WO2017199965A1

WO2017199965A1 - Assistance device and assistance method

Info

Publication number: WO2017199965A1
Application number: PCT/JP2017/018390
Authority: WO
Inventors: 正太郎福田; 浩二藤木
Original assignee: 株式会社デンソー
Priority date: 2016-05-16
Filing date: 2017-05-16
Publication date: 2017-11-23

Abstract

This assistance device comprises a second detection unit (S150), a first calculation unit (S160), and a notification unit (S230, S240). The second detection unit detects, as a region candidate for lane changing of a host vehicle, one inter-vehicle region or one of a plurality of inter-vehicle regions between two vehicles, one of which is behind the other, approaching the host vehicle. The first calculation unit calculates an allowable distance, with vehicle A as the vehicle having a relatively small distance from the host vehicle from the two approaching vehicles and vehicle B as the vehicle having a relatively large distance from the host vehicle. The notification unit notifies the approaching vehicles of an intention to change lanes if the relative distance between the host vehicle and vehicle A is smaller than the allowable distance.

Description

Support device and support method

Cross-reference of related applications

This international application consists of Japanese Patent Application No. 2016-097975 filed with the Japan Patent Office on May 16, 2016 and Japanese Patent Application No. 2016-097975 filed with the Japan Patent Office on May 1, 2017. Claims priority based on 2017-091307, the entire contents of Japanese Patent Application No. 2016-097975 and the entire contents of Japanese Patent Application No. 2017-091307 are incorporated herein by reference. To do.

This disclosure relates to technology that supports lane change.

Patent Document 1 below discloses a lane change support device that supports lane change. This lane change support device displays an intention to change lanes for surrounding vehicles traveling in the lane to which the lane is changed, and calculates a space L necessary for the lane change. This lane change assisting device recalculates the space L when a predetermined time has elapsed and the running state of the surrounding vehicle has changed.

JP2015-103115A

In Patent Document 1, the host vehicle changes lanes based on the changed space L. The surrounding vehicle predicts the behavior at the time of the lane change of the own vehicle based on the intention display of the lane change of the own vehicle performed before the space L is changed. However, as a result of detailed examination by the inventor, in the technique described in Patent Document 1, the behavior at the time of lane change actually performed by the own vehicle does not match the behavior at the time of lane change of the own vehicle predicted by surrounding vehicles. The problem of forcing the surrounding vehicle to adjust the speed and hindering the traffic flow of the surrounding vehicle was found.

In one aspect of the present disclosure, it is desirable that the lane change of the host vehicle can be performed without disturbing the traffic flow of surrounding vehicles.
One aspect of the present disclosure includes a first detection unit, a second detection unit, a first calculation unit, a third detection unit, a notification unit, a second calculation unit, a determination unit, a setting unit, And a support unit. The support device supports the lane change of the host vehicle.

A 1st detection part detects the change intention which is the intention of the lane change of the own vehicle.
The second detection unit travels on the adjacent lane with the lane adjacent to the lane in which the host vehicle is traveling as the adjacent lane, and either the front portion or the rear portion of the host vehicle as the target region. A vehicle that travels in the target area while approaching the host vehicle among one or a plurality of vehicles is referred to as an approaching vehicle. The second detection unit uses a region between two approaching vehicles that are in a front-rear relationship as a vehicle-to-vehicle region, and one of the one or more vehicle-to-vehicle regions is a candidate for a region where the host vehicle changes lanes. Detect as a certain area candidate.

The first calculation unit sets the approaching vehicle having a relatively small relative distance to the own vehicle among the two approaching vehicles as the vehicle A and the approaching vehicle having a relatively large relative distance from the own vehicle as the vehicle B, A region on the own vehicle side in a region before and after the vehicle A is a region C. The first calculation unit calculates an inter-vehicle distance between the host vehicle and the vehicle A, and an allowable distance at which the host vehicle can allow the host vehicle to change lanes in the region C.

The third detection unit detects the first relative distance and the second relative distance by setting the relative distance between the host vehicle and the vehicle A as the first relative distance and the relative distance between the host vehicle and the vehicle B as the second relative distance. .
The notification unit notifies the approaching vehicle of the intention to change when the first relative distance is less than the allowable distance.

The second calculation unit sets the inter-vehicle distance to be secured between the host vehicle and the vehicle A when the host vehicle changes the lane to the region candidate, and secures the distance between the host vehicle and the vehicle B. The power-to-vehicle distance is set as the second required distance, and the first required distance and the second required distance are calculated.

The determination unit determines that the lane change to the region candidate is possible when the first relative distance is equal to or greater than the first necessary distance and the second relative distance is equal to or greater than the second necessary distance.
When the determination unit determines that the lane change to the region candidate is possible, the setting unit sets the region candidate in the lane change region where the host vehicle changes the lane.

The support unit changes the lane to the lane change region of the host vehicle when the lane change region is set by the setting unit.
According to such a configuration, since the vehicle A notifies the approaching vehicle at a timing at which the vehicle A cannot allow the vehicle to change lanes in the region C, the vehicle changes lanes to the region C. The possibility that the vehicle A expects is small, and the possibility that the vehicle A expects when the host vehicle changes the lane in the region D is large. A region C is a region on the own vehicle side among regions before and after the vehicle A. A region D is a region on the vehicle B side among the regions before and after the vehicle A. For this reason, even if the host vehicle intends to change the lane to the region D, it is difficult for the vehicle A to predict that the host vehicle changes the lane to the region C. There is little risk of obstructing and obstructing the traffic flow of surrounding vehicles.

Therefore, it is possible to change the lane of the host vehicle without disturbing the traffic flow of surrounding vehicles.
Further, according to the support method which is another aspect of the present disclosure, the same effect as the effect already described in the start support device can be obtained for the same reason as described above.

In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: It does not limit the technical scope of this indication. Absent.

It is a block diagram showing the support apparatus 1 and the structure relevant to it. It is a flowchart showing assistance processing. It is explanatory drawing of a support process.

An embodiment of the present disclosure will be described with reference to the drawings.
[1. overall structure]
The configuration of the support device 1 will be described with reference to FIGS. 1 and 2. The support device 1 is an in-vehicle device mounted on a vehicle. Hereinafter, the vehicle on which the support device 1 is mounted is referred to as the own vehicle. The support device 1 has a function of supporting the lane change of the host vehicle.

The support device 1 includes a microcomputer having a CPU 3 and a memory 5. The memory 5 is a semiconductor memory such as a RAM, a ROM, or a flash memory. Various functions of the support device 1 are realized by the CPU 3 executing a program stored in a non-transitional physical recording medium. In this example, the memory 5 corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed. Note that the support apparatus 1 may include one microcomputer or a plurality of microcomputers. Further, the method for realizing the function of the support apparatus 1 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like.

As shown in FIG. 1, in addition to the support device 1, the host vehicle includes a periphery monitoring system 21, a locator system 22, a powertrain system 23, a brake system 24, a steering system 25, an HMI system 26, a body system 27, And a wireless communication system 28. HMI means a human machine interface.

The periphery monitoring system 21 includes a camera 21A and other known sensors. The camera 21A captures the surroundings of the host vehicle and creates image data. The periphery monitoring system 21 sends the image data created by the camera 21 </ b> A and the detection results of other sensors to the support device 1.

Locator system 22 includes a GPS and a storage device that stores map information. The locator system 22 has a function of acquiring the position of the host vehicle. The locator system 22 sends the position information of the host vehicle to the support device 1.

The powertrain system 23 has a function of controlling the powertrain of the host vehicle. The brake system 24 has a function of performing a brake operation of the host vehicle. The brake system 24 includes a wheel speed sensor 24A. The wheel speed sensor 24A detects the rotational speed at the wheel of the host vehicle as a signal. The brake system 24 sends the detection signal of the wheel speed sensor 24A to the support device 1. The support device 1 can calculate the speed of the host vehicle using the detection signal of the wheel speed sensor 24A. The steering system 25 has a function of steering the host vehicle.

The HMI system 26 receives an operation of a passenger of the own vehicle. In addition, the HMI system 26 notifies various information related to the host vehicle to the passenger of the host vehicle.
The body system 27 has functions to perform door lock control, light control, turn signal lighting control, turn signal status notification, and the like of the host vehicle. The wireless communication system 28 has a function of performing inter-vehicle communication and communication between the host vehicle and the infrastructure.

The support device 1, the periphery monitoring system 21, the locator system 22, the power train system 23, the brake system 24, the steering system 25, the HMI system 26, the body system 27, and the wireless communication system 28 are components of the host vehicle. . Each component is connected to each other by an in-vehicle LAN 29. Each component can transmit and receive information via the in-vehicle LAN 29.

[2. processing]
Next, the lane change support process executed by the support device 1 will be described with reference to the flowchart of FIG. 2 and FIG.

In the first S110, the support device 1 determines whether or not to change lanes. Specifically, when the support device 1 detects at least one of the intention of the lane change by the driver or the intention of the lane change by the system, it determines that the lane change is performed. The assistance device 1 determines that the driver intends to change lanes when a steering operation or a turn signal operation is detected. When the support device 1 detects a lane change request output by the periphery monitoring system 21 or the locator system 22, the support device 1 determines that there is an intention of the lane change by the system. The support device 1 determines whether or not there is a lane change request based on information output from the periphery monitoring system 21 or the locator system 22, and determines that the lane change request is intended by the system when there is a lane change request. If it is determined that the lane change is to be performed, the support device 1 shifts the process to S120. Further, when the support device 1 detects neither the intention of the lane change by the driver nor the intention of the lane change by the system, it determines that the lane change is not performed. When it is determined that the lane change is not performed, the support device 1 executes S110 again.

In S120, the support device 1 acquires information about the front and rear vehicles. The front and rear vehicles are vehicles that travel on adjacent lanes. The adjacent lane is a lane adjacent to the own lane. The own lane is a lane in which the own vehicle travels. The adjacent lane is the lane change destination of the host vehicle. In this embodiment, on the premise that the front and rear vehicles are faster than the host vehicle, the portion behind the host vehicle in the adjacent lane is set as the target region. A vehicle that travels in the target area while approaching the host vehicle among the front and rear vehicles corresponds to the approaching vehicle. FIG. 3 illustrates the positional relationship between the host vehicle and the front and rear vehicles. The support apparatus 1 inputs the number of detected approaching vehicles into the variable N. When no approaching vehicle is detected, the support device 1 inputs a numerical value “0” for the variable N. Using the wireless communication system 28, the support device 1 uses the wireless communication system 28 to determine the relative speed that is the speed of each of the one or more approaching vehicles and the relative distance that is the distance between each of the one or more approaching vehicles and the host vehicle. Get the distance. Thereafter, the process proceeds to S130.

In S130, the support apparatus 1 determines whether or not there are one or more approaching vehicles. Specifically, the support device 1 determines that one or more approaching vehicles exist when the variable N is a numerical value “1” or more, and the variable N is less than the numerical value “1”, that is, the numerical value “0”. In this case, it is determined that no approaching vehicle exists. When there is one or more approaching vehicles, the support device 1 proceeds to S140. If there is no approaching vehicle, the process proceeds to S230.

In S140, the support apparatus 1 sorts information on one or more approaching vehicles in ascending order of relative distance. Thereafter, the process proceeds to S150.
In S150, the support apparatus 1 detects a region candidate. The area candidate is one of one or a plurality of inter-vehicle areas, and is an area candidate in which the host vehicle changes lanes. The inter-vehicle region is a region sandwiched between two approaching vehicles that are in a longitudinal relationship with each other. Here, the support apparatus 1 is an area sandwiched between the vehicle A and the vehicle B in which the i-th approaching vehicle is the vehicle A and the i + 1-th approaching vehicle is the vehicle B behind the host vehicle. A certain inter-vehicle region is detected as a region candidate. The vehicle A corresponds to a vehicle having a relatively small relative distance from the own vehicle among the two approaching vehicles. A vehicle having a relatively large relative distance from the host vehicle among the two approaching vehicles B corresponds to the vehicle B. Thereafter, the process proceeds to S160.

In S160, the support apparatus 1 calculates the allowable distance D _rc . The allowable distance D _rc is an inter-vehicle distance between the host vehicle and the vehicle A that allows the vehicle A to change the lane in the region C. A region C is a region on the own vehicle side among regions before and after the vehicle A. The allowable distance D _rc is calculated according to equation (1).

V _i is the traveling speed of the vehicle A. V is the traveling speed of the host vehicle. “V _i −V” is the relative speed between the host vehicle and the vehicle A. A _max is a deceleration of the approaching vehicle that can be executed when the driver of the approaching vehicle allows the lane change of the host vehicle ahead of the approaching vehicle. A _max is set in advance in consideration of the tolerance regarding the inter-vehicle distance of the driver.

Thereafter, the process proceeds to S170.
In S170, the support apparatus 1 determines whether or not the lane change is confirmed for all approaching vehicles. Specifically, when the value obtained by adding the numerical value “1” to the variable i is equal to or less than the variable N, the support device 1 determines that the lane change is not confirmed for all approaching vehicles, and the variable i If the value obtained by adding the numerical value “1” to is larger than the variable N, it is determined that the lane change is confirmed for all approaching vehicles. If the support device 1 has not confirmed whether or not lane change is possible for all approaching vehicles, the support device 1 shifts the processing to S180. When the support device 1 confirms whether or not the lane change is possible for all approaching vehicles, the support device 1 shifts the processing to S220.

In S180, the support apparatus 1 calculates the estimated distance D _{i + 1_t2} . The estimated distance D _{i + 1_t2} is the inter-vehicle distance between the _host vehicle and the vehicle B that is estimated when the lane of the _host vehicle is changed.
The estimated distance D _{i + 1_t2} is calculated according to equation (2).

The estimated distance D _{i + 1_t1} is the inter-vehicle distance between the _host vehicle and the vehicle B, which is estimated at the time t ₁ when the lane change is _notified . A _min is the minimum deceleration of the approaching vehicle that can be executed when the driver of the approaching vehicle allows the lane change of the host vehicle ahead of the approaching vehicle. A _min is set in advance in consideration of the tolerance of the driver's inter-vehicle distance.

T _dc is a margin time that can be used by the driver of the vehicle A who has noticed the intention to change the lane of the host vehicle to adjust the speed. ΔV _{i + 1} is the relative speed between the host vehicle and the vehicle B.
T _dc is calculated according to equation (3).

ΔT _{i + 1} is the time required from time t ₁ for notifying lane change to time t ₂ for executing lane change.

T _rc is the time required for the driver of the approaching vehicle to recognize the lane change of the host vehicle ahead of the approaching vehicle. T _rc is set in advance in consideration of the driver's ability to recognize lane changes.

ΔT _{i + 1} is calculated according to equation (4).

D _f is an inter-vehicle distance that should be secured between the host vehicle and the vehicle A when the host vehicle changes lanes to the area candidate. D _f corresponds to the first required distance. The estimated distance D _{i_t1} is an inter-vehicle distance between the _host vehicle and the vehicle A that is estimated at the timing t ₁ that notifies the lane change. ΔV _i is a relative speed between the host vehicle and the vehicle A.

D _f is calculated according to the equation (5).

a _i is a predicted time until the vehicle A collides with the own vehicle when there is a speed difference between the own vehicle and the vehicle A when the lane is changed. b _i is the inter-vehicle time that should be secured between the host vehicle and the vehicle A when there is no speed difference between the host vehicle and the vehicle A when the lane is changed. a _i , b _i , c _i, and ΔV _i are set in advance in consideration of the tolerance of the driver's inter-vehicle distance. The product of a _i and ΔV is the distance to be secured for the host vehicle or vehicle A to adjust the speed after changing the lane. product of b _i and V is the distance to be secured between the vehicle and the vehicle A after the vehicle or the vehicle A is subjected to speed adjustment. c _i is a distance to be secured between the host vehicle and the vehicle A when both the host vehicle and the vehicle A are stopped.

Thereafter, the process proceeds to S190.
In S190, the support apparatus 1 determines whether or not a lane change is possible for a region candidate. Specifically, when the support device 1 satisfies Expressions (6) and (7), it is determined that the lane change is possible for the area candidate. In other cases, the lane change is performed for the area candidate. Judge that it is impossible. The area candidate in this case is an area sandwiched between the i-th vehicle A behind and the i + 1-th vehicle B behind. When it is determined that the lane change is possible, the support device 1 shifts the process to S220. When it is determined that the lane change is impossible, the support device 1 shifts the process to S200.

Here, D _i represents the distance from the front end of the host vehicle to the rear end of the i-th vehicle behind (vehicle A in FIG. 3). D _{i + 1} represents the distance from the front end of the host vehicle to the front end of the i + 1th vehicle behind (vehicle B in FIG. 3). _Dr is an inter-vehicle distance that should be secured between the host vehicle and the vehicle B when the host vehicle changes lanes to a candidate area. _Dr corresponds to the second required distance. L is the length dimension of the host vehicle. _Dr is calculated according to equation (8).

a _{i + 1} is a predicted time until the host vehicle collides with the vehicle B when there is a speed difference between the host vehicle and the vehicle B when the lane is changed. ΔV _{i + 1} is the relative speed between the host vehicle and the vehicle B. bi _{+ 1} is the inter-vehicle time that should be secured between the host vehicle and the vehicle B when there is no speed difference between the host vehicle and the vehicle B when the lane is changed. a _{i + 1} , b _{i + 1} , c _{i + 1,} and ΔV _{i + 1} are set in advance in consideration of the tolerance regarding the driver's inter-vehicle distance. The product of a _{i + 1} and ΔV is the distance that the host vehicle or vehicle B should secure to adjust the speed after changing the lane. The product of bi _{+ 1} and V is the distance that should be secured between the host vehicle and the vehicle B after the host vehicle or the vehicle B adjusts the speed. ci _{+ 1} is a distance to be secured between the host vehicle and the vehicle B when both the host vehicle and the vehicle B are stopped.

In S200, the support device 1 determines whether or not the lane change is confirmed for all approaching vehicles. Specifically, when the support device 1 is equal to the value obtained by subtracting the numerical value “1” from the variable N, the support device 1 determines that the lane change is confirmed for all approaching vehicles, and otherwise. Determines that the lane change is not confirmed for all approaching vehicles. When the support device 1 confirms whether or not the lane change is possible for all approaching vehicles, the support device 1 shifts the processing to S290. If the support device 1 has not confirmed whether or not lane change is possible for all approaching vehicles, the support device 1 shifts the processing to S210.

In S210, the support apparatus 1 increments the variable i. Thereafter, the process proceeds to S160.
In S220, support device 1 updates information about front and rear vehicles. This process is the same as S120. Thereafter, the process proceeds to S230.

In S230, the support apparatus 1 determines whether or not the vehicle A can change the behavior. Specifically, when the relative distance D _i between the _host vehicle and the vehicle A is equal to or greater than the allowable distance D _rc , the support device 1 determines that the behavior of the vehicle A can be changed, and the relative distance D _i is When the distance is less than the allowable distance D _rc , the vehicle A determines that the behavior cannot be changed. The relative distance D _i corresponds to the first relative distance. If it is determined that the behavior of the vehicle A can be changed, S230 is executed again. If it is determined that the behavior of the vehicle A cannot be changed, the process proceeds to S240.

In S240, the support apparatus 1 controls the HMI system 26 and the wireless communication system 28 to notify the approaching vehicle by voice, display, communication, or the like that there is an intention to change the lane. Thereafter, the process proceeds to S250.

In S250, the support apparatus 1 determines whether the inter-vehicle distance between the host vehicle and the vehicle A is secured. Specifically, when the relative distance D _i is equal to or greater than the necessary distance D _f , the support device 1 determines that the inter-vehicle distance between the host vehicle and the vehicle A is secured, and the relative distance D _i is necessary. When it is less than the distance _Df, it is determined that the inter-vehicle distance between the host vehicle and the vehicle A is not secured. When it is determined that the inter-vehicle distance between the host vehicle and the vehicle A is not secured, the S250 is executed again. If it is determined that the inter-vehicle distance between the host vehicle and vehicle A is secured, the process proceeds to S260.

In S260, the support device 1 determines whether the distance between the host vehicle and the vehicle B is secured. Specifically, when the relative distance D _{i + 1} between the host vehicle and the vehicle B is equal to or greater than the necessary distance _Dr , the support device 1 has secured the inter-vehicle distance between the host vehicle and the vehicle B. If the relative distance _{Di + 1} is less than the required distance _Dr, it is determined that the inter-vehicle distance between the host vehicle and the vehicle B is not secured. The relative distance D _{i + 1} corresponds to the second relative distance. If it is determined that the inter-vehicle distance between the host vehicle and the vehicle B is secured, the process proceeds to S270. If it is determined that the distance between the host vehicle and the vehicle B is not secured, the process proceeds to S300.

In S <b> 270, the support apparatus 1 sets the area candidate as a lane change area that is an area in which the lane change is performed. Thereafter, the process proceeds to S280.
In S280, the support device 1 supports the lane change. Specifically, the support apparatus 1 controls the power train system 23, the brake system 24, and the steering system 25 to control the position of the host vehicle in the left-right direction. Thereafter, the process proceeds to S290.

In S290, the support device 1 determines whether or not the lane change is completed. Specifically, the support device 1 controls the locator system 22 to determine whether or not the host vehicle is located in the adjacent lane. The assistance device 1 determines that the lane change is completed when the host vehicle is located in the adjacent lane. The support device 1 determines that the lane change is not completed when the host vehicle is not located in the adjacent lane. If it is determined that the lane change has been completed, this processing ends. If it is determined that the lane change has not been completed, the process proceeds to S280.

In S300, the support device 1 notifies that the lane change is impossible. Specifically, the support device 1 controls the HMI system 26 to notify the driver by voice or display that the lane change is impossible. Thereafter, this process ends.

In this embodiment, S110 corresponds to the first detection unit. S150 corresponds to the second detection unit. S160 corresponds to the first calculation unit. S220 corresponds to the third detection unit. S230 and S240 correspond to the notification unit. S250 and S260 correspond to the second calculation unit and the determination unit. S270 corresponds to the setting unit. S280 and S290 correspond to the support unit. S300 corresponds to the notification unit.

[4. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
In other words, since the vehicle A notifies the approaching vehicle at the timing when the vehicle A cannot tolerate the lane change to the area C, the possibility of the vehicle A predicting that the own vehicle changes the lane to the area C is small. When the lane change is made to the region D, the possibility that the vehicle A assumes is large. A region C is a region on the own vehicle side among regions before and after the vehicle A. A region D is a region on the vehicle B side among the regions before and after the vehicle A. As a result, even though the host vehicle intends to change the lane to the area D, it is difficult for the vehicle A to predict when the own vehicle changes the lane to the area C. There is little risk of obstructing and obstructing the traffic flow of surrounding vehicles.

Therefore, it is possible to change the lane of the host vehicle without disturbing the traffic flow of surrounding vehicles.
[5. Other Embodiments]
As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the above-mentioned embodiment, It can implement in various deformation | transformation.

(1) In the above embodiment, it is assumed that the front and rear vehicles are faster than the own vehicle, and the rear area of the own vehicle in the adjacent lane is the target area, but this is not a limitation. On the assumption that the front and rear vehicles are slower than the host vehicle, a portion of the adjacent lane ahead of the host vehicle may be set as the target region.

(2) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

(3) In addition to the support device 1 described above, a system including the support device 1 as a constituent element, a program for causing a computer to function as the support device 1, a non-transitory actual recording such as a semiconductor memory storing the program The present invention can also be realized in various forms such as a medium and a support method.

Claims

A support device for supporting a lane change of the own vehicle,
A first detection unit (S110) configured to detect a change intention that is an intention of changing the lane of the host vehicle;
A lane adjacent to a lane in which the host vehicle is traveling is defined as an adjacent lane, and one of the adjacent lanes that is a front region or a rear portion of the host vehicle and that travels on the adjacent lane. A vehicle that travels in the target area while approaching the host vehicle among a plurality of vehicles is an approaching vehicle, a region that is sandwiched between two approaching vehicles that are in a longitudinal relationship with each other is an inter-vehicle region, and one or more A second detection unit (S150) configured to detect one of the inter-vehicle regions as a region candidate that is a candidate for a region in which the host vehicle changes lanes;
Of the two approaching vehicles, the approaching vehicle having a relatively small relative distance to the own vehicle is referred to as a vehicle A, and the approaching vehicle having a relatively large relative distance to the own vehicle is referred to as a vehicle B. The area on the own vehicle side of the area before and after the vehicle A is an area C, and is an inter-vehicle distance between the own vehicle and the vehicle A, and the own vehicle changes lanes in the area C. A first calculation unit (S160) configured to calculate an allowable distance that the vehicle A can allow;
The relative distance between the host vehicle and the vehicle A is a first relative distance, the relative distance between the host vehicle and the vehicle B is a second relative distance, and the first relative distance and the second relative distance are detected. A third detector (S220) configured in
A notification unit (S230, S240) configured to notify the approaching vehicle of the intention to change when the first relative distance is less than the allowable distance;
When the own vehicle changes lanes to the area candidate, the first required distance is set as an inter-vehicle distance to be secured between the own vehicle and the vehicle A, and is secured between the own vehicle and the vehicle B. A second calculation unit (S250, S260) configured to calculate the first required distance and the second required distance with a power-to-vehicle distance as a second required distance;
When the first relative distance is equal to or greater than the first necessary distance and the second relative distance is equal to or greater than the second necessary distance, it is determined that the lane change to the region candidate is possible. A determination unit (S250, S260);
A setting unit configured to set the region candidate in a lane change region in which the host vehicle changes lanes when the determination unit determines that the lane change to the region candidate is possible. (S270),
A support unit configured to change a lane to the lane change region of the host vehicle when the lane change region is set by the setting unit;
The support device according to claim 1,
The said 2nd detection part detects as said area | region candidate in an order from the said area | region between vehicles with the small distance from the said own vehicle.
The support device according to claim 1 or 2, wherein
The determination unit determines that the lane change to the region candidate is impossible when the first relative distance is less than the first necessary distance or the second relative distance is less than the second necessary distance. And
Further, when the determination unit determines that the lane change to the area candidate is impossible, the driver of the host vehicle is notified that the lane change to the area candidate is impossible. Supporting device comprising the notified part (S300).
A support method for supporting a lane change of the own vehicle,
Detecting a change intention which is an intention of changing the lane of the host vehicle (S110);
A lane adjacent to a lane in which the host vehicle is traveling is defined as an adjacent lane, and one of the adjacent lanes that is a front region or a rear portion of the host vehicle and that travels on the adjacent lane. A vehicle that travels in the target area while approaching the host vehicle among a plurality of vehicles is an approaching vehicle, a region that is sandwiched between two approaching vehicles that are in a longitudinal relationship with each other is an inter-vehicle region, and one or more One of the inter-vehicle areas is detected as an area candidate that is a candidate for an area where the host vehicle changes lanes (S150),
Of the two approaching vehicles, the approaching vehicle having a relatively small relative distance to the own vehicle is referred to as a vehicle A, and the approaching vehicle having a relatively large relative distance to the own vehicle is referred to as a vehicle B. Of the areas before and after the vehicle A, the area on the own vehicle side is the area C, and the vehicle A can allow the vehicle A to change lanes in the area C. The inter-vehicle distance is defined as an allowable distance, and the allowable distance is calculated (S160).
The relative distance between the host vehicle and the vehicle A is a first relative distance, the relative distance between the host vehicle and the vehicle B is a second relative distance, and the first relative distance and the second relative distance are detected ( S220),
When the first relative distance is less than the allowable distance, the change intention is notified to the approaching vehicle (S230, S240),
When the own vehicle changes lanes to the area candidate, the first required distance is set as an inter-vehicle distance to be secured between the own vehicle and the vehicle A, and is secured between the own vehicle and the vehicle B. The power-to-vehicle distance is set as the second required distance, and the first required distance and the second required distance are calculated (S250, S260),
When the first relative distance is not less than the first necessary distance and the second relative distance is not less than the second necessary distance, it is determined that the lane change to the area candidate is possible (S250, S260). ,
When the determination unit determines that a lane change to the area candidate is possible, the area candidate is set to a lane change area in which the host vehicle changes the lane (S270),
When the lane change area is set by the setting unit, lane change to the lane change area of the host vehicle is supported (S280, S290).
Support method.
The support method according to claim 4,
The support method which detects as the said area | region candidate in an order from the said area | region between vehicles with the small distance from the said own vehicle.
The support method according to claim 4 or 5, wherein
When the first relative distance is less than the first necessary distance or the second relative distance is less than the second necessary distance, it is determined that the lane change to the region candidate is impossible,
Further, when the determination unit determines that the lane change to the area candidate is impossible, the driver of the host vehicle is notified that the lane change to the area candidate is impossible (S300).
Support method.