore the lane change can be performed without providing driver discomfort.

[0076]

In addition, determining whether a lane change is possible includes: using a sensor to determine whether a lane, as a lane change destination, includes a space that a vehicle can enter; and when there is space, determining that a lane change is possible; therefore, when there is a space in which a lane change is possible, the lane change can be performed, and the unpleasant feeling of lane change due to the autonomous driving control can be eliminated.

[0077]

In addition, determining space as a lane change destination includes: calculating a lane change rate relative to space as a lane change destination based on the relative speed between the vehicle in question and the preceding vehicle and the vehicle-to-vehicle distance between the vehicle in question. means, and the previous vehicle; and when the calculated lane change rate is a predetermined value or more and continues for a predetermined time or longer, determining that the lane change is possible and the predetermined duration of the lane change rate by the lane change assistance function is set shorter than the predetermined duration of the lane change indicator by the overtaking assistance function; therefore, it can be determined whether a lane change is possible in a shorter time than when using the overtaking assistance function. In addition, the predetermined value for the lane change rate in the lane change assist function is set lower than the predetermined value for the lane change rate in the overtaking assist function; therefore, the lane change rate equal to or greater than the predetermined value can be easily obtained, and it can be determined whether the lane change is possible in a shorter time than in the overtaking assistance function.

[Description of tags]

[007878]

1 Motion controller

11 Sensors

12 Device for determining the location of the vehicle in question

13 Cartographic database

14 Onboard equipment

15 Navigation device

16 Presentation device

17 Input device

171 Main switch

172 Resume/accelerate switch

173 Switch installation / coasting

174 Cancel switch

175 Switch control distance between vehicles

176 Lane change assist switch

177 Display screen

178 ON button

179 OFF button

17 Driving control device

18 Control unit

Claims (21)

1. A method for controlling the movement of a vehicle, including: providing an overtaking assist function start mode and a driver-activated lane change assist function mode, said start mode includes: when a start condition for the automatic lane change function to perform a lane change of the vehicle by autonomous traffic control is satisfied, presenting lane change information as to whether to approve the execution of the automatic lane change function; when, in response to the submission of the lane change information, an approval input for approving the execution of the automatic lane change function is detected, determining whether the lane change is possible; and upon determining that a lane change is possible, performing an automatic lane change function, said driver-driven mode includes: when a predetermined lane change instruction operation is performed, determining whether a lane change is possible; and upon determining that a lane change is possible, performing an automatic lane change function, wherein the time for determining whether a lane change is possible with the driver-started mode is set to be shorter than the time for determining whether a lane change is possible with the start mode. 2. The traffic control method for a vehicle according to claim 1, wherein determining whether a lane change is possible includes: using a sensor to detect whether the lane includes a space into which a vehicle can enter as a lane change destination; and when space is available, determining that a lane change is possible. 3. The vehicle traffic control method of claim 2, wherein determining whether a lane change is possible includes: calculating a lane change indicator indicative of a space size based on a relative speed between a vehicle and a preceding vehicle in front of the vehicle and a vehicle-to-vehicle distance between the vehicle and the preceding vehicle; and when the calculated lane change rate is a predetermined value or more and continues for a predetermined time or longer, determining that a lane change is possible, wherein the predetermined duration of the lane change indicator in the driver-started mode is set to be shorter than the predetermined duration of the lane change indicator in the start mode. 4. The traffic control method for a vehicle according to claim 3, wherein the predetermined value for the lane change rate in the driver-started mode is set lower than the predetermined value for the lane change rate in the start mode. 5. The vehicle traffic control method according to any one of claims 1 to 4, wherein the auto lane change function by start mode includes an overtaking assist function for overtaking a preceding vehicle that is slower than the vehicle. 6. A motion control device for a vehicle, comprising: a condition determination unit, configured to determine whether a start condition for the automatic lane change function is satisfied to perform a lane change of the vehicle by the autonomous traffic control; a presentation unit configured to, when the start condition is satisfied, to present lane change information regarding whether to approve the execution of the automatic lane change function; an approval input unit into which an approval input is inputted to approve the execution of the automatic lane change function in response to the submission of the lane change information; a lane change instruction unit with which a lane change instruction operation different from that of the approval input unit is performed; and a control unit having an overtaking assist function start mode and a driver-activated lane change assist function mode, said start mode including: when the approval input unit is operated, determining whether a lane change is possible; and when determining that a lane change is possible, performing an automatic lane change function, said driver-triggered mode including: when the lane change instruction unit is operated, determining whether a lane change is possible; and upon determining that a lane change is possible, performing an automatic lane change function, wherein, in the control unit, the time for determining whether a lane change is possible with the driver-initiated mode is set to be shorter than the time for determining whether a lane change is possible with the start mode.

Images