WO2018163349A1 - Traveling support device and traveling support method - Google Patents

Traveling support device and traveling support method Download PDF

Info

Publication number
WO2018163349A1
WO2018163349A1 PCT/JP2017/009445 JP2017009445W WO2018163349A1 WO 2018163349 A1 WO2018163349 A1 WO 2018163349A1 JP 2017009445 W JP2017009445 W JP 2017009445W WO 2018163349 A1 WO2018163349 A1 WO 2018163349A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
lane change
unit
subsequent
information acquisition
Prior art date
Application number
PCT/JP2017/009445
Other languages
French (fr)
Japanese (ja)
Inventor
井崎　公彦
下谷　光生
中村　好孝
直志 宮原
小畑　直彦
義典 上野
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2017/009445 priority Critical patent/WO2018163349A1/en
Priority to JP2019504220A priority patent/JP6804629B2/en
Publication of WO2018163349A1 publication Critical patent/WO2018163349A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the present invention relates to a driving support device and a driving support method for supporting driving of a preceding vehicle and a succeeding vehicle.
  • Patent Document 1 discloses a technique for determining whether or not a preceding vehicle and a group of succeeding vehicles that automatically follow the preceding vehicle in series can change lanes integrally.
  • the preceding vehicle is configured to change the lane when it is determined that the lane can be changed integrally, it is possible to maintain automatic tracking in a group of subsequent vehicles as much as possible.
  • the present invention has been made in view of the above problems, and a technology capable of suppressing the amount of information processing when the first lane change is performed in which the preceding vehicle and the following vehicle change lanes integrally.
  • the purpose is to provide.
  • the driving support device includes at least one of a preceding vehicle, a succeeding vehicle capable of automatically following the preceding vehicle by inter-vehicle communication and automatic driving, and at least one other than the preceding vehicle and the following vehicle.
  • An information acquisition unit that acquires another vehicle relative position that is a relative position with respect to another vehicle, and that acquires another vehicle relative speed that is a relative speed between at least one of the preceding vehicle and the following vehicle and the other vehicle; Whether or not it is possible to execute the first lane change in which the preceding vehicle and the following vehicle change lanes integrally while the following vehicle maintains automatic tracking based on the other vehicle relative position and the other vehicle relative speed acquired by the acquisition unit.
  • the automatic driving of the following vehicle is an automatic driving that can involve the driver of the following vehicle.
  • the automatic driving of the following vehicle is an automatic driving in which the driver of the following vehicle can be involved, it is possible to suppress the amount of information processing when the first lane change is performed.
  • FIG. 6 is a block diagram showing a configuration of a preceding side travel support unit according to Embodiment 2.
  • FIG. 6 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a second embodiment.
  • 10 is a flowchart showing an operation of a preceding side travel support unit according to the second embodiment.
  • 6 is a flowchart showing an operation of a subsequent side travel support unit according to the second embodiment.
  • FIG. 10 is a flowchart showing an operation of a preceding side travel support unit according to a fifth modification of the second embodiment.
  • 10 is a flowchart showing an operation of a subsequent side travel support unit according to a fifth modification of the second embodiment.
  • FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment.
  • FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment.
  • FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3.
  • FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3.
  • 10 is a flowchart showing an operation of a preceding side travel support unit according to the third embodiment.
  • FIG. 10 is a flowchart showing an operation of a subsequent side travel support unit according to the third embodiment.
  • FIG. 10 is a block diagram illustrating a configuration of a preceding side travel support unit according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment.
  • FIG. 10 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment.
  • FIG. 22 is a diagram showing a display example by display control of a preceding side travel support unit according to Modification 3 of Embodiment 4.
  • 10 is a flowchart showing an operation of a preceding side travel support unit according to the fifth embodiment.
  • 10 is a flowchart showing an operation of a subsequent side travel support unit according to the fifth embodiment.
  • FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment.
  • FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment.
  • Embodiment 1 The travel support apparatus according to Embodiment 1 of the present invention supports travel of the preceding vehicle 2 and the subsequent vehicle 3 shown in FIG. In FIG. 1, the preceding vehicle 2 and the succeeding vehicle 3 displayed in a pentagonal shape are advanced toward the acute angle side of the pentagon.
  • the preceding vehicle 2 may or may not be capable of automatic driving.
  • the succeeding vehicle 3 is capable of automatic driving, and can be automatically tracked to follow the preceding vehicle 2 by inter-vehicle communication and automatic driving.
  • the following vehicle 3 may be one or plural.
  • FIG. 2 is a block diagram showing a configuration of the travel support apparatus 1 according to the first embodiment.
  • the travel support apparatus 1 of FIG. 2 includes an information acquisition unit 11 and a control unit 12.
  • the components constituting the driving support device 1 may be distributed and mounted on the preceding vehicle 2 and the succeeding vehicle 3 as described later, or may be concentrated on one of the preceding vehicle 2 and the following vehicle 3. May be.
  • the information acquisition unit 11 acquires a relative position of another vehicle that is a relative position of at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles other than the preceding vehicle 2 and the following vehicle 3.
  • the one or more other vehicles include, for example, the other vehicle 4a in FIG. 1 traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are about to change lanes, and the other vehicle 4b traveling after the other vehicle 4a. And are included.
  • the information acquisition unit 11 of FIG. 2 not only acquires the above-described other vehicle relative position, but also calculates another vehicle relative position that is a relative position between at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles. get.
  • the control unit 12 Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11, the control unit 12 changes the lane of the preceding vehicle 2 and the following vehicle 3 integrally while the subsequent vehicle 3 maintains automatic tracking. It is determined whether the first lane change can be executed. In the following description, the first lane change is referred to as “integrated lane change”.
  • the control unit 12 becomes the shortest within the period in which the preceding vehicle 2 and the following vehicle 3 change lanes based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11.
  • An inter-vehicle distance between the other vehicle 4a and the other vehicle 4b is estimated and obtained.
  • an inter-vehicle distance that is, a distance between other vehicles traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are to change lanes may be referred to as “an inter-vehicle distance”.
  • the control unit 12 determines that the integrated lane can be changed when the distance between the other vehicles is greater than the first distance, and determines that the integrated lane cannot be changed when the distance is equal to or less than the first distance.
  • the first distance is a predetermined distance necessary for the preceding vehicle 2 and the following vehicle 3 to change lanes integrally.
  • the second distance is a predetermined distance necessary for each of the preceding vehicle 2 and the following vehicle 3 to change lanes individually, the first distance is longer than the second distance.
  • the preceding vehicle 2 may or may not change the lane by the automatic driving based on the determination result of the control unit 12 regarding the integrated lane change.
  • the determination result of the control unit 12 regarding the integrated lane change is notified to the driver of the preceding vehicle 2, and the driver of the preceding vehicle 2 changes the lane by manual driving. Or not.
  • FIG. 3 is a diagram showing the automatic driving levels defined in Japan.
  • FIG. 4 is a diagram showing SAE (Society of Automotive Automotive Engineers) levels defined in the United States and Europe. 3 and the SAE level in FIG. 4, the higher the level, the higher the degree of driving performed by the system side, and the automatic driving level and the SAE level generally correspond.
  • SAE Society of Automotive Automotive Engineers
  • Platone travel automatic operation is an automatic operation of automatic operation level 4 (FIG. 3) or SAE levels 4 and 5 (FIG. 4), and it is assumed that the driver is not involved at all in Platone travel. Yes.
  • a device for controlling automatic driving requires very high information processing capability. It was.
  • the automatic operation of the following vehicle 3 is an automatic operation of automatic operation levels 1 to 3 (FIG. 3) or SAE levels 1 to 3 (FIG. 4). That is, the automatic driving of the following vehicle 3 includes an automatic driving in which the driver of the following vehicle 3 performs one of acceleration, steering and braking, an automatic driving in which not all of acceleration, steering and braking are performed, and a system.
  • the automatic driving includes the automatic driving corresponding to the driver of the succeeding vehicle 3 when the side normally performs all of acceleration, steering and braking but the system requests.
  • the automatic driving of the following vehicle 3 is an automatic driving in which the driver of the following vehicle 3 can be involved.
  • being able to participate means that manual driving control is possible when the driver regains the driving control right from the automatic driving state.
  • an indicator such as the braking distance, the appropriate distance between the vehicle from the idle distance, or whether the time to reach the position of the preceding vehicle is a certain value or more. It can be used for judgment.
  • the automatic driving of the following vehicle 3 is an automatic driving that allows the driver of the following vehicle 3 to participate, so that the integrated lane change is performed.
  • the amount of information processing at the time can be suppressed. As a result, shortening of processing time in the driving support device 1 and reduction in cost of the driving support device 1 can be expected.
  • the travel support device 1 according to Embodiment 2 of the present invention includes a preceding travel support unit mounted on the preceding vehicle 2 and a subsequent travel support unit mounted on the subsequent vehicle 3.
  • FIG. 5 is a block diagram showing the configuration of the preceding travel support unit 1a according to the second embodiment
  • FIG. 6 is a block diagram showing the configuration of the subsequent travel support unit 1b according to the second embodiment. is there.
  • the same or similar components as those in the first embodiment are denoted by the same reference numerals, and different components are mainly described.
  • the block configuration of the preceding traveling support unit 1a and the block configuration of the subsequent traveling support unit 1b are substantially the same.
  • the surrounding state detection unit 21a detects information necessary for automatic driving of the preceding vehicle 2 based on images and sensing information acquired by the camera 21aa, the millimeter wave radar 21ab, the ultrasonic sensor 21ac, and the laser radar 21ad.
  • the information detected by the surrounding state detection unit 21a includes, for example, information on the lane of the road on which the preceding vehicle 2 is traveling, and other vehicles and obstacles around the preceding vehicle 2.
  • the information related to other vehicles in the vicinity of the preceding vehicle 2 includes, for example, the preceding-side other vehicle relative position, which is the other-vehicle relative position between the preceding vehicle 2 and the other vehicles 4a, 4b, the preceding vehicle 2, and the other vehicles 4a, 4b.
  • the surrounding state detection unit 21a is not limited to the configuration described above, and may include a part of the sensing devices described above. Further, other sensing devices and sensing information may be used.
  • the other vehicle relative speed may be obtained from various physical quantities.
  • the other vehicle relative speed may be obtained from a difference in absolute speed between the host vehicle and the other vehicle, or may be obtained from another physical quantity such as a relative acceleration or an absolute acceleration.
  • the driving operation unit 22a receives a driving operation such as an actuator operation from the driver.
  • a driving operation such as an actuator operation from the driver.
  • a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and a winker lever are used for the driving operation unit 22a.
  • the traveling drive system 23a performs traveling of the preceding vehicle 2 and changing the traveling direction based on the control of the automatic operation control unit 24a.
  • the automatic driving control unit 24a controls the traveling drive system 23a based on the information detected by the surrounding state detection unit 21a and the driving operation received by the driving operation unit 22a. Thereby, the automatic driving control unit 24a controls the automatic driving of the preceding vehicle 2. Any one of automatic driving levels 0 to 4 is set as the automatic driving level of the preceding vehicle 2 (FIG. 3).
  • the automatic driving control unit 24a may formulate a travel control plan based on the information detected by the surrounding situation detection unit 21a.
  • the inter-vehicle communication unit 25a transmits and receives various information to and from the following vehicle 3 by performing inter-vehicle communication with the following vehicle 3.
  • the preceding side travel support unit 1a includes a surrounding vehicle information interface unit 11aa, a driving control interface unit 11ab, an out-of-vehicle communication interface unit 11ac, and a travel support plan formulation unit 12a.
  • the surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac mounted on the preceding vehicle 2 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment.
  • An information acquisition unit is configured.
  • the driving support plan formulation unit 12a mounted on the preceding vehicle 2 constitutes a preceding control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment.
  • the surrounding vehicle information interface unit 11aa acquires information detected by the surrounding state detection unit 21a, and outputs the acquired information to the travel support plan formulation unit 12a.
  • the information detected by the surrounding state detection unit 21a includes the above-described preceding-side other vehicle relative position, the preceding-side other vehicle relative speed, and the like.
  • the driving control interface unit 11ab outputs various types of information output from the driving support plan formulation unit 12a to the automatic driving control unit 24a, and outputs various types of information output from the automatic driving control unit 24a to the driving support plan formulation unit 12a. To do.
  • the outside-vehicle communication interface unit 11ac transmits various types of information output from the driving support plan formulating unit 12a to the following vehicle 3 through the inter-vehicle communication of the inter-vehicle communication unit 25a, and formulates a driving support plan based on the various types of information received from the following vehicle 3. Or output to the unit 12a. That is, the travel support plan formulation unit 12a can transmit and receive various types of information to and from the following vehicle 3 by inter-vehicle communication.
  • the driving support plan formulation unit 12a is based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. It is determined whether the body lane change can be executed.
  • the driving support plan formulation unit 12a is configured so that the succeeding vehicle 3 does not maintain automatic following based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. 2 and the following vehicle 3 determine whether or not the second lane change in which the lane is individually changed can be executed.
  • the second lane change is referred to as “independent lane change”.
  • the driving support plan formulation unit 12a determines that the independent lane can be changed when the distance between other vehicles described in the first embodiment is greater than the second distance, and independent when the distance is equal to or less than the second distance. It is determined that the type lane cannot be changed.
  • the driving support plan formulation unit 12a determines whether or not the first lane change mode capable of determining whether or not the integrated lane change can be executed and whether or not the independent lane change can be executed. And a second lane change mode that can be determined.
  • the first lane change mode is referred to as “integrated lane change mode”
  • the second lane change mode is referred to as “independent lane change mode”.
  • the driving support plan formulation unit 12a is configured to perform the integrated type based on the instruction for executing either the integrated lane change mode or the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3.
  • a lane change mode and an independent lane change mode are selectively executed.
  • the driving support plan formulation unit 12a executes the integrated lane change mode based on an instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3. .
  • the travel support plan formulation unit 12a executes the independent lane change mode based on an instruction from one of the preceding vehicle 2 and the subsequent vehicle 3 for executing the independent lane change mode.
  • the driving support plan formulation unit 12a when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a issues an instruction to execute the automatic tracking and the integrated lane change mode in the preceding vehicle 2. Judge that it was broken. And after automatic tracking is performed, the driving assistance plan formulation part 12a transmits the notification which performs integrated lane change mode to the following vehicle 3 by vehicle-to-vehicle communication. Thereafter, the driving support plan formulation unit 12a executes the integrated lane change mode when receiving an instruction for executing the integrated lane change mode from the succeeding vehicle 3 by inter-vehicle communication. In this way, when executing the integrated lane change mode, negotiation is performed between the preceding vehicle 2 and the following vehicle 3.
  • the travel support plan formulation unit 12a determines that an instruction for executing the independent lane change mode has been issued in the preceding vehicle 2 when the request for automatic driving of the preceding vehicle 2 is acquired from the automatic driving control unit 24a. Then, the independent lane change mode is executed.
  • the driving support plan formulation unit 12a performs normal automatic driving when the integrated lane change mode is being executed, and when a predetermined lane change condition is satisfied during that time, the integrated lane change mode is performed. Determine whether the change can be performed. Similarly, the driving support plan formulation unit 12a performs normal automatic driving when the independent lane change mode is executed, and when a predetermined lane change condition is satisfied during the automatic lane change mode, It is determined whether or not the independent lane change can be executed.
  • the lane change condition referred to here includes, for example, a case where the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed in the lane in which the preceding vehicle 2 is traveling. Used.
  • the automatic driving control unit 24a automatically performs the integrated lane change based on the determination result. Output instructions to do in. Further, when it is determined whether or not the integrated lane change can be executed, the travel support plan formulation unit 12a formulates a preceding automatic driving plan that is an automatic driving plan for the preceding vehicle 2 based on the determination result. .
  • the preceding-side automatic driving plan includes, for example, at least one plan of the integrated lane change mode and the independent lane change mode, or at least one plan of the integrated lane change and the independent lane change.
  • the driving support plan formulation unit 12a of the preceding vehicle 2 is based on the information acquired by the surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac, and changes to the integrated lane and makes it independent. Judgment of whether or not to execute each type lane change, selection of execution of the integrated lane change mode and the independent lane change mode, information exchange and negotiation with the following vehicle 3, and formulation of a preceding automatic driving plan.
  • the surrounding state detection unit 21b detects information necessary for automatic driving of the succeeding vehicle 3 based on images and sensing information acquired by the camera 21ba, the millimeter wave radar 21bb, the ultrasonic sensor 21bc, and the laser radar 21bd.
  • the information detected by the surrounding state detection unit 21b includes, for example, information on the lane of the road on which the subsequent vehicle 3 is traveling, and other vehicles and obstacles around the subsequent vehicle 3.
  • the information related to other vehicles in the vicinity of the succeeding vehicle 3 includes, for example, the succeeding side other vehicle relative position that is the other vehicle relative position with respect to the following vehicle 3 and the other vehicles 4a and 4b, the following vehicle 3 and the other vehicles 4a and 4b. And the other-side relative vehicle relative speed, which is the other-vehicle relative speed.
  • the driving operation unit 22b receives a driving operation such as an actuator operation from the driver.
  • the traveling drive system 23b performs traveling of the succeeding vehicle 3 and change of the traveling direction based on the control of the automatic operation control unit 24b.
  • the automatic driving control unit 24b controls the traveling drive system 23b based on the information detected by the surrounding state detection unit 21b and the driving operation received by the driving operation unit 22b. Thereby, the automatic driving control unit 24b controls the automatic driving of the succeeding vehicle 3, and the succeeding vehicle 3 can automatically follow the preceding vehicle 2. Any of the automatic driving levels 1 to 3 is set as the automatic driving level (FIG. 3) of the succeeding vehicle 3.
  • the inter-vehicle communication unit 25b transmits and receives various information to and from the preceding vehicle 2 by performing inter-vehicle communication with the preceding vehicle 2.
  • the subsequent side travel support unit 1b includes a surrounding vehicle information interface unit 11ba, a driving control interface unit 11bb, an out-of-vehicle communication interface unit 11bc, and a travel support plan formulation unit 12b.
  • the peripheral vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc mounted on the subsequent vehicle 3 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment.
  • An information acquisition unit is configured.
  • the travel support plan formulation unit 12b mounted on the subsequent vehicle 3 constitutes a subsequent control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment.
  • the surrounding vehicle information interface unit 11ba and the like are substantially the same as the above-described surrounding vehicle information interface unit 11aa and the like.
  • the surrounding vehicle information interface unit 11ba acquires the information detected by the surrounding state detection unit 21b and outputs the acquired information to the travel support plan formulation unit 12b.
  • the information detected by the peripheral state detection unit 21b includes the above-described subsequent-side other vehicle relative position, the subsequent-side other vehicle relative speed, and the like.
  • the driving control interface unit 11bb outputs various types of information output from the driving support plan formulation unit 12b to the automatic driving control unit 24b, and outputs various types of information output from the automatic driving control unit 24b to the driving support plan formulation unit 12b. To do.
  • the out-of-vehicle communication interface unit 11bc transmits various information output from the driving support plan formulation unit 12b to the preceding vehicle 2 by the inter-vehicle communication of the inter-vehicle communication unit 25b, or formulates a driving support plan based on the various information received from the preceding vehicle 2. Or output to the unit 12b. That is, the driving support plan formulation unit 12b can transmit and receive various types of information to and from the preceding vehicle 2 through inter-vehicle communication.
  • the driving support plan formulation unit 12b is based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. It is determined whether or not the body lane change can be executed, or whether or not the independent lane change can be executed.
  • the driving support plan formulation unit 12b is configured to execute the integrated type lane change mode or the independent type lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3 based on an instruction for executing either the integrated lane change mode or the independent lane change mode.
  • a lane change mode and an independent lane change mode are selectively executed.
  • the integrated lane change mode and the independent lane change mode of the following vehicle 3 are the same as the integrated lane change mode and the independent lane change mode of the preceding vehicle 2.
  • the driving support plan formulation unit 12b of the following vehicle 3 negotiates between the preceding vehicle 2 and the following vehicle 3 in the same manner as the driving support plan formulation unit 12a of the preceding vehicle 2, thereby performing an integrated lane change mode.
  • the independent lane change mode is selectively executed.
  • the driving support plan formulation unit 12b of the succeeding vehicle 3 changes the integrated lane change and the independence based on the information acquired by the surrounding vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc. Whether to execute each type of lane change is determined, selection of execution of the integrated lane change mode and the independent lane change mode, and information exchange and negotiation with the preceding vehicle 2 are performed.
  • FIG. 7 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the second embodiment.
  • step S1 the preceding vehicle 2 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function.
  • the automatic driving control unit 24a performs automatic driving while recognizing a lane or the like.
  • the driving assistance plan formulation part 12a performs independent lane change mode, when performing the said automatic driving
  • the driving support plan formulation unit 12a determines whether or not the independent lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
  • step S2 when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a transmits an automatic tracking approval to the subsequent vehicle 3 through inter-vehicle communication.
  • the driving support plan formulation unit 12a determines whether such a series of transmission / reception has been performed. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S3. If it is determined that a series of transmission / reception has not been performed, the process of step S2 is performed again.
  • step S3 the driving support plan formulation unit 12a transmits to the following vehicle 3 a notification for executing the integrated lane change mode by inter-vehicle communication. Then, the travel support plan formulation unit 12a determines whether or not an instruction for executing the integrated lane change mode is received from the following vehicle 3 by inter-vehicle communication. Note that a series of transmission / reception, that is, negotiation, regarding the lane change mode in step S3 is automatically performed without notifying the driver. If it is determined that the instruction is received from the succeeding vehicle 3, the process proceeds to step S4. If it is determined that the instruction is not received from the succeeding vehicle 3, the process returns to step S2.
  • step S4 the driving support plan formulation unit 12a changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
  • step S5 the driving support plan formulation unit 12a determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12a determines that the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed based on the information detected by the surrounding situation detection unit 21a. In this case, it is determined that the lane change condition is satisfied. If it is determined that the lane change condition is satisfied, the process proceeds to step S6. If it is determined that the lane change condition is not satisfied, the process of step S5 is performed again.
  • step S6 the surrounding vehicle information interface unit 11aa acquires the preceding side other vehicle relative position and the leading side other vehicle relative speed from the surrounding state detection unit 21a.
  • the driving support plan formulation unit 12a determines whether the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
  • step S7 the driving support plan formulation unit 12a formulates a preceding automatic driving plan based on the determination result as to whether or not the integrated lane change can be executed.
  • step S8 the driving support plan formulation unit 12a outputs a command for performing an integrated lane change by automatic driving to the automatic driving control unit 24a.
  • step S9 the automatic driving control unit 24a executes the integrated lane change based on the command output from the travel support plan formulation unit 12a. Thereafter, the process of FIG. 7 ends.
  • FIG. 8 is a flowchart showing the operation of the subsequent travel support unit 1b according to the second embodiment.
  • step S21 the following vehicle 3 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function.
  • the automatic driving control unit 24b performs automatic driving while recognizing a lane or the like.
  • the driving assistance plan formulation part 12b performs independent lane change mode, when performing the said automatic driving
  • the driving support plan formulation unit 12b determines whether or not the independent lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
  • step S22 the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has been detected. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has been detected when inter-vehicle communication with the preceding vehicle 2 becomes possible. If it is determined that the preceding vehicle 2 is detected, the process proceeds to step S23. If it is determined that the preceding vehicle 2 is not detected, the process of step S22 is performed again.
  • step S23 the driving support plan formulation unit 12b transmits a request for automatic tracking to the preceding vehicle 2 by inter-vehicle communication. Then, the travel support plan formulation unit 12b determines whether or not automatic follow-up approval has been received from the preceding vehicle 2 through inter-vehicle communication. If it is determined that the automatic follow-up approval is received from the preceding vehicle 2, the process proceeds to step S24. If it is determined that the automatic follow-up approval is not received from the preceding vehicle 2, the process of step S23 is performed again. .
  • step S24 the automatic operation control unit 24b starts automatic tracking to the preceding vehicle 2.
  • step S25 when the driving support plan formulation unit 12b receives a notification from the preceding vehicle 2 that executes the integrated lane change mode through inter-vehicle communication, the driving support plan formulation unit 12b issues an instruction to execute the integrated lane change mode through inter-vehicle communication. It transmits to the preceding vehicle 2. Note that when the notification is received from the preceding vehicle 2, the driving support plan formulation unit 12b may automatically transmit the instruction to the preceding vehicle 2, receive the notification from the preceding vehicle 2, and When the execution of the succeeding vehicle 3 is approved, the instruction may be transmitted to the preceding vehicle 2. The driving support plan formulation unit 12b determines whether or not a series of transmission / reception for such a lane change mode has been performed. If it is determined that a series of transmission / reception has not been performed, the process proceeds to step S26. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S29.
  • step S26 the driving support plan formulation unit 12b maintains the independent lane change mode.
  • step S27 the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has left automatic tracking. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has left when the vehicle-to-vehicle communication with the preceding vehicle 2 becomes impossible. If it is determined that the preceding vehicle 2 has left, the process proceeds to step S28. If it is determined that the preceding vehicle 2 has not left, the process of step S27 is performed again.
  • step S28 the automatic driving control unit 24b cancels the automatic tracking to the preceding vehicle 2. Thereafter, the process returns to step S22.
  • the driving support plan formulation unit 12b changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
  • step S30 the driving support plan formulation unit 12b determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12b determines that the lane change condition is satisfied, for example, when the determination result that the lane change condition is satisfied is received from the preceding vehicle 2 by inter-vehicle communication. If it is determined that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process of step S30 is performed again.
  • step S31 the surrounding vehicle information interface unit 11ba acquires the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the surrounding state detection unit 21b.
  • the driving support plan formulation unit 12b determines whether the integrated lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. If it is determined that the integrated lane change cannot be performed, the process proceeds to step S32. If it is determined that the integrated lane change can be performed, the process proceeds to step S33.
  • step S31 If the contents of the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed are different from the contents of the preceding-side other vehicle relative position and the preceding-side other vehicle relative speed, the determination result of this step S31, The determination results in step S6 in FIG. 7 are different from each other.
  • step S32 the driving support plan formulation unit 12b changes the lane change mode to be executed from the integrated lane change mode to the independent lane change mode. Thereafter, the process returns to step S22.
  • step S33 the driving support plan formulation unit 12b outputs a command for performing the integrated lane change by automatic driving to the automatic driving control unit 24b.
  • step S34 the automatic driving control unit 24b executes the integrated lane change based on the command output from the travel support plan formulation unit 12b. Thereafter, the process of FIG. 8 ends.
  • the independent lane change mode capable of determining is selectively executed. According to such a configuration, when the lane change condition is satisfied, execution of the integrated lane change can be determined, or execution of the independent lane change can be determined.
  • the integrated lane change mode is executed based on the instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3, and the preceding vehicle 2 and the following vehicle 3 are executed.
  • the independent lane change mode is executed based on an instruction for executing the independent lane change mode from one of the above. Accordingly, when it is determined that the integrated lane change mode is executed in both the preceding vehicle 2 and the subsequent vehicle 3, the integrated lane change mode is executed, and the independent lane change is performed in one of the preceding vehicle 2 and the subsequent vehicle 3. If it is determined that the mode is to be executed, the independent lane change mode is executed. Therefore, the lane change mode to be executed can be appropriately selected.
  • the automatic lane change is automatically performed by the automatic operation control units 24a and 24b based on the determination result of the travel support plan formulation units 12a and 12b as to whether or not the integrated lane change can be executed. Outputs instructions for operation. Thereby, an integrated lane change can be performed appropriately. Further, in the second embodiment, based on the determination result of the travel support plan formulation unit 12a as to whether or not the integrated lane change can be executed, the preceding-side automatic driving plan that is the automatic driving plan of the preceding vehicle 2 is determined. Formulate. Thereby, the determination result as to whether or not the integrated lane change can be executed can be reflected in the preceding automatic driving plan.
  • the surrounding vehicle information interface unit 11ba, the operation control interface unit 11bb, and the outside-vehicle communication interface unit 11bc mounted on the following vehicle 3 may be referred to as “following side information acquisition unit”.
  • the travel support plan formulation unit 12b may be referred to as a “subsequent plan formulation unit 12b”.
  • step S3 in FIG. 7 the preceding vehicle 2 transmits a notification to execute the integrated lane change mode to the succeeding vehicle 3, and gives an instruction to execute the integrated lane change mode.
  • the integrated lane change mode is executed in the preceding vehicle 2.
  • step S25 of FIG. 8 the following vehicle 3 receives a notification for executing the integrated lane change mode from the preceding vehicle 2, and transmits an instruction for executing the integrated lane change mode to the preceding vehicle 2.
  • the integrated lane change mode is executed in the succeeding vehicle 3.
  • switching between these lane change modes is not limited to this.
  • the vehicle that first transmits the notification for executing the integrated lane change mode may be reversed. That is, in step S25 of FIG. 8, when the following vehicle 3 transmits a notification to execute the integrated lane change mode to the preceding vehicle 2 and receives an instruction from the preceding vehicle 2 to execute the integrated lane change mode.
  • the integrated lane change mode may be executed in the following vehicle 3.
  • step S3 of FIG. 7 the preceding vehicle 2 has received a notification for executing the integrated lane change mode from the succeeding vehicle 3, and has transmitted an instruction for executing the integrated lane change mode to the subsequent vehicle 3.
  • the integrated lane change mode may be executed in the preceding vehicle 2.
  • the vehicle that does not execute the independent lane change mode is not transmitted to the other vehicle.
  • the present invention is not limited to this.
  • the vehicle transmits a notification for executing the independent lane change mode to the other vehicle. Also good.
  • the other vehicle may execute the independent lane change mode when receiving the notification.
  • the preceding vehicle 2 may perform the transmission at any time.
  • the subsequent vehicle 3 may perform the transmission at any time.
  • the preceding-side plan formulation unit 12a performs the integrated lane change mode and the independent type from the execution of one of the integrated lane change and the independent lane change to the completion of the change.
  • the lane change mode corresponding to the other lane change that has not been executed may not be executed.
  • the preceding-side plan formulation unit 12a executes the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the independent lane change mode by inter-vehicle communication until the completion of the integrated lane change. It is not necessary to change the change mode to the independent lane change mode.
  • the preceding-side plan formulation unit 12a performs the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
  • the subsequent plan formulation unit 12b executes the integrated lane change even after receiving from the preceding vehicle 2 a notification of changing to the independent lane change mode by inter-vehicle communication until the completion. It is not necessary to change the lane change mode to the independent lane change mode. Further, the succeeding-side plan formulation unit 12b performs the lane to be executed even if it receives from the preceding vehicle 2 a notification of changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
  • the preceding side plan formulation unit 12a has formulated the preceding side automatic driving plan based on the determination result of the preceding side plan formulation unit 12a as to whether or not the integrated lane change can be executed.
  • the leading side plan formulation unit 12a does not need to negotiate with the succeeding vehicle 3 at any time, based on the leading side automatic driving plan and the integrated lane change mode and the independent lane change mode. Can be selectively executed, and consequently, the integrated lane change and the independent lane change can be selectively executed.
  • the automatic operation control unit 24b of the following vehicle 3 may desire immediate execution of the integrated lane change.
  • the outside communication interface unit 11ac which is the subsequent side information acquisition unit, acquires an execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3, and the preceding side information acquisition unit
  • the execution request acquired by the side information acquisition unit may be acquired from the following vehicle 3 by inter-vehicle communication.
  • the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed regardless of the preceding side automatic driving plan.
  • the integrated lane change may be executed when it is determined that the integrated lane change can be executed. According to the configuration as described above, the integrated lane change can be immediately executed by making an execution request in the automatic driving control unit 24b of the following vehicle 3.
  • each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b selects either the integrated lane change mode or the independent lane change mode.
  • the present invention is not limited to this, and a center (not shown) capable of communicating with the preceding traveling support unit 1a and the following traveling support unit 1b of the traveling support device 1 by wireless communication or the like may be selected.
  • the center may receive an instruction for executing any one of the integrated lane change mode and the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3. .
  • the center may select one of the integrated lane change mode and the independent lane change mode based on the received instruction.
  • the center transmits the selected lane change mode to the preceding vehicle 2 and the succeeding vehicle 3, and each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b executes the lane change mode selected by the center. Also good.
  • the center can mediate the negotiation between the preceding vehicle 2 and the following vehicle 3.
  • Each of the preceding side driving support unit 1a and the subsequent side driving support unit 1b and the center may communicate directly or indirectly.
  • the preceding automatic driving plan formulated by the preceding plan formulation unit 12a in the second embodiment may be transmitted to the succeeding vehicle 3 by inter-vehicle communication. That is, the preceding-side plan formulation unit 12a determines the preceding-side automatic driving plan to be transmitted to the succeeding vehicle 3 by inter-vehicle communication based on the determination result of the preceding-side plan formulation unit 12a as to whether or not the integrated lane change can be executed. It may be formulated.
  • FIG. 9 is a flowchart showing the operation of the preceding side travel support unit 1a according to the present modification.
  • the operation in FIG. 9 is the same as that in which step S41 is added between step S7 and step S8 in FIG.
  • the preceding side plan formulation unit 12a transmits the preceding side automatic driving plan to the following vehicle 3 by inter-vehicle communication.
  • FIG. 10 is a flowchart showing the operation of the subsequent side travel support unit 1b according to this modification.
  • the operation shown in FIG. 10 is the same as that obtained by replacing step S30 in FIG. 8 with step S46.
  • step S46 the succeeding-side plan formulation unit 12b receives the preceding-side automatic driving plan from the preceding vehicle 2 through inter-vehicle communication. Then, the succeeding-side plan formulation unit 12b determines whether or not the received leading-side automatic driving plan is prescribed to execute the integrated lane change with respect to the current time. If it is determined that execution of the integrated lane change is defined, the process proceeds to step S31. If it is determined that execution of the integrated lane change is not specified, the process of step S46 is performed. Done again.
  • the subsequent side plan formulation unit 12b can selectively execute the integrated lane change mode and the independent lane change mode based on the preceding side automatic driving plan.
  • the succeeding-side plan formulation unit 12b formulates a succeeding-side automatic driving plan that is an automatic driving plan for the following vehicle 3 based on the preceding-side automatic driving plan and the information acquired by the succeeding-side information acquisition unit. May be.
  • the subsequent side plan formulation unit 12b selectively executes the integrated lane change mode and the independent lane change mode based on the subsequent automatic driving plan, or performs the integrated lane change and the independent lane change. Or can be performed selectively.
  • the preceding plan formulation unit 12a sends the following vehicle 3 to the following vehicle 3 by inter-vehicle communication based on the determination result of the preceding plan formulation unit 12a itself as to whether or not the integrated lane change can be executed.
  • We have developed a leading automatic driving plan to be transmitted but this is not a limitation.
  • the preceding side plan formulation unit 12a based on the determination result of the preceding side plan formulation unit 12a itself as to whether or not the integrated lane change can be executed, is to be transmitted to the succeeding vehicle 3 by inter-vehicle communication. May be formulated.
  • the subsequent-side plan formulation unit 12b selects the integrated lane change mode and the independent lane change mode based on the subsequent-side automatic driving plan formulated by the preceding-side plan formulation unit 12a. It is possible to execute the operation in an integrated manner or selectively execute the integrated lane change and the independent lane change.
  • the information used when formulating the preceding automatic driving plan may be different from the information used when formulating the subsequent automatic driving plan.
  • the preceding automatic driving plan and the subsequent automatic driving plan May be different.
  • the driving support plan formulation unit 12a sends both the preceding automatic driving plan and the subsequent automatic driving plan to the subsequent vehicle 3 by inter-vehicle communication. You may send it.
  • the preceding side information acquisition unit may acquire the automatic driving level of the subsequent vehicle 3 from the subsequent vehicle 3 by inter-vehicle communication. Then, the driving support plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the automatic driving level acquired by the preceding side information acquisition unit. Also good.
  • the driving support plan formulation unit 12a can change the integrated lane by increasing the first distance described in the first embodiment. May be difficult to obtain.
  • the automatic driving level of the following vehicle 3 is the automatic driving level 3
  • the preceding information acquisition unit may acquire the automatic driving level of the other vehicles 4a and 4b in FIG. 1 from the other vehicles 4a and 4b by inter-vehicle communication. Then, the travel support plan formulation unit 12a is based on the other vehicle relative position, the other vehicle relative speed, the automatic driving level of the subsequent vehicle 3, and the automatic driving level of the other vehicles 4a and 4b acquired by the preceding side information acquisition unit. Thus, it may be determined whether or not the integrated lane change can be executed.
  • ⁇ Modification 8 of Embodiment 2> it is determined whether each of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b can execute each of the integrated lane change and the independent lane change.
  • the present invention is not limited to this.
  • One of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b determines whether or not each of the integrated lane change and the independent lane change can be executed, and the other is The result determined in (1) may be used as it is.
  • the block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the third embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment.
  • the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the third embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment.
  • constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
  • 11 and 12 are diagrams for explaining the operation of the travel support device 1 according to the second embodiment described above. 11 and 12 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane.
  • the preceding plan formulation unit 12a of the preceding vehicle 2 determines whether or not the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed.
  • the preceding-side plan formulation unit 12a determines the relative position of the other vehicle relative to the preceding vehicle 2 and the other vehicles 4a and 4c. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
  • the succeeding side plan formulation unit 12b of the following vehicle 3 determines whether or not the integrated lane change can be executed based on the following other vehicle relative position and the following other vehicle relative speed.
  • the subsequent-side plan formulation unit 12b determines the other vehicle relative position and the other vehicle 4 and the other vehicles 4b and 4d. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
  • the preceding plan formulation unit 12a that cannot recognize the other vehicle 4b behind the other vehicle 4a determines that the integrated lane change can be executed.
  • the succeeding plan formulation unit 12b that cannot recognize the other vehicle 4a in front of the other vehicle 4b determines that the integrated lane change can be executed.
  • FIGS. 13 and 14 are diagrams for explaining the operation of the travel support apparatus 1 according to the third embodiment. 13 and 14 also show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane, as in FIGS. 11 and 12. Has been.
  • the subsequent side information acquisition unit of the subsequent vehicle 3 acquires the subsequent other vehicle relative position and the subsequent other vehicle relative speed.
  • the preceding side information acquisition unit of the preceding vehicle 2 not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side other vehicle relative position and the following side other acquired by the subsequent side information acquiring unit.
  • the vehicle relative speed is acquired from the following vehicle 3 by inter-vehicle communication.
  • the preceding side plan formulation unit 12a is integrated. It is determined whether or not a lane change can be executed. In the case of FIG. 13, the preceding plan formulation unit 12a performs the other vehicle relative position and the other vehicle relative speed for the preceding vehicle 2 and the other vehicles 4a and 4c, and the other vehicle for the subsequent vehicle 3 and the other vehicles 4b and 4d. It is determined whether or not the integrated lane change can be executed based on the relative position and the relative speed of the other vehicle.
  • the preceding side plan formulation unit 12a can determine that the inter-vehicle distance between the other vehicle 4a and the other vehicle 4b, that is, the inter-vehicle distance is not sufficient, and determines that the integrated lane change cannot be performed. can do. For this reason, the integrated lane change is not executed, and automatic tracking can be maintained.
  • the information acquisition unit acquires the inter-vehicle distance between the preceding vehicle 2 and the succeeding vehicle 3, and the preceding-side plan formulation unit 12a performs the above-described relative position.
  • the inter-vehicle distance may be obtained based on the relative speed and the inter-vehicle distance acquired by the information acquisition unit. If high accuracy is not required for the distance between other vehicles, the preceding plan formulation unit 12a may obtain the distance between other vehicles based on the above-described relative position and relative speed and a predetermined distance. Good.
  • FIG. 15 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the third embodiment.
  • the operation in FIG. 15 is the same as that in which step S6 in FIG. 7 is replaced with steps S51 and S52.
  • step S51 the preceding plan formulation unit 12a receives the succeeding other vehicle relative position and the following other vehicle relative speed from the following vehicle 3 through inter-vehicle communication.
  • step S52 the preceding side plan formulation unit 12a acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed via the surrounding vehicle information interface unit 11aa.
  • the driving support plan formulation unit 12a is integrated based on the acquired preceding other vehicle relative position and preceding other vehicle relative speed, and the subsequent other vehicle relative position and the following other vehicle relative speed received in step S51. It is determined whether or not a lane change can be executed. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
  • FIG. 16 is a flowchart showing the operation of the subsequent travel support unit 1b according to the third embodiment.
  • the operation in FIG. 16 is the same as that in which step S56 is added between step S29 and step S30 in FIG.
  • the succeeding-side plan formulation unit 12b transmits the succeeding-side other vehicle relative position and the following-side other vehicle relative speed to the preceding vehicle 2 by inter-vehicle communication. Such transmission may be performed when requested by the preceding vehicle 2.
  • step S30 If it is determined in step S30 that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process returns to step S56.
  • the in-vehicle communication interface unit 11ac which is the preceding side information acquisition unit of the preceding vehicle 2, not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side information acquiring unit.
  • the acquired subsequent-side other vehicle relative position and subsequent-side other vehicle relative speed were acquired from the following vehicle 3 by inter-vehicle communication.
  • the present invention is not limited to this, and the determination result of the subsequent plan formulation unit 12b as to whether or not the integrated lane change can be executed is used instead of the subsequent other vehicle relative position and the subsequent other vehicle relative speed. May be.
  • the vehicle-side communication interface unit 11ac which is the preceding side information acquisition unit, acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed and determines whether or not the integrated lane change can be executed.
  • You may acquire the determination result of the formulation part 12b from the succeeding vehicle 3 by vehicle-to-vehicle communication.
  • the preceding side plan formulation unit 12a is based on the preceding side other vehicle relative position, the preceding side other vehicle relative speed acquired by the preceding side information acquisition unit, and the determination result of the subsequent side plan formulation unit 12b. It may be determined whether the lane change can be executed. Also in this case, the same effect as in the third embodiment can be obtained.
  • Embodiment 3 when the lane change condition is satisfied, the preceding-side plan formulation unit 12a receives the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the following vehicle 3 by inter-vehicle communication (FIG. 15). Step S51).
  • the present invention is not limited to this, and the preceding-side plan formulation unit 12a determines the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed by the inter-vehicle communication regardless of whether the lane change condition is satisfied or not. You may always receive from.
  • FIG. 17 is a block diagram showing a configuration of the preceding traveling support unit 1a according to the fourth embodiment of the present invention.
  • constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
  • peripheral components other than the HMI (Human Machine Interface) unit 26a are the same as the peripheral components in the second embodiment.
  • the HMI unit 26a is an HMI of the driver of the preceding vehicle 2, and includes a display unit 26aa, an acoustic unit 26ab, and an operation input unit 26ac such as a touch panel.
  • the present invention is not limited to this, and the HMI unit 26a may include at least one of the display unit 26aa, the acoustic unit 26ab, and the operation input unit 26ac.
  • the HMI unit 26a may include other functional units such as a vibration unit that applies vibration to the driver.
  • 17 is the same as the configuration in which the HMI interface unit 11ad is added to the preceding side driving support unit 1a of FIG.
  • the HMI interface unit 11ad is included in the concept of the preceding information acquisition unit described above.
  • the HMI interface unit 11ad outputs the operation from the driver acquired by the operation input unit 26ac to the preceding plan formulation unit 12a. Further, the HMI interface unit 11ad outputs the video signal output from the preceding plan formulation unit 12a to the display unit 26aa, and outputs the audio notification signal output from the preceding plan formulation unit 12a to the acoustic unit 26ab. Thereby, the preceding side plan formulation part 12a can display various information on the display part 26aa, or can output various information to the sound part 26ab by voice.
  • the peripheral situation detection unit 21a detects a front-rear relative position, which is a relative position with respect to the preceding vehicle 2 and the subsequent vehicle 3, as needed. Get from time to time.
  • 18 to 23 are diagrams showing display examples of the display unit 26aa by the display control of the preceding side plan formulation unit 12a included in the preceding side travel support unit 1a.
  • FIG. 18 is a display example until it is determined Yes in step S2.
  • the preceding-side plan formulation unit 12a determines that the preceding vehicle 2 based on the preceding-side other vehicle relative position and the preceding-rear relative position acquired by the surrounding vehicle information interface unit 11aa.
  • the relative positions of the following vehicle 3 and the other vehicles 4a, 4b, 4c are appropriately displayed on the display unit 26aa.
  • the preceding vehicle 2 and the like are displayed in a deformed manner, but the display mode of the preceding vehicle 2 and the like is not limited to this.
  • FIG. 19 is a display example from the determination of Yes in step S2 of FIG. 7 until step S3 is performed
  • FIG. 20 is a display example while step S3 of FIG. 7 is performed.
  • the preceding-side plan formulation unit 12a causes the display unit 26aa to display information transmitted and received between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication using symbols or the like.
  • the symbol according to the fourth embodiment includes at least one of a figure and a character.
  • the preceding side plan formulation unit 12 a displays a symbol 27 a or the like indicating that. 26aa. Also, for example, as shown in FIG. 20, when the preceding side plan formulation unit 12a performs negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication, A symbol 27b or the like indicating that is displayed on the display unit 26aa.
  • the preceding plan formulation unit 12a represents that when the execution request described in the third modification of the second embodiment is transmitted from the succeeding vehicle 3 to the preceding vehicle 2 by inter-vehicle communication.
  • a symbol or the like may be displayed on the display unit 26aa.
  • the preceding-side plan formulation unit 12a when it is configured to be able to transmit and receive information between the preceding vehicle 2 and the other vehicle by inter-vehicle communication, the preceding-side plan formulation unit 12a is configured as shown in FIGS. Similarly, a symbol or the like indicating information transmitted / received between the preceding vehicle 2 and another vehicle may be displayed on the display unit 26aa.
  • FIG. 21 is a display example when the mode is changed to the integrated lane change mode in step S4 of FIG. As shown in FIG. 21, the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
  • the preceding side plan formulation unit 12a displays symbols 27c, 27d and the like indicating that the integrated lane change mode is being executed on the display unit 26aa.
  • the symbol 27c is a rope-like figure that connects the preceding vehicle 2 and the following vehicle 3
  • the symbol 27d is a figure that serves as an indicator of whether or not the integrated lane change can be performed.
  • the preceding plan formulation unit 12a when the independent lane change mode is being executed, does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26aa. .
  • the driver of the preceding vehicle 2 can grasp which of the integrated lane change mode and the independent lane change mode is being executed based on whether or not the symbols 27c and 27d are displayed.
  • the preceding plan formulation unit 12a may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26aa. .
  • FIG. 22 is a display example when it is determined Yes in step S6 of FIG. 7, and FIG. 23 is a display example when it is determined No in step S6 of FIG.
  • the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the determination result of the integrated lane change.
  • FIG. 22 includes symbols 27e and 27f respectively indicating the predicted positions of the preceding vehicle 2 and the succeeding vehicle 3 when the integrated lane change is performed, and a symbol 27g indicating that the integrated lane change mode is maintained.
  • a symbol 27h serving as an index indicating whether the integrated lane change can be performed and an arrow symbol 27i indicating that the preceding vehicle 2 and the following vehicle 3 can go to the symbols 27e and 27f are illustrated.
  • the preceding plan formulation unit 12a displays the display unit 26aa based on the determination result of the independent lane change in the same manner as changing the display of the display unit 26aa based on the determination result of the integrated lane change.
  • the display of may be changed.
  • the symbols 27a to 27k may be displayed by animation.
  • FIG. 24 is a block diagram showing a configuration of the subsequent side travel support unit 1b according to Embodiment 4 of the present invention.
  • constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
  • a display unit 26ba, an acoustic unit 26bb, a touch panel, and the like are provided around the subsequent driving support unit 1b, like the HMI unit 26a provided around the preceding driving support unit 1a in FIG. HMI part 26b provided with the operation input part 26bc. 24 is the same as the configuration in which the HMI interface unit 11bd is added to the subsequent travel support unit 1b in FIG.
  • the HMI interface unit 11bd is included in the concept of the subsequent side information acquisition unit.
  • the HMI interface unit 11bd outputs the operation from the driver acquired by the operation input unit 26bc to the subsequent plan formulation unit 12b.
  • the HMI interface unit 11bd outputs the video signal output from the subsequent side plan formulation unit 12b to the display unit 26ba, and outputs the audio notification signal output from the subsequent side plan formulation unit 12b to the acoustic unit 26bb.
  • the succeeding plan formulation unit 12b can display various information on the display unit 26ba, and can output various information to the sound unit 26bb by voice.
  • the subsequent plan formulation unit 12b performs display control similar to that of the preceding plan formulation unit 12a described above. For this reason, display similar to the display examples of FIGS. 18 to 23 may be performed by the display control of the subsequent plan formulation unit 12b.
  • the display unit 26ba is a HUD (head-up display) that can display one or more display objects that are visible from the driver's seat of the following vehicle 3 so as to overlap the scenery outside the following vehicle 3. A case will be described as an example.
  • the display part 26ba comprised from such HUD the virtual image which is visible to the driver
  • 25 to 29 are diagrams showing display examples of the display unit 26ba by the display control of the subsequent side plan formulation unit 12b included in the subsequent side travel support unit 1b.
  • 25 to 29 show a state where the vehicle can be seen from the interior of the following vehicle 3 through the windshield 3b.
  • the symbols 28a and the like in the display examples of FIGS. 25 to 29 are virtual display objects.
  • FIG. 25 is a display example from step S23 in FIG. 8 until it is determined Yes in step S23.
  • the driving support plan formulation unit 12b causes the display unit 26ba to display a symbol 28a indicating the inter-vehicle distance between the preceding vehicle 2 and the following vehicle 3.
  • FIG. 26 is a display example when automatic tracking is performed in step S24 of FIG. 8, and FIG. 27 is a display example while step S25 of FIG. 8 is performed.
  • the succeeding side plan formulation part 12b displays on the display part 26ba the information transmitted / received between the preceding vehicle 2 and the succeeding vehicle 3 by inter-vehicle communication by a symbol or the like.
  • the succeeding plan formulation unit 12b displays a symbol 28b or the like indicating the fact.
  • the symbol 28b is a character “follow”, but is not limited thereto.
  • a figure surrounding the preceding vehicle 2 may be used, or other characters or symbols may be used.
  • the subsequent plan formulation unit 12b performs the negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication.
  • the subsequent plan formulation unit 12b also displays the symbol 28d indicating the subsequent vehicle 3 on the display unit 26ba.
  • FIG. 28 is a display example when the mode is changed to the integrated lane change mode in step S29 of FIG. As shown in FIG. 28, the succeeding plan formulation unit 12b changes the display of the display unit 26ba based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
  • the subsequent plan formulation unit 12b displays symbols 28e, 28f and the like indicating that the integrated lane change mode is being executed on the display unit 26ba.
  • the symbol 28e is a character “integrated”
  • the symbol 28f is a rope-like figure connecting the preceding vehicle 2 and the symbol 28d indicating the following vehicle 3.
  • the subsequent plan formulation unit 12b when the independent lane change mode is executed, does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26ba. .
  • the driver of the succeeding vehicle 3 can grasp which of the integrated lane change mode and the independent lane change mode is executed based on whether or not the symbols 28e and 28f are displayed.
  • the subsequent plan formulation unit 12b may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26ba. .
  • FIG. 29 is a display example when the integrated lane change is executed in step S34 of FIG. As illustrated in FIG. 29, the subsequent plan formulation unit 12b changes the display of the display unit 26ba based on the determination result of the integrated lane change.
  • FIG. 29 shows an arrow symbol 28g and a character symbol 28h indicating that the integrated lane change is being performed.
  • the driver since the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle are displayed on the display unit, the driver can know the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle. it can.
  • information transmitted and received between the preceding vehicle 2 and the following vehicle 3 is displayed on the display unit by inter-vehicle communication, so that the driver can determine which between the preceding vehicle 2 and the following vehicle 3. It is possible to know whether such information is being transmitted / received.
  • the negotiation in step S3 in FIG. 7 was automatically performed without notifying the driver.
  • the instruction in the negotiation that is, the instruction for executing the integrated lane change mode may be an instruction from the driver of at least one of the preceding vehicle 2 and the following vehicle 3.
  • at least one of the operation input units 26ac and 26bc may receive an instruction for executing the integrated lane change mode from the corresponding driver.
  • the plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication.
  • the succeeding side plan formulation part 12b which concerns on Embodiment 4 displays that on the display part 26ba, when the said instruction
  • the side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication.
  • the subsequent side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication. Then, when the preceding plan formulation unit 12a according to the fourth embodiment receives the instruction from the succeeding vehicle 3 through inter-vehicle communication, the preceding plan formulation unit 12a displays that on the display unit 26aa (FIG. 20).
  • the side plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication.
  • the driver can perform an operation for controlling the negotiation at his / her will.
  • at least one of the operation input units 26ac and 26bc may receive an instruction for executing the independent lane change mode from the corresponding driver.
  • the subsequent side information acquisition unit acquires the execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3.
  • the present invention is not limited to this, and the subsequent side information acquisition unit acquires an execution request for executing the integrated lane change from the driver of the subsequent vehicle 3 instead of the automatic driving control unit 24b of the subsequent vehicle 3. May be.
  • the subsequent side information acquisition unit acquires subsequent side other vehicle information that is information related to the other vehicle of the subsequent vehicle 3 other than the subsequent side other vehicle relative position and the subsequent side other vehicle relative position.
  • the information acquisition unit may acquire the subsequent-side other vehicle information acquired by the subsequent-side information acquisition unit from the subsequent vehicle 3 by inter-vehicle communication.
  • the preceding side plan formulation part 12a may display the following side other vehicle information acquired in the preceding side information acquisition part on the display part 26aa.
  • the subsequent side other vehicle information includes, for example, the detection range 3a of the subsequent vehicle 3 and the like.
  • the preceding side information acquisition unit acquires the preceding side other vehicle information that is information related to the other vehicle of the preceding vehicle 2 other than the preceding side other vehicle relative position and the preceding side other vehicle relative position
  • the succeeding side information acquiring unit may acquire the preceding other vehicle information acquired by the preceding side information acquiring unit through inter-vehicle communication.
  • the succeeding side plan formulation part 12b may display the preceding side other vehicle information acquired in the succeeding side information acquisition part on the display part 26ba.
  • the block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the fifth embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment.
  • the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the fifth embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment.
  • constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
  • the preceding side information acquisition unit acquires the front-rear inter-vehicle distance that is the inter-vehicle distance between the preceding vehicle 2 and the subsequent vehicle 3 in the automatic tracking of the subsequent vehicle 3.
  • the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the preceding side information acquisition unit, When it is determined that the integrated lane change is not possible, the front-rear distance is shortened.
  • FIG. 31 is a flowchart showing the operation of the preceding traveling support unit 1a according to the fifth embodiment. The operation in FIG. 31 is the same as that in which steps S61 and S62 are added between steps S52 and S5 in FIG.
  • step S61 after step S52, the preceding side information acquisition unit acquires the front-rear inter-vehicle distance.
  • the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed when the distance between the preceding and following vehicles acquired by the preceding side information acquisition unit is shortened. If it is determined that the integrated lane change can be performed, the process proceeds to step S62. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
  • step S62 the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the following vehicle 3 by inter-vehicle communication. Thereafter, the process returns to step S5.
  • FIG. 32 is a flowchart showing the operation of the trailing side travel support unit 1b according to the fifth embodiment. The operation in FIG. 32 is the same as that in which steps S66 and S67 are added between step S56 and step S30 in FIG.
  • step S66 the subsequent plan formulation unit 12b determines whether or not an instruction to shorten the distance between the preceding and following vehicles has been received from the preceding vehicle 2 by inter-vehicle communication. The process proceeds to step S67 when it is determined that an instruction to shorten the front-rear distance is received, and the process proceeds to step S30 when it is determined that an instruction to shorten the front-rear distance is not received.
  • step S67 the subsequent plan formulation unit 12b outputs a command for shortening the front-rear vehicle distance to the automatic driving control unit 24b, and the automatic driving control unit 24b outputs the command output from the travel support plan formulating unit 12a. To reduce the distance between the two cars. Thereafter, the process proceeds to step S30.
  • 33 and 34 are diagrams for explaining the operation of the travel support apparatus 1 according to the fifth embodiment.
  • 33 and 34 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane.
  • the preceding-side plan formulation unit 12a determines that the integrated lane change cannot be performed when the range 29 surrounding the preceding vehicle 2 and the following vehicle 3 is in contact with the other vehicles 4a and 4b.
  • the preceding plan formulation unit 12a determines in step S52 that the integrated lane change cannot be executed.
  • the preceding side plan formulation unit 12a performs the processes of Steps S61 and S62
  • the subsequent side plan formulation unit 12b performs the processes of Steps S66 and S67.
  • the front-rear inter-vehicle distance is shortened, and the longitudinal length of the range 29 is shortened as shown in FIG.
  • the preceding-side plan formulation unit 12a determines in step S52 that the integrated lane change can be executed, and the integrated lane change is executed.
  • the front-rear inter-vehicle distance is shortened when it is determined that the integrated lane change is not possible. According to such a structure, possibility that an integrated lane change will be performed can be raised.
  • Embodiment 5 may be appropriately combined with each modification of Embodiments 2 to 4, or Embodiment 2 to 4 may be appropriately combined with each modification of Embodiment 5. May be.
  • the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the succeeding vehicle 3 by inter-vehicle communication.
  • the predecessor plan formulation unit 12a may transmit to the succeeding vehicle 3 how many meters the front-rear inter-vehicle distance should be set by inter-vehicle communication.
  • the subsequent plan formulation unit 12b outputs a command to the automatic operation control unit 24b to return the front-rear inter-vehicle distance to the original distance before the shortening after executing the integrated lane change by shortening the front-rear inter-vehicle distance. Also good.
  • the subsequent plan formulation unit 12b may transmit a command to the preceding vehicle 2 to return the front-rear inter-vehicle distance by inter-vehicle communication after executing the integrated lane change by shortening the front-rear inter-vehicle distance.
  • preceding side plan formulation part 12a may output the instruction
  • the preceding-side plan formulation unit 12a shortens the preceding and following vehicle distance, but the following-side plan formulation unit 12b may shorten the preceding and following vehicle distance. Specifically, not the preceding side information acquisition unit but the subsequent side information acquisition unit may acquire the front-rear inter-vehicle distance. Then, the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the subsequent side information acquisition unit, When it is determined that the integrated lane cannot be changed, the front-rear inter-vehicle distance may be shortened.
  • the front-rear inter-vehicle distance is automatically changed by performing inter-vehicle communication between the preceding plan formulation unit 12a of the preceding vehicle 2 and the subsequent plan formulation unit 12b of the subsequent vehicle 3.
  • an operation input unit 26bc may be provided in the vicinity of the subsequent-side travel support unit 1b as in the fourth embodiment. Then, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires an operation from the driver of the subsequent vehicle 3 about whether to change the distance between the preceding and rear vehicles via the operation input unit 26bc, the subsequent side plan is formulated.
  • the unit 12b may transmit an operation signal corresponding to the operation acquired by the subsequent side information acquisition unit to the preceding vehicle 2 by inter-vehicle communication. Then, in step S61 in FIG.
  • step S62 it is determined that the preceding plan formulation unit 12a can execute the integrated lane change, and an operation signal corresponding to an operation for changing the front-rear inter-vehicle distance is transmitted by inter-vehicle communication. If received from, the process may proceed to step S62.
  • the preceding-side plan formulation unit 12a when the preceding-side plan formulation unit 12a determines that the integrated lane change is not possible, the preceding-side plan formulation unit 12a transmits an instruction to shorten the front-rear inter-vehicle distance to the subsequent vehicle 3 by inter-vehicle communication.
  • the present invention is not limited to this, and when the preceding plan formulation unit 12a determines that the integrated lane change is not possible, the inter-vehicle distance between one other vehicle 4a and another other vehicle 4b in FIG. That is, an instruction to increase the distance between other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication.
  • the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed acquired by the preceding side information acquisition unit.
  • an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication. According to such a structure, possibility that an integrated lane change will be performed can be raised.
  • the preceding side plan formulation unit 12a may transmit an instruction to increase the distance between the other vehicles to the subsequent vehicle 3 by inter-vehicle communication
  • the subsequent side plan formulation unit 12b may transmit the instruction transmitted from the preceding vehicle 2.
  • the vehicle may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
  • the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position and the other vehicle relative speed acquired by the subsequent side information acquisition unit, and the integrated lane change is performed.
  • an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication.
  • the subsequent side plan formulation unit 12b may transmit an instruction to increase the distance between the other vehicles to the preceding vehicle 2 by inter-vehicle communication, and the preceding side plan formulation unit 12a may transmit the instruction transmitted from the subsequent vehicle 3.
  • the instruction may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
  • the information acquisition unit 11 and the control unit 12 in the above-described travel support device 1 are hereinafter referred to as “information acquisition unit 11 etc.”.
  • the information acquisition unit 11 and the like are realized by a processing circuit 81 illustrated in FIG. That is, the processing circuit 81 determines whether the succeeding vehicle 3 is based on the information acquisition unit 11 that acquires the other vehicle relative position and the other vehicle relative speed, and the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11. And a control unit 12 that determines whether or not the preceding vehicle 2 and the following vehicle 3 can execute the first lane change in which the lane is changed integrally while maintaining the automatic tracking.
  • Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied.
  • the processor corresponds to, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) and the like.
  • the processing circuit 81 When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate). Array) or a combination thereof.
  • Each function of each unit such as the information acquisition unit 11 may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by a single processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the information acquisition unit 11 and the like are realized by a combination with software or the like. Note that the software or the like corresponds to, for example, software, firmware, or software and firmware. Software or the like is described as a program and stored in the memory 83. As shown in FIG. 36, the processor 82 applied to the processing circuit 81 implements the functions of the respective units by reading out and executing the program stored in the memory 83. That is, the driving support device 1 is executed by the processing circuit 81 to acquire the other vehicle relative position and the other vehicle relative speed, and the subsequent operation based on the acquired other vehicle relative position and the other vehicle relative speed.
  • the memory 83 is stored. In other words, it can be said that this program causes a computer to execute procedures and methods such as the information acquisition unit 11.
  • the memory 83 is, for example, non-volatile or RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), or the like. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk), its drive device, etc., or any storage media used in the future May be.
  • each function of the information acquisition unit 11 and the like is realized by either hardware or software.
  • the present invention is not limited to this, and a configuration in which a part of the information acquisition unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like.
  • the function of the information acquisition unit 11 is realized by the processing circuit 81 as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes the program stored in the memory 83 for the other parts.
  • the function can be realized.
  • the processing circuit 81 can realize the functions described above by hardware, software, or the like, or a combination thereof.
  • the driving support device 1 described above includes an in-vehicle device such as a PND (Portable Navigation Device) and a navigation device, a communication terminal including a mobile terminal such as a mobile phone, a smartphone, and a tablet, and applications installed on these devices.
  • the present invention can also be applied to a driving support system constructed as a system by appropriately combining functions and servers. In this case, each function or each component of the driving support device 1 described above may be distributed and arranged in each device that constructs the system, or may be concentrated on any device. Good.
  • the driving support device may be distributed and arranged in the in-vehicle device mounted in the preceding vehicle 2 and the in-vehicle device mounted in the succeeding vehicle 3, or concentrated on one of the in-vehicle devices. It may be arranged.
  • FIG. 37 is a block diagram showing a configuration of the server 91 according to this modification.
  • the server 91 of FIG. 37 includes a communication unit 91a and a control unit 91b, and can perform wireless communication with the in-vehicle device 5a of the preceding vehicle 2 and the in-vehicle device 5b of the subsequent vehicle 3.
  • the communication unit 91a as an acquisition unit receives the other vehicle relative position and the other vehicle relative speed by performing wireless communication with the in-vehicle devices 5a and 5b.
  • the control unit 91b has a function similar to that of the control unit 12 in FIG. 2 when a processor (not illustrated) of the server 91 executes a program stored in a memory (not illustrated) of the server 91. That is, the control unit 91b determines whether or not the first lane change, that is, the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed received by the communication unit 91a. And the communication part 91a transmits the determination result of the control part 91b to the vehicle equipment 5a, 5b.
  • the server 91 configured as described above can obtain the same effects as those of the travel support device 1 described in the first embodiment.
  • FIG. 38 is a block diagram showing a configuration of the communication terminal 96 according to the present modification.
  • 38 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and includes an in-vehicle device 5a of the preceding vehicle 2 and an in-vehicle device 5b of the subsequent vehicle 3.
  • Wireless communication can be performed.
  • a mobile terminal such as a mobile phone, a smart phone, and a tablet carried by the driver of the preceding vehicle 2 or the following vehicle 3 is applied to the communication terminal 96.
  • the communication terminal 96 is carried by the driver of the preceding vehicle 2, for example. According to the communication terminal 96 configured as described above, it is possible to obtain the same effect as that of the driving support device 1 described in the first embodiment.
  • the present invention can be freely combined with each embodiment and each modification within the scope of the invention, or can be appropriately modified and omitted with each embodiment and each modification.
  • 1 driving support device 2 preceding vehicle, 3 succeeding vehicle, 4a, 4b other vehicle, 11 information acquisition unit, 11aa, 11ba peripheral vehicle information interface unit, 11ab, 11bb driving control interface unit, 11ac, 11bc external communication interface unit, 12 Control unit, 12a preceding plan formulation unit, 12b succeeding plan formulation unit, 26aa, 26ba display unit.

Abstract

The present invention has the purpose of providing a technology which can restrict an information processing amount when a first lane change is performed in which a preceding vehicle and a following vehicle integrally change lanes. The present invention is provided with: an information acquisition unit which acquires a relative position of another vehicle and a relative speed of the other vehicle; and a control unit which determines whether the first lane change can be performed in which the preceding vehicle and the following vehicle integrally change lanes, while the following vehicle maintains automatic following, on the basis of the relative position of the other vehicle and the relative speed of the other vehicle, which are acquired by the information acquisition unit, wherein the driver of the following vehicle can participate in automatic driving of the following vehicle.

Description

走行支援装置及び走行支援方法Driving support device and driving support method
　本発明は、先行車両及び後続車両の走行を支援する走行支援装置、及び、走行支援方法に関する。 The present invention relates to a driving support device and a driving support method for supporting driving of a preceding vehicle and a succeeding vehicle.
　近年、先行車両と後続車両とについての相対位置及び相対速度を検出し、その検出結果に基づいて後続車両を先行車両に自動的に追従走行させる自動追従走行システムが提案されている。このような車両の自動運転にについて様々な技術が提案されている。 In recent years, an automatic following traveling system has been proposed in which the relative position and relative speed of a preceding vehicle and a following vehicle are detected, and the following vehicle automatically follows the preceding vehicle based on the detection result. Various techniques have been proposed for automatic driving of such vehicles.
　例えば特許文献１には、先行車両と、当該先行車両に直列的に自動追従する一群の後続車両とが一体的に車線変更することができるか否かを判定する技術が開示されている。このような技術において、先行車両が、一体的に車線変更できると判定した場合に車線変更を行うように構成されれば、一群の後続車両における自動追従をなるべく維持することが可能となる。 For example, Patent Document 1 discloses a technique for determining whether or not a preceding vehicle and a group of succeeding vehicles that automatically follow the preceding vehicle in series can change lanes integrally. In such a technique, if the preceding vehicle is configured to change the lane when it is determined that the lane can be changed integrally, it is possible to maintain automatic tracking in a group of subsequent vehicles as much as possible.
特開平１０－２６１１９４号公報Japanese Patent Laid-Open No. 10-261194
　上述のように一群の後続車両が先行車両に直列的に自動追従する走行、いわゆるプラトーン走行では、運転者が全く関与しない自動運転レベルの自動運転が用いられる。すなわち、プラトーン走行では車両間の車間距離は車両全長程度が一般的であり、プラトーン走行中の車両は一旦プラトーン走行から脱出しない限り、運転者が当該車両の運転制御に直接関与することは不可能である。しかしながら、運転者が全く関与しない自動運転レベルの自動運転を実行する場合、自動運転を制御する自動運転制御部において比較的高い情報処理能力が必要になる。このことに加えて、上述のような一体的な車線変更を行うと、自動運転制御部において非常に高い情報処理能力が必要になるという問題があった。 As described above, in the traveling in which a group of subsequent vehicles automatically follow the preceding vehicle in series, so-called platone traveling, automatic driving at an automatic driving level that does not involve the driver at all is used. That is, in platoon driving, the distance between vehicles is generally about the full length of the vehicle, and the vehicle during platoon driving cannot directly participate in driving control of the vehicle unless it escapes from platoon driving once. It is. However, when executing an automatic driving at an automatic driving level that does not involve the driver at all, a relatively high information processing capability is required in the automatic driving control unit that controls the automatic driving. In addition to this, there is a problem that when the lane change as described above is performed, a very high information processing capability is required in the automatic operation control unit.
　そこで、本発明は、上記のような問題点を鑑みてなされたものであり、先行車両及び後続車両が一体的に車線変更する第１車線変更を行う際の情報処理量を抑制可能な技術を提供することを目的とする。 Therefore, the present invention has been made in view of the above problems, and a technology capable of suppressing the amount of information processing when the first lane change is performed in which the preceding vehicle and the following vehicle change lanes integrally. The purpose is to provide.
　本発明に係る走行支援装置は、先行車両と、車々間通信及び自動運転によって先行車両への追従走行を行う自動追従が可能な後続車両との少なくとも一方と、先行車両及び後続車両以外の１以上の他車両とについての相対位置である他車両相対位置を取得し、かつ、先行車両及び後続車両の少なくとも一方と他車両とについての相対速度である他車両相対速度を取得する情報取得部と、情報取得部で取得された他車両相対位置及び他車両相対速度に基づいて、後続車両が自動追従を維持しながら先行車両及び後続車両が一体的に車線変更する第１車線変更を実行できるか否かを判定する制御部とを備え、後続車両の自動運転は、後続車両の運転者が関与可能な自動運転である。 The driving support device according to the present invention includes at least one of a preceding vehicle, a succeeding vehicle capable of automatically following the preceding vehicle by inter-vehicle communication and automatic driving, and at least one other than the preceding vehicle and the following vehicle. An information acquisition unit that acquires another vehicle relative position that is a relative position with respect to another vehicle, and that acquires another vehicle relative speed that is a relative speed between at least one of the preceding vehicle and the following vehicle and the other vehicle; Whether or not it is possible to execute the first lane change in which the preceding vehicle and the following vehicle change lanes integrally while the following vehicle maintains automatic tracking based on the other vehicle relative position and the other vehicle relative speed acquired by the acquisition unit. The automatic driving of the following vehicle is an automatic driving that can involve the driver of the following vehicle.
　本発明によれば、後続車両の自動運転は、後続車両の運転者が関与可能な自動運転であるので、第１車線変更を行う際の情報処理量を抑制することができる。 According to the present invention, since the automatic driving of the following vehicle is an automatic driving in which the driver of the following vehicle can be involved, it is possible to suppress the amount of information processing when the first lane change is performed.
　本発明の目的、特徴、態様及び利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る走行支援装置によって支援される先行車両及び後続車両を示す図である。It is a figure which shows the preceding vehicle and subsequent vehicle which are supported by the driving assistance apparatus which concerns on Embodiment 1. FIG. 実施の形態１に係る走行支援装置の構成を示すブロック図である。It is a block diagram which shows the structure of the driving assistance apparatus which concerns on Embodiment 1. FIG. 自動運転レベルを示す図である。It is a figure which shows an automatic driving | operation level. ＳＡＥレベルを示す図である。It is a figure which shows a SAE level. 実施の形態２に係る先行側走行支援部の構成を示すブロック図である。FIG. 6 is a block diagram showing a configuration of a preceding side travel support unit according to Embodiment 2. 実施の形態２に係る後続側走行支援部の構成を示すブロック図である。FIG. 6 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a second embodiment. 実施の形態２に係る先行側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a preceding side travel support unit according to the second embodiment. 実施の形態２に係る後続側走行支援部の動作を示すフローチャートである。6 is a flowchart showing an operation of a subsequent side travel support unit according to the second embodiment. 実施の形態２の変形例５に係る先行側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a preceding side travel support unit according to a fifth modification of the second embodiment. 実施の形態２の変形例５に係る後続側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a subsequent side travel support unit according to a fifth modification of the second embodiment. 実施の形態２に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment. 実施の形態２に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining the operation of the driving support apparatus according to the second embodiment. 実施の形態３に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3. 実施の形態３に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining an operation of a driving support apparatus according to Embodiment 3. 実施の形態３に係る先行側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a preceding side travel support unit according to the third embodiment. 実施の形態３に係る後続側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a subsequent side travel support unit according to the third embodiment. 実施の形態４に係る先行側走行支援部の構成を示すブロック図である。FIG. 10 is a block diagram illustrating a configuration of a preceding side travel support unit according to a fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a preceding side travel support unit according to the fourth embodiment. 実施の形態４に係る後続側走行支援部の構成を示すブロック図である。FIG. 10 is a block diagram illustrating a configuration of a subsequent side travel support unit according to a fourth embodiment. 実施の形態４に係る後続側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. 実施の形態４に係る後続側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. 実施の形態４に係る後続側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. 実施の形態４に係る後続側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. 実施の形態４に係る後続側走行支援部の表示制御による表示例を示す図である。FIG. 10 is a diagram illustrating a display example by display control of a subsequent side travel support unit according to the fourth embodiment. 実施の形態４の変形例３に係る先行側走行支援部の表示制御による表示例を示す図である。FIG. 22 is a diagram showing a display example by display control of a preceding side travel support unit according to Modification 3 of Embodiment 4. 実施の形態５に係る先行側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a preceding side travel support unit according to the fifth embodiment. 実施の形態５に係る後続側走行支援部の動作を示すフローチャートである。10 is a flowchart showing an operation of a subsequent side travel support unit according to the fifth embodiment. 実施の形態５に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment. 実施の形態５に係る走行支援装置の動作を説明するための図である。FIG. 10 is a diagram for explaining the operation of a driving support apparatus according to a fifth embodiment. その他の変形例に係る走行支援装置のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the driving assistance apparatus which concerns on another modification. その他の変形例に係る走行支援装置のハードウェア構成を示すブロック図である。It is a block diagram which shows the hardware constitutions of the driving assistance apparatus which concerns on another modification. その他の変形例に係るサーバの構成を示すブロック図である。It is a block diagram which shows the structure of the server which concerns on another modification. その他の変形例に係る通信端末の構成を示すブロック図である。It is a block diagram which shows the structure of the communication terminal which concerns on another modification.
　＜実施の形態１＞
　本発明の実施の形態１に係る走行支援装置は、例えば図１に示す先行車両２及び後続車両３の走行を支援する。なお、図１では、五角形のデフォルメで表示された先行車両２及び後続車両３が、五角形の鋭角側に進んでいる。 <Embodiment 1>
The travel support apparatus according to Embodiment 1 of the present invention supports travel of the preceding vehicle 2 and the subsequent vehicle 3 shown in FIG. In FIG. 1, the preceding vehicle 2 and the succeeding vehicle 3 displayed in a pentagonal shape are advanced toward the acute angle side of the pentagon.
　先行車両２は、自動運転可能であってもよいし、自動運転可能でなくてもよい。一方、後続車両３は、自動運転可能であり、車々間通信よび自動運転によって先行車両２への追従走行を行う自動追従が可能となっている。なお、後続車両３は１台であってもよいし複数台であってもよい。 The preceding vehicle 2 may or may not be capable of automatic driving. On the other hand, the succeeding vehicle 3 is capable of automatic driving, and can be automatically tracked to follow the preceding vehicle 2 by inter-vehicle communication and automatic driving. In addition, the following vehicle 3 may be one or plural.
　図２は、本実施の形態１に係る走行支援装置１の構成を示すブロック図である。図２の走行支援装置１は、情報取得部１１と制御部１２とを備える。なお、走行支援装置１を構成する構成要素は、後述するように、先行車両２及び後続車両３に分散して搭載されてもよいし、先行車両２及び後続車両３の一方に集中して搭載されてもよい。 FIG. 2 is a block diagram showing a configuration of the travel support apparatus 1 according to the first embodiment. The travel support apparatus 1 of FIG. 2 includes an information acquisition unit 11 and a control unit 12. The components constituting the driving support device 1 may be distributed and mounted on the preceding vehicle 2 and the succeeding vehicle 3 as described later, or may be concentrated on one of the preceding vehicle 2 and the following vehicle 3. May be.
　情報取得部１１は、先行車両２及び後続車両３の少なくとも一方と、先行車両２及び後続車両３以外の１以上の他車両とについての相対位置である他車両相対位置を取得する。１以上の他車両には、例えば、先行車両２及び後続車両３が車線変更しようとしている車線を走行している図１の他車両４ａと、他車両４ａの後を走行している他車両４ｂとが含まれる。 The information acquisition unit 11 acquires a relative position of another vehicle that is a relative position of at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles other than the preceding vehicle 2 and the following vehicle 3. The one or more other vehicles include, for example, the other vehicle 4a in FIG. 1 traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are about to change lanes, and the other vehicle 4b traveling after the other vehicle 4a. And are included.
　図２の情報取得部１１は、上述の他車両相対位置を取得するだけでなく、先行車両２及び後続車両３の少なくとも一方と１以上の他車両とについての相対位置である他車両相対位置を取得する。 The information acquisition unit 11 of FIG. 2 not only acquires the above-described other vehicle relative position, but also calculates another vehicle relative position that is a relative position between at least one of the preceding vehicle 2 and the following vehicle 3 and one or more other vehicles. get.
　制御部１２は、情報取得部１１で取得された他車両相対位置及び他車両相対速度に基づいて、後続車両３が自動追従を維持しながら先行車両２及び後続車両３が一体的に車線変更する第１車線変更を実行できるか否かを判定する。以下の説明では、第１車線変更を「一体型車線変更」と記す。 Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11, the control unit 12 changes the lane of the preceding vehicle 2 and the following vehicle 3 integrally while the subsequent vehicle 3 maintains automatic tracking. It is determined whether the first lane change can be executed. In the following description, the first lane change is referred to as “integrated lane change”.
　例えば図１の場合、制御部１２は、情報取得部１１で取得された他車両相対位置及び他車両相対速度に基づいて、先行車両２及び後続車両３が車線変更する期間内において最短となる、他車両４ａと他車両４ｂとの間の車間距離を推測して求める。以下の説明では、このような車間距離、つまり先行車両２及び後続車両３が車線変更しようとしている車線を走行している他車両同士の間の距離を「他車両間距離」と記すこともある。 For example, in the case of FIG. 1, the control unit 12 becomes the shortest within the period in which the preceding vehicle 2 and the following vehicle 3 change lanes based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11. An inter-vehicle distance between the other vehicle 4a and the other vehicle 4b is estimated and obtained. In the following description, such an inter-vehicle distance, that is, a distance between other vehicles traveling in the lane in which the preceding vehicle 2 and the following vehicle 3 are to change lanes may be referred to as “an inter-vehicle distance”. .
　制御部１２は、他車両間距離が、第１距離よりも大きい場合に一体型車線変更ができると判定し、第１距離以下である場合に一体型車線変更ができないと判定する。ここで、第１距離は、先行車両２及び後続車両３が一体的に車線変更するために必要な予め定められた距離である。第２距離が、先行車両２及び後続車両３のそれぞれが個別に車線変更するために必要な予め定められた距離である場合、第１距離は第２距離よりも長くなっている。 The control unit 12 determines that the integrated lane can be changed when the distance between the other vehicles is greater than the first distance, and determines that the integrated lane cannot be changed when the distance is equal to or less than the first distance. Here, the first distance is a predetermined distance necessary for the preceding vehicle 2 and the following vehicle 3 to change lanes integrally. When the second distance is a predetermined distance necessary for each of the preceding vehicle 2 and the following vehicle 3 to change lanes individually, the first distance is longer than the second distance.
　先行車両２が自動運転可能な構成では、先行車両２は、一体型車線変更についての制御部１２の判定結果に基づいて、自動運転による車線変更を行なったり、行わなかったりする。先行車両２が自動運転可能でない構成では、例えば一体型車線変更についての制御部１２の判定結果が先行車両２の運転者に通知され、先行車両２の運転者が、手動運転によって車線変更を行なったり、行わなかったりする。 In the configuration in which the preceding vehicle 2 can be driven automatically, the preceding vehicle 2 may or may not change the lane by the automatic driving based on the determination result of the control unit 12 regarding the integrated lane change. In the configuration in which the preceding vehicle 2 is not capable of automatic driving, for example, the determination result of the control unit 12 regarding the integrated lane change is notified to the driver of the preceding vehicle 2, and the driver of the preceding vehicle 2 changes the lane by manual driving. Or not.
　次に、自動運転について説明する。図３は、日本国にて規定されている自動運転レベルを示す図である。図４は、米国及び欧州にて規定されているＳＡＥ（Society of Automotive Engineers）レベルを示す図である。図３の自動運転レベル、及び、図４のＳＡＥレベルのいずれにおいても、レベルが高くなるほどシステム側が担う運転の度合が高くなっており、自動運転レベルとＳＡＥレベルとは概ね対応している。 Next, automatic operation will be described. FIG. 3 is a diagram showing the automatic driving levels defined in Japan. FIG. 4 is a diagram showing SAE (Society of Automotive Automotive Engineers) levels defined in the United States and Europe. 3 and the SAE level in FIG. 4, the higher the level, the higher the degree of driving performed by the system side, and the automatic driving level and the SAE level generally correspond.
　ここで、いわゆるプラトーン走行の自動運転は、自動運転レベル４（図３）またはＳＡＥレベル４，５（図４）の自動運転であり、プラトーン走行では、運転者が全く関与しないことを想定している。しかしながら、そのような自動運転レベルによって、先行車両と後続車両とが一体的に車線変更するためには、自動運転を制御する装置に非常に高い情報処理能力が必要になってしまうという問題があった。 Here, the so-called Platone travel automatic operation is an automatic operation of automatic operation level 4 (FIG. 3) or SAE levels 4 and 5 (FIG. 4), and it is assumed that the driver is not involved at all in Platone travel. Yes. However, in order for the preceding vehicle and the following vehicle to change lanes integrally with such an automatic driving level, there is a problem that a device for controlling automatic driving requires very high information processing capability. It was.
　これに対して本実施の形態１では、後続車両３の自動運転は、自動運転レベル１～３（図３）またはＳＡＥレベル１～３（図４）の自動運転である。つまり、後続車両３の自動運転は、後続車両３の運転者が加速、操舵及び制動のうち１つを行う自動運転と、加速、操舵及び制動のうち全部ではない複数を行う自動運転と、システム側が加速、操舵及び制動の全部を通常行うがシステムが要請したときに後続車両３の運転者が対応する自動運転と、を含む自動運転である。このように本実施の形態１では、後続車両３の自動運転は、後続車両３の運転者が関与可能な自動運転となっている。なお、関与可能とは、自動運転状態から運転者が運転制御権を取り戻した場合に、手動運転制御が可能であることを意味する。一般的には制動距離、空走距離から速度に応じた適切な車間距離、または、先行車両の位置に到達する時間が一定値以上であるかなどの指標を、運転者が関与可能か否かの判断に用いることができる。 On the other hand, in the first embodiment, the automatic operation of the following vehicle 3 is an automatic operation of automatic operation levels 1 to 3 (FIG. 3) or SAE levels 1 to 3 (FIG. 4). That is, the automatic driving of the following vehicle 3 includes an automatic driving in which the driver of the following vehicle 3 performs one of acceleration, steering and braking, an automatic driving in which not all of acceleration, steering and braking are performed, and a system. The automatic driving includes the automatic driving corresponding to the driver of the succeeding vehicle 3 when the side normally performs all of acceleration, steering and braking but the system requests. As described above, in the first embodiment, the automatic driving of the following vehicle 3 is an automatic driving in which the driver of the following vehicle 3 can be involved. Note that being able to participate means that manual driving control is possible when the driver regains the driving control right from the automatic driving state. In general, whether or not the driver can be involved with an indicator such as the braking distance, the appropriate distance between the vehicle from the idle distance, or whether the time to reach the position of the preceding vehicle is a certain value or more. It can be used for judgment.
　＜実施の形態１のまとめ＞
　以上のような本実施の形態１に係る走行支援装置１によれば、後続車両３の自動運転は、後続車両３の運転者が関与可能な自動運転であることから、一体型車線変更を行う際の情報処理量を抑制することができる。この結果、走行支援装置１での処理時間の短縮化、及び、走行支援装置１のコストの低減化などが期待できる。 <Summary of Embodiment 1>
According to the driving support apparatus 1 according to the first embodiment as described above, the automatic driving of the following vehicle 3 is an automatic driving that allows the driver of the following vehicle 3 to participate, so that the integrated lane change is performed. The amount of information processing at the time can be suppressed. As a result, shortening of processing time in the driving support device 1 and reduction in cost of the driving support device 1 can be expected.
　＜実施の形態２＞
　本発明の実施の形態２に係る走行支援装置１は、先行車両２に搭載された先行側走行支援部と、後続車両３に搭載された後続側走行支援部とを備える。 <Embodiment 2>
The travel support device 1 according to Embodiment 2 of the present invention includes a preceding travel support unit mounted on the preceding vehicle 2 and a subsequent travel support unit mounted on the subsequent vehicle 3.
　図５は、本実施の形態２に係る先行側走行支援部１ａの構成を示すブロック図であり、図６は、本実施の形態２に係る後続側走行支援部１ｂの構成を示すブロック図である。なお、以下、本実施の形態２で説明する構成要素のうち、実施の形態１の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。なお、図５及び図６に示されるように、先行側走行支援部１ａのブロック構成と、後続側走行支援部１ｂのブロック構成とはほぼ同じである。 FIG. 5 is a block diagram showing the configuration of the preceding travel support unit 1a according to the second embodiment, and FIG. 6 is a block diagram showing the configuration of the subsequent travel support unit 1b according to the second embodiment. is there. In the following description, among the components described in the second embodiment, the same or similar components as those in the first embodiment are denoted by the same reference numerals, and different components are mainly described. As shown in FIGS. 5 and 6, the block configuration of the preceding traveling support unit 1a and the block configuration of the subsequent traveling support unit 1b are substantially the same.
　＜先行側走行支援部＞
　図５の先行側走行支援部１ａ内部の構成について説明する前に、先行側走行支援部１ａ周辺の構成要素について説明する。 <Advance driving support department>
Before describing the internal configuration of the preceding traveling support unit 1a in FIG. 5, the components around the preceding traveling support unit 1a will be described.
　周辺状況検出部２１ａは、カメラ２１ａａ、ミリ波レーダ２１ａｂ、超音波センサ２１ａｃ及びレーザレーダ２１ａｄで取得された画像及びセンシング情報に基づいて、先行車両２の自動運転に必要な情報を検出する。周辺状況検出部２１ａで検出される情報には、例えば、先行車両２が走行している道路の車線、及び、先行車両２周辺の他車両及び障害物に関する情報が含まれる。先行車両２周辺の他車両に関する情報には、例えば、先行車両２と他車両４ａ，４ｂとについての他車両相対位置である先行側他車両相対位置と、先行車両２と他車両４ａ，４ｂとについての他車両相対速度である先行側他車両相対速度とが含まれる。ただし、周辺状況検出部２１ａは、上記記載の構成に限るものではなく、上記の一部のセンシング装置を備えてもよい。また、他のセンシング装置やセンシング情報を用いてもよい。また、他車両相対速度は、様々な物理量から求められてもよい。例えば、他車両相対速度は、自車両と他車両との絶対速度の差から求められてもよく、相対加速度、絶対加速度などの他の物理量から求められてもよい。 The surrounding state detection unit 21a detects information necessary for automatic driving of the preceding vehicle 2 based on images and sensing information acquired by the camera 21aa, the millimeter wave radar 21ab, the ultrasonic sensor 21ac, and the laser radar 21ad. The information detected by the surrounding state detection unit 21a includes, for example, information on the lane of the road on which the preceding vehicle 2 is traveling, and other vehicles and obstacles around the preceding vehicle 2. The information related to other vehicles in the vicinity of the preceding vehicle 2 includes, for example, the preceding-side other vehicle relative position, which is the other-vehicle relative position between the preceding vehicle 2 and the other vehicles 4a, 4b, the preceding vehicle 2, and the other vehicles 4a, 4b. And the other vehicle relative speed which is the relative speed of the other vehicle. However, the surrounding state detection unit 21a is not limited to the configuration described above, and may include a part of the sensing devices described above. Further, other sensing devices and sensing information may be used. The other vehicle relative speed may be obtained from various physical quantities. For example, the other vehicle relative speed may be obtained from a difference in absolute speed between the host vehicle and the other vehicle, or may be obtained from another physical quantity such as a relative acceleration or an absolute acceleration.
　運転操作部２２ａは、アクチュエータ操作などの運転操作を運転者から受け付ける。この運転操作部２２ａには、例えば、ハンドル、アクセルペダル、ブレーキペダル、シフトレバー、及び、ウィンカレバーなどが用いられる。 The driving operation unit 22a receives a driving operation such as an actuator operation from the driver. For example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, and a winker lever are used for the driving operation unit 22a.
　走行駆動系２３ａは、自動運転制御部２４ａの制御に基づいて、先行車両２の走行及び走行方向の変更などを行う。 The traveling drive system 23a performs traveling of the preceding vehicle 2 and changing the traveling direction based on the control of the automatic operation control unit 24a.
　自動運転制御部２４ａは、周辺状況検出部２１ａで検出された情報と、運転操作部２２ａで受け付けた運転操作とに基づいて、走行駆動系２３ａを制御する。これにより、自動運転制御部２４ａは先行車両２の自動運転の制御を行う。先行車両２の自動運転レベル（図３）には、自動運転レベル０～４のいずれかが設定される。なお、自動運転制御部２４ａは、周辺状況検出部２１ａで検出された情報に基づいて、走行制御計画を策定してもよい。 The automatic driving control unit 24a controls the traveling drive system 23a based on the information detected by the surrounding state detection unit 21a and the driving operation received by the driving operation unit 22a. Thereby, the automatic driving control unit 24a controls the automatic driving of the preceding vehicle 2. Any one of automatic driving levels 0 to 4 is set as the automatic driving level of the preceding vehicle 2 (FIG. 3). The automatic driving control unit 24a may formulate a travel control plan based on the information detected by the surrounding situation detection unit 21a.
　車々間通信部２５ａは、後続車両３と車々間通信を行うことによって、後続車両３と各種情報を送受信する。 The inter-vehicle communication unit 25a transmits and receives various information to and from the following vehicle 3 by performing inter-vehicle communication with the following vehicle 3.
　次に、先行側走行支援部１ａ内部の構成について説明する。先行側走行支援部１ａは、周辺車両情報インタフェース部１１ａａと、運転制御インタフェース部１１ａｂと、車外通信インタフェース部１１ａｃと、走行支援計画策定部１２ａとを備える。なお、先行車両２に搭載された周辺車両情報インタフェース部１１ａａ、運転制御インタフェース部１１ａｂ、及び、車外通信インタフェース部１１ａｃは、実施の形態１の図１の情報取得部１１の概念に含まれる先行側情報取得部を構成している。また、先行車両２に搭載された走行支援計画策定部１２ａは、実施の形態１の図１の制御部１２の概念に含まれる先行側制御部を構成している。 Next, the internal configuration of the preceding travel support unit 1a will be described. The preceding side travel support unit 1a includes a surrounding vehicle information interface unit 11aa, a driving control interface unit 11ab, an out-of-vehicle communication interface unit 11ac, and a travel support plan formulation unit 12a. The surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac mounted on the preceding vehicle 2 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment. An information acquisition unit is configured. Moreover, the driving support plan formulation unit 12a mounted on the preceding vehicle 2 constitutes a preceding control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment.
　周辺車両情報インタフェース部１１ａａは、周辺状況検出部２１ａで検出された情報を取得し、取得した情報を走行支援計画策定部１２ａに出力する。なお、周辺状況検出部２１ａで検出された情報には、上述した先行側他車両相対位置及び先行側他車両相対速度などが含まれる。 The surrounding vehicle information interface unit 11aa acquires information detected by the surrounding state detection unit 21a, and outputs the acquired information to the travel support plan formulation unit 12a. In addition, the information detected by the surrounding state detection unit 21a includes the above-described preceding-side other vehicle relative position, the preceding-side other vehicle relative speed, and the like.
　運転制御インタフェース部１１ａｂは、走行支援計画策定部１２ａから出力された各種情報を自動運転制御部２４ａに出力したり、自動運転制御部２４ａから出力された各種情報を走行支援計画策定部１２ａに出力したりする。 The driving control interface unit 11ab outputs various types of information output from the driving support plan formulation unit 12a to the automatic driving control unit 24a, and outputs various types of information output from the automatic driving control unit 24a to the driving support plan formulation unit 12a. To do.
　車外通信インタフェース部１１ａｃは、車々間通信部２５ａの車々間通信によって、走行支援計画策定部１２ａから出力された各種情報を後続車両３に送信したり、後続車両３から受信した各種情報を走行支援計画策定部１２ａに出力したりする。つまり、走行支援計画策定部１２ａは、車々間通信によって各種情報を後続車両３と送受信することが可能となっている。 The outside-vehicle communication interface unit 11ac transmits various types of information output from the driving support plan formulating unit 12a to the following vehicle 3 through the inter-vehicle communication of the inter-vehicle communication unit 25a, and formulates a driving support plan based on the various types of information received from the following vehicle 3. Or output to the unit 12a. That is, the travel support plan formulation unit 12a can transmit and receive various types of information to and from the following vehicle 3 by inter-vehicle communication.
　走行支援計画策定部１２ａは、実施の形態１で説明した制御部１２と同様に、周辺車両情報インタフェース部１１ａａで取得された先行側他車両相対位置及び先行側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。 Similar to the control unit 12 described in the first embodiment, the driving support plan formulation unit 12a is based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. It is determined whether the body lane change can be executed.
　また、走行支援計画策定部１２ａは、周辺車両情報インタフェース部１１ａａで取得された先行側他車両相対位置及び先行側他車両相対速度に基づいて、後続車両３が自動追従を維持せずに先行車両２及び後続車両３が個別に車線変更する第２車線変更を実行できるか否かを判定する。以下の説明では、第２車線変更を「独立型車線変更」と記す。例えば、走行支援計画策定部１２ａは、実施の形態１で説明した他車両間距離が、第２距離よりも大きい場合に独立型車線変更ができると判定し、第２距離以下である場合に独立型車線変更ができないと判定する。 In addition, the driving support plan formulation unit 12a is configured so that the succeeding vehicle 3 does not maintain automatic following based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. 2 and the following vehicle 3 determine whether or not the second lane change in which the lane is individually changed can be executed. In the following description, the second lane change is referred to as “independent lane change”. For example, the driving support plan formulation unit 12a determines that the independent lane can be changed when the distance between other vehicles described in the first embodiment is greater than the second distance, and independent when the distance is equal to or less than the second distance. It is determined that the type lane cannot be changed.
　ここで、本実施の形態２に係る走行支援計画策定部１２ａは、一体型車線変更を実行できるか否かを判定可能な第１車線変更モードと、独立型車線変更を実行できるか否かを判定可能な第２車線変更モードとを有している。以下の説明では、第１車線変更モードを「一体型車線変更モード」と記し、第２車線変更モードを「独立型車線変更モード」と記す。 Here, the driving support plan formulation unit 12a according to the second embodiment determines whether or not the first lane change mode capable of determining whether or not the integrated lane change can be executed and whether or not the independent lane change can be executed. And a second lane change mode that can be determined. In the following description, the first lane change mode is referred to as “integrated lane change mode”, and the second lane change mode is referred to as “independent lane change mode”.
　走行支援計画策定部１２ａは、先行車両２及び後続車両３の少なくともいずれか一方からの、一体型車線変更モード及び独立型車線変更モードのいずれか一方を実行するための指示に基づいて、一体型車線変更モード及び独立型車線変更モードを選択的に実行する。本実施の形態２では、走行支援計画策定部１２ａは、先行車両２及び後続車両３の両方からの、一体型車線変更モードを実行するための指示に基づいて、一体型車線変更モードを実行する。そして、走行支援計画策定部１２ａは、先行車両２及び後続車両３の一方からの、独立型車線変更モードを実行するための指示に基づいて、独立型車線変更モードを実行する。 The driving support plan formulation unit 12a is configured to perform the integrated type based on the instruction for executing either the integrated lane change mode or the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3. A lane change mode and an independent lane change mode are selectively executed. In the second embodiment, the driving support plan formulation unit 12a executes the integrated lane change mode based on an instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3. . Then, the travel support plan formulation unit 12a executes the independent lane change mode based on an instruction from one of the preceding vehicle 2 and the subsequent vehicle 3 for executing the independent lane change mode.
　具体的には、走行支援計画策定部１２ａは、車々間通信によって後続車両３から自動追従の要求を受信した場合に、先行車両２において自動追従及び一体型車線変更モードを実行するための指示が行われたと判定する。そして自動追従が行われた後、走行支援計画策定部１２ａは、車々間通信によって後続車両３に一体型車線変更モードを実行する通知を送信する。その後、走行支援計画策定部１２ａは、車々間通信によって後続車両３から一体型車線変更モードを実行するための指示を受信した場合に、一体型車線変更モードを実行する。このように、一体型車線変更モードを実行する際には、先行車両２と後続車両３との間でネゴシエーションが行われる。 Specifically, when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a issues an instruction to execute the automatic tracking and the integrated lane change mode in the preceding vehicle 2. Judge that it was broken. And after automatic tracking is performed, the driving assistance plan formulation part 12a transmits the notification which performs integrated lane change mode to the following vehicle 3 by vehicle-to-vehicle communication. Thereafter, the driving support plan formulation unit 12a executes the integrated lane change mode when receiving an instruction for executing the integrated lane change mode from the succeeding vehicle 3 by inter-vehicle communication. In this way, when executing the integrated lane change mode, negotiation is performed between the preceding vehicle 2 and the following vehicle 3.
　一方、走行支援計画策定部１２ａは、自動運転制御部２４ａから先行車両２の自動運転の要求を取得した場合に、先行車両２において独立型車線変更モードを実行するための指示が行われたと判定して、独立型車線変更モードを実行する。 On the other hand, the travel support plan formulation unit 12a determines that an instruction for executing the independent lane change mode has been issued in the preceding vehicle 2 when the request for automatic driving of the preceding vehicle 2 is acquired from the automatic driving control unit 24a. Then, the independent lane change mode is executed.
　走行支援計画策定部１２ａは、一体型車線変更モードが実行されている際には通常の自動運転を行い、その最中に予め定められた車線変更条件が満たされた場合には、一体型車線変更を実行できるか否かを判定する。同様に、走行支援計画策定部１２ａは、独立型車線変更モードが実行されている際には通常の自動運転を行い、その最中に予め定められた車線変更条件が満たされた場合には、独立型車線変更を実行できるか否かを判定する。なお、ここでいう車線変更条件には、例えば、先行車両２が走行している車線において、先行車両２の前を走行している他車両の速度が予め定められた速度以下である場合などが用いられる。 The driving support plan formulation unit 12a performs normal automatic driving when the integrated lane change mode is being executed, and when a predetermined lane change condition is satisfied during that time, the integrated lane change mode is performed. Determine whether the change can be performed. Similarly, the driving support plan formulation unit 12a performs normal automatic driving when the independent lane change mode is executed, and when a predetermined lane change condition is satisfied during the automatic lane change mode, It is determined whether or not the independent lane change can be executed. The lane change condition referred to here includes, for example, a case where the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed in the lane in which the preceding vehicle 2 is traveling. Used.
　本実施の形態２に係る走行支援計画策定部１２ａは、一体型車線変更を実行できるか否かについて判定した場合、その判定結果に基づいて、自動運転制御部２４ａに一体型車線変更を自動運転で行うための命令を出力する。また、走行支援計画策定部１２ａは、一体型車線変更を実行できるか否かについて判定した場合、その判定結果に基づいて、先行車両２の自動運転の計画である先行側自動運転計画を策定する。先行側自動運転計画には、例えば一体型車線変更モード及び独立型車線変更モードの少なくともいずれか一方の計画、または、一体型車線変更及び独立型車線変更の少なくともいずれか一方の計画が含まれる。 When the driving support plan formulation unit 12a according to the second embodiment determines whether or not the integrated lane change can be performed, the automatic driving control unit 24a automatically performs the integrated lane change based on the determination result. Output instructions to do in. Further, when it is determined whether or not the integrated lane change can be executed, the travel support plan formulation unit 12a formulates a preceding automatic driving plan that is an automatic driving plan for the preceding vehicle 2 based on the determination result. . The preceding-side automatic driving plan includes, for example, at least one plan of the integrated lane change mode and the independent lane change mode, or at least one plan of the integrated lane change and the independent lane change.
　以上のように、先行車両２の走行支援計画策定部１２ａは、周辺車両情報インタフェース部１１ａａ、運転制御インタフェース部１１ａｂ及び車外通信インタフェース部１１ａｃで取得された情報に基づいて、一体型車線変更及び独立型車線変更のそれぞれについての実行可否の判定、一体型車線変更モード及び独立型車線変更モードの実行の選択、後続車両３との情報交換及びネゴシエーション、並びに、先行側自動運転計画の策定を行う。 As described above, the driving support plan formulation unit 12a of the preceding vehicle 2 is based on the information acquired by the surrounding vehicle information interface unit 11aa, the driving control interface unit 11ab, and the outside communication interface unit 11ac, and changes to the integrated lane and makes it independent. Judgment of whether or not to execute each type lane change, selection of execution of the integrated lane change mode and the independent lane change mode, information exchange and negotiation with the following vehicle 3, and formulation of a preceding automatic driving plan.
　＜後続側走行支援部＞
　図６の後続側走行支援部１ｂ内部の構成について説明する前に、後続側走行支援部１ｂ周辺の構成要素について説明する。なお、以下で説明するように周辺状況検出部２１ｂなどは、上述した周辺状況検出部２１ａなどと概ね同じである。 <Subsequent travel support unit>
Before describing the internal configuration of the subsequent travel support unit 1b in FIG. 6, the components around the subsequent travel support unit 1b will be described. As described below, the surrounding situation detection unit 21b and the like are substantially the same as the surrounding situation detection unit 21a and the like described above.
　周辺状況検出部２１ｂは、カメラ２１ｂａ、ミリ波レーダ２１ｂｂ、超音波センサ２１ｂｃ及びレーザレーダ２１ｂｄで取得された画像及びセンシング情報に基づいて、後続車両３の自動運転に必要な情報を検出する。周辺状況検出部２１ｂで検出される情報には、例えば、後続車両３が走行している道路の車線、及び、後続車両３周辺の他車両及び障害物に関する情報が含まれる。後続車両３周辺の他車両に関する情報には、例えば、後続車両３と他車両４ａ，４ｂとについての他車両相対位置である後続側他車両相対位置と、後続車両３と他車両４ａ，４ｂとについての他車両相対速度である後続側他車両相対速度とが含まれる。 The surrounding state detection unit 21b detects information necessary for automatic driving of the succeeding vehicle 3 based on images and sensing information acquired by the camera 21ba, the millimeter wave radar 21bb, the ultrasonic sensor 21bc, and the laser radar 21bd. The information detected by the surrounding state detection unit 21b includes, for example, information on the lane of the road on which the subsequent vehicle 3 is traveling, and other vehicles and obstacles around the subsequent vehicle 3. The information related to other vehicles in the vicinity of the succeeding vehicle 3 includes, for example, the succeeding side other vehicle relative position that is the other vehicle relative position with respect to the following vehicle 3 and the other vehicles 4a and 4b, the following vehicle 3 and the other vehicles 4a and 4b. And the other-side relative vehicle relative speed, which is the other-vehicle relative speed.
　運転操作部２２ｂは、アクチュエータ操作などの運転操作を運転者から受け付ける。 The driving operation unit 22b receives a driving operation such as an actuator operation from the driver.
　走行駆動系２３ｂは、自動運転制御部２４ｂの制御に基づいて、後続車両３の走行及び走行方向の変更などを行う。 The traveling drive system 23b performs traveling of the succeeding vehicle 3 and change of the traveling direction based on the control of the automatic operation control unit 24b.
　自動運転制御部２４ｂは、周辺状況検出部２１ｂで検出された情報と、運転操作部２２ｂで受け付けた運転操作とに基づいて、走行駆動系２３ｂを制御する。これにより、自動運転制御部２４ｂは後続車両３の自動運転の制御を行い、後続車両３は先行車両２に自動追従することが可能となっている。後続車両３の自動運転レベル（図３）には、自動運転レベル１～３のいずれかが設定される。 The automatic driving control unit 24b controls the traveling drive system 23b based on the information detected by the surrounding state detection unit 21b and the driving operation received by the driving operation unit 22b. Thereby, the automatic driving control unit 24b controls the automatic driving of the succeeding vehicle 3, and the succeeding vehicle 3 can automatically follow the preceding vehicle 2. Any of the automatic driving levels 1 to 3 is set as the automatic driving level (FIG. 3) of the succeeding vehicle 3.
　車々間通信部２５ｂは、先行車両２と車々間通信を行うことによって、先行車両２と各種情報を送受信する。 The inter-vehicle communication unit 25b transmits and receives various information to and from the preceding vehicle 2 by performing inter-vehicle communication with the preceding vehicle 2.
　次に、後続側走行支援部１ｂ内部の構成について説明する。後続側走行支援部１ｂは、周辺車両情報インタフェース部１１ｂａと、運転制御インタフェース部１１ｂｂと、車外通信インタフェース部１１ｂｃと、走行支援計画策定部１２ｂとを備える。なお、後続車両３に搭載された周辺車両情報インタフェース部１１ｂａ、運転制御インタフェース部１１ｂｂ、及び、車外通信インタフェース部１１ｂｃは、実施の形態１の図１の情報取得部１１の概念に含まれる後続側情報取得部を構成している。また、後続車両３に搭載された走行支援計画策定部１２ｂは、実施の形態１の図１の制御部１２の概念に含まれる後続側制御部を構成している。なお、以下で説明するように周辺車両情報インタフェース部１１ｂａなどは、上述した周辺車両情報インタフェース部１１ａａなどと概ね同じである。 Next, the internal configuration of the trailing side travel support unit 1b will be described. The subsequent side travel support unit 1b includes a surrounding vehicle information interface unit 11ba, a driving control interface unit 11bb, an out-of-vehicle communication interface unit 11bc, and a travel support plan formulation unit 12b. The peripheral vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc mounted on the subsequent vehicle 3 are included in the concept of the information acquisition unit 11 in FIG. 1 of the first embodiment. An information acquisition unit is configured. Further, the travel support plan formulation unit 12b mounted on the subsequent vehicle 3 constitutes a subsequent control unit included in the concept of the control unit 12 in FIG. 1 of the first embodiment. As described below, the surrounding vehicle information interface unit 11ba and the like are substantially the same as the above-described surrounding vehicle information interface unit 11aa and the like.
　周辺車両情報インタフェース部１１ｂａは、周辺状況検出部２１ｂで検出された情報を取得し、取得した情報を走行支援計画策定部１２ｂに出力する。なお、周辺状況検出部２１ｂで検出された情報には、上述した後続側他車両相対位置及び後続側他車両相対速度などが含まれる。 The surrounding vehicle information interface unit 11ba acquires the information detected by the surrounding state detection unit 21b and outputs the acquired information to the travel support plan formulation unit 12b. Note that the information detected by the peripheral state detection unit 21b includes the above-described subsequent-side other vehicle relative position, the subsequent-side other vehicle relative speed, and the like.
　運転制御インタフェース部１１ｂｂは、走行支援計画策定部１２ｂから出力された各種情報を自動運転制御部２４ｂに出力したり、自動運転制御部２４ｂから出力された各種情報を走行支援計画策定部１２ｂに出力したりする。 The driving control interface unit 11bb outputs various types of information output from the driving support plan formulation unit 12b to the automatic driving control unit 24b, and outputs various types of information output from the automatic driving control unit 24b to the driving support plan formulation unit 12b. To do.
　車外通信インタフェース部１１ｂｃは、車々間通信部２５ｂの車々間通信によって、走行支援計画策定部１２ｂから出力された各種情報を先行車両２に送信したり、先行車両２から受信した各種情報を走行支援計画策定部１２ｂに出力したりする。つまり、走行支援計画策定部１２ｂは、車々間通信によって各種情報を先行車両２と送受信することが可能となっている。 The out-of-vehicle communication interface unit 11bc transmits various information output from the driving support plan formulation unit 12b to the preceding vehicle 2 by the inter-vehicle communication of the inter-vehicle communication unit 25b, or formulates a driving support plan based on the various information received from the preceding vehicle 2. Or output to the unit 12b. That is, the driving support plan formulation unit 12b can transmit and receive various types of information to and from the preceding vehicle 2 through inter-vehicle communication.
　走行支援計画策定部１２ｂは、実施の形態１で説明した制御部１２と同様に、周辺車両情報インタフェース部１１ｂａで取得された後続側他車両相対位置及び後続側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定したり、独立型車線変更を実行できるか否かを判定したりする。 Similar to the control unit 12 described in the first embodiment, the driving support plan formulation unit 12b is based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. It is determined whether or not the body lane change can be executed, or whether or not the independent lane change can be executed.
　走行支援計画策定部１２ｂは、先行車両２及び後続車両３の少なくともいずれか一方からの、一体型車線変更モード及び独立型車線変更モードのいずれか一方を実行するための指示に基づいて、一体型車線変更モード及び独立型車線変更モードを選択的に実行する。なお、後続車両３の一体型車線変更モード及び独立型車線変更モードは、先行車両２の一体型車線変更モード及び独立型車線変更モードと同様である。また、後続車両３の走行支援計画策定部１２ｂは、先行車両２の走行支援計画策定部１２ａと同様に、先行車両２と後続車両３との間でネゴシエーションを行うことによって、一体型車線変更モード及び独立型車線変更モードを選択的に実行する。 The driving support plan formulation unit 12b is configured to execute the integrated type lane change mode or the independent type lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3 based on an instruction for executing either the integrated lane change mode or the independent lane change mode. A lane change mode and an independent lane change mode are selectively executed. Note that the integrated lane change mode and the independent lane change mode of the following vehicle 3 are the same as the integrated lane change mode and the independent lane change mode of the preceding vehicle 2. Further, the driving support plan formulation unit 12b of the following vehicle 3 negotiates between the preceding vehicle 2 and the following vehicle 3 in the same manner as the driving support plan formulation unit 12a of the preceding vehicle 2, thereby performing an integrated lane change mode. And the independent lane change mode is selectively executed.
　以上のように、後続車両３の走行支援計画策定部１２ｂは、周辺車両情報インタフェース部１１ｂａ、運転制御インタフェース部１１ｂｂ及び車外通信インタフェース部１１ｂｃで取得された情報に基づいて、一体型車線変更及び独立型車線変更のそれぞれについての実行可否の判定、一体型車線変更モード及び独立型車線変更モードの実行の選択、並びに、先行車両２との情報交換及びネゴシエーションを行う。 As described above, the driving support plan formulation unit 12b of the succeeding vehicle 3 changes the integrated lane change and the independence based on the information acquired by the surrounding vehicle information interface unit 11ba, the driving control interface unit 11bb, and the outside communication interface unit 11bc. Whether to execute each type of lane change is determined, selection of execution of the integrated lane change mode and the independent lane change mode, and information exchange and negotiation with the preceding vehicle 2 are performed.
　＜動作＞
　図７は、本実施の形態２に係る先行側走行支援部１ａの動作を示すフローチャートである。 <Operation>
FIG. 7 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the second embodiment.
　まずステップＳ１にて、先行車両２は、例えば追い抜き機能を有する自動運転レベル２の自動運転を用いて走行開始する。この際、自動運転制御部２４ａは、車線などを認識しながら自動運転を行う。また、走行支援計画策定部１２ａは、当該自動運転を行う場合に独立型車線変更モードを実行する。これにより、走行支援計画策定部１２ａは、一体型車線変更モードが実行されるまで、先行側他車両相対位置及び先行側他車両相対速度に基づいて独立型車線変更を実行できるか否かについての判定などを適宜行う。 First, in step S1, the preceding vehicle 2 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function. At this time, the automatic driving control unit 24a performs automatic driving while recognizing a lane or the like. Moreover, the driving assistance plan formulation part 12a performs independent lane change mode, when performing the said automatic driving | operation. Thus, the driving support plan formulation unit 12a determines whether or not the independent lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
　ステップＳ２にて、走行支援計画策定部１２ａは、車々間通信によって自動追従の要求を後続車両３から受信した場合に、車々間通信によって自動追従の承認を後続車両３に送信する。走行支援計画策定部１２ａは、このような一連の送受信が行われたか否かを判定する。一連の送受信が行われたと判定した場合には処理がステップＳ３に進み、一連の送受信が行われなかったと判定した場合にはステップＳ２の処理が再度行われる。 In step S2, when the driving support plan formulation unit 12a receives a request for automatic tracking from the following vehicle 3 through inter-vehicle communication, the driving support plan formulation unit 12a transmits an automatic tracking approval to the subsequent vehicle 3 through inter-vehicle communication. The driving support plan formulation unit 12a determines whether such a series of transmission / reception has been performed. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S3. If it is determined that a series of transmission / reception has not been performed, the process of step S2 is performed again.
　ステップＳ３にて、走行支援計画策定部１２ａは、車々間通信によって一体型車線変更モードを実行する通知を後続車両３に送信する。そして、走行支援計画策定部１２ａは、車々間通信によって一体型車線変更モードを実行するための指示を後続車両３から受信したか否かを判定する。なお、このステップＳ３での車線変更モードについての一連の送受信、つまりネゴシエーションは、運転者に通知されることなく自動的に行われる。後続車両３から当該指示を受信したと判定した場合には処理がステップＳ４に進み、後続車両３から当該指示を受信しなかったと判定した場合には処理がステップＳ２に戻る。 In step S3, the driving support plan formulation unit 12a transmits to the following vehicle 3 a notification for executing the integrated lane change mode by inter-vehicle communication. Then, the travel support plan formulation unit 12a determines whether or not an instruction for executing the integrated lane change mode is received from the following vehicle 3 by inter-vehicle communication. Note that a series of transmission / reception, that is, negotiation, regarding the lane change mode in step S3 is automatically performed without notifying the driver. If it is determined that the instruction is received from the succeeding vehicle 3, the process proceeds to step S4. If it is determined that the instruction is not received from the succeeding vehicle 3, the process returns to step S2.
　ステップＳ４にて、走行支援計画策定部１２ａは、実行する車線変更モードを、独立型車線変更モードから一体型車線変更モードに変更する。 In step S4, the driving support plan formulation unit 12a changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
　ステップＳ５にて、走行支援計画策定部１２ａは、車線変更条件が満たされたか否かを判定する。例えば、走行支援計画策定部１２ａは、周辺状況検出部２１ａで検出された情報に基づいて、先行車両２の前を走行している他車両の速度が予め定められた速度以下であると判定した場合に、車線変更条件が満たされたと判定する。車線変更条件が満たされたと判定した場合には処理がステップＳ６に進み、車線変更条件が満たされなかったと判定した場合にはステップＳ５の処理が再度行われる。 In step S5, the driving support plan formulation unit 12a determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12a determines that the speed of the other vehicle traveling in front of the preceding vehicle 2 is equal to or lower than a predetermined speed based on the information detected by the surrounding situation detection unit 21a. In this case, it is determined that the lane change condition is satisfied. If it is determined that the lane change condition is satisfied, the process proceeds to step S6. If it is determined that the lane change condition is not satisfied, the process of step S5 is performed again.
　ステップＳ６にて、周辺車両情報インタフェース部１１ａａは、周辺状況検出部２１ａから先行側他車両相対位置及び先行側他車両相対速度を取得する。走行支援計画策定部１２ａは、周辺車両情報インタフェース部１１ａａで取得された先行側他車両相対位置及び先行側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。一体型車線変更を実行できると判定した場合には処理がステップＳ７に進み、一体型車線変更を実行できないと判定した場合には処理がステップＳ５に戻る。 In step S6, the surrounding vehicle information interface unit 11aa acquires the preceding side other vehicle relative position and the leading side other vehicle relative speed from the surrounding state detection unit 21a. The driving support plan formulation unit 12a determines whether the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the surrounding vehicle information interface unit 11aa. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
　ステップＳ７にて、走行支援計画策定部１２ａは、一体型車線変更を実行できるか否かについての判定結果に基づいて、先行側自動運転計画を策定する。 In step S7, the driving support plan formulation unit 12a formulates a preceding automatic driving plan based on the determination result as to whether or not the integrated lane change can be executed.
　ステップＳ８にて、走行支援計画策定部１２ａは、自動運転制御部２４ａに一体型車線変更を自動運転で行うための命令を出力する。 In step S8, the driving support plan formulation unit 12a outputs a command for performing an integrated lane change by automatic driving to the automatic driving control unit 24a.
　ステップＳ９にて、自動運転制御部２４ａは、走行支援計画策定部１２ａから出力された命令に基づいて一体型車線変更を実行する。その後、図７の処理が終了する。 In step S9, the automatic driving control unit 24a executes the integrated lane change based on the command output from the travel support plan formulation unit 12a. Thereafter, the process of FIG. 7 ends.
　図８は、本実施の形態２に係る後続側走行支援部１ｂの動作を示すフローチャートである。 FIG. 8 is a flowchart showing the operation of the subsequent travel support unit 1b according to the second embodiment.
　まずステップＳ２１にて、後続車両３は、例えば追い抜き機能を有する自動運転レベル２の自動運転を用いて走行開始する。この際、自動運転制御部２４ｂは、車線などを認識しながら自動運転を行う。また、走行支援計画策定部１２ｂは、当該自動運転を行う場合に独立型車線変更モードを実行する。これにより、走行支援計画策定部１２ｂは、一体型車線変更モードが実行されるまで、後続側他車両相対位置及び後続側他車両相対速度に基づいて独立型車線変更を実行できるか否かについての判定などを適宜行う。 First, in step S21, the following vehicle 3 starts running using, for example, automatic driving at an automatic driving level 2 having a passing function. At this time, the automatic driving control unit 24b performs automatic driving while recognizing a lane or the like. Moreover, the driving assistance plan formulation part 12b performs independent lane change mode, when performing the said automatic driving | operation. Thereby, the driving support plan formulation unit 12b determines whether or not the independent lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed until the integrated lane change mode is executed. Judgment and the like are performed as appropriate.
　ステップＳ２２にて、走行支援計画策定部１２ｂは、先行車両２を検出したか否かを判定する。例えば、走行支援計画策定部１２ｂは、先行車両２と車々間通信が可能となった場合に、先行車両２を検出したと判定する。先行車両２を検出したと判定した場合には処理がステップＳ２３に進み、先行車両２を検出しなかったと判定した場合にはステップＳ２２の処理が再度行われる。 In step S22, the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has been detected. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has been detected when inter-vehicle communication with the preceding vehicle 2 becomes possible. If it is determined that the preceding vehicle 2 is detected, the process proceeds to step S23. If it is determined that the preceding vehicle 2 is not detected, the process of step S22 is performed again.
　ステップＳ２３にて、走行支援計画策定部１２ｂは、車々間通信によって自動追従の要求を先行車両２に送信する。そして、走行支援計画策定部１２ｂは、車々間通信によって自動追従の承認を先行車両２から受信したか否かを判定する。先行車両２から自動追従の承認を受信したと判定した場合には処理がステップＳ２４に進み、先行車両２から自動追従の承認を受信しなかったと判定した場合にはステップＳ２３の処理が再度行われる。 In step S23, the driving support plan formulation unit 12b transmits a request for automatic tracking to the preceding vehicle 2 by inter-vehicle communication. Then, the travel support plan formulation unit 12b determines whether or not automatic follow-up approval has been received from the preceding vehicle 2 through inter-vehicle communication. If it is determined that the automatic follow-up approval is received from the preceding vehicle 2, the process proceeds to step S24. If it is determined that the automatic follow-up approval is not received from the preceding vehicle 2, the process of step S23 is performed again. .
　ステップＳ２４にて、自動運転制御部２４ｂは、先行車両２への自動追従を開始する。 In step S24, the automatic operation control unit 24b starts automatic tracking to the preceding vehicle 2.
　ステップＳ２５にて、走行支援計画策定部１２ｂは、車々間通信によって一体型車線変更モードを実行する通知を先行車両２から受信した場合に、車々間通信によって一体型車線変更モードを実行するための指示を先行車両２に送信する。なお、走行支援計画策定部１２ｂは、当該通知を先行車両２から受信した場合に、自動的に当該指示を先行車両２に送信してもよいし、当該通知を先行車両２から受信し、かつ後続車両３においてその実行が承認された場合に、当該指示を先行車両２に送信してもよい。走行支援計画策定部１２ｂは、このような車線変更モードについての一連の送受信が行われたか否かを判定する。一連の送受信が行われなかったと判定した場合には処理がステップＳ２６に進み、一連の送受信が行われたと判定した場合には処理がステップＳ２９に進む。 In step S25, when the driving support plan formulation unit 12b receives a notification from the preceding vehicle 2 that executes the integrated lane change mode through inter-vehicle communication, the driving support plan formulation unit 12b issues an instruction to execute the integrated lane change mode through inter-vehicle communication. It transmits to the preceding vehicle 2. Note that when the notification is received from the preceding vehicle 2, the driving support plan formulation unit 12b may automatically transmit the instruction to the preceding vehicle 2, receive the notification from the preceding vehicle 2, and When the execution of the succeeding vehicle 3 is approved, the instruction may be transmitted to the preceding vehicle 2. The driving support plan formulation unit 12b determines whether or not a series of transmission / reception for such a lane change mode has been performed. If it is determined that a series of transmission / reception has not been performed, the process proceeds to step S26. If it is determined that a series of transmission / reception has been performed, the process proceeds to step S29.
　ステップＳ２６にて、走行支援計画策定部１２ｂは、独立型車線変更モードを維持する。 In step S26, the driving support plan formulation unit 12b maintains the independent lane change mode.
　ステップＳ２７にて、走行支援計画策定部１２ｂは、先行車両２が自動追従から離脱したか否かを判定する。例えば、走行支援計画策定部１２ｂは、先行車両２と車々間通信が不可能となった場合に、先行車両２が離脱したと判定する。先行車両２が離脱したと判定した場合には処理がステップＳ２８に進み、先行車両２が離脱しなかったと判定した場合にはステップＳ２７の処理が再度行われる。 In step S27, the driving support plan formulation unit 12b determines whether the preceding vehicle 2 has left automatic tracking. For example, the driving support plan formulation unit 12b determines that the preceding vehicle 2 has left when the vehicle-to-vehicle communication with the preceding vehicle 2 becomes impossible. If it is determined that the preceding vehicle 2 has left, the process proceeds to step S28. If it is determined that the preceding vehicle 2 has not left, the process of step S27 is performed again.
　ステップＳ２８にて、自動運転制御部２４ｂは、先行車両２への自動追従を解除する。その後、処理がステップＳ２２に戻る。 In step S28, the automatic driving control unit 24b cancels the automatic tracking to the preceding vehicle 2. Thereafter, the process returns to step S22.
　ステップＳ２５からステップＳ２９に処理が進んだ場合、走行支援計画策定部１２ｂは、実行する車線変更モードを、独立型車線変更モードから一体型車線変更モードに変更する。 When the process proceeds from step S25 to step S29, the driving support plan formulation unit 12b changes the lane change mode to be executed from the independent lane change mode to the integrated lane change mode.
　ステップＳ３０にて、走行支援計画策定部１２ｂは、車線変更条件が満たされたか否かを判定する。例えば、走行支援計画策定部１２ｂは、車線変更条件が満たされたという判定結果を車々間通信によって先行車両２から受信した場合などに、車線変更条件が満たされたと判定する。車線変更条件が満たされたと判定した場合には処理がステップＳ３１に進み、車線変更条件が満たされなかったと判定した場合にはステップＳ３０の処理が再度行われる。 In step S30, the driving support plan formulation unit 12b determines whether the lane change condition is satisfied. For example, the driving support plan formulation unit 12b determines that the lane change condition is satisfied, for example, when the determination result that the lane change condition is satisfied is received from the preceding vehicle 2 by inter-vehicle communication. If it is determined that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process of step S30 is performed again.
　ステップＳ３１にて、周辺車両情報インタフェース部１１ｂａは、周辺状況検出部２１ｂから後続側他車両相対位置及び後続側他車両相対速度を取得する。走行支援計画策定部１２ｂは、周辺車両情報インタフェース部１１ｂａで取得された後続側他車両相対位置及び後続側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。一体型車線変更を実行できないと判定した場合には処理がステップＳ３２に進み、一体型車線変更を実行できると判定した場合には処理がステップＳ３３に進む。なお、後続側他車両相対位置及び後続側他車両相対速度の内容と、先行側他車両相対位置及び先行側他車両相対速度の内容とが互いに異なる場合には、このステップＳ３１の判定結果と、図７のステップＳ６の判定結果とが互いに異なることになる。 In step S31, the surrounding vehicle information interface unit 11ba acquires the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the surrounding state detection unit 21b. The driving support plan formulation unit 12b determines whether the integrated lane change can be executed based on the subsequent other vehicle relative position and the subsequent other vehicle relative speed acquired by the surrounding vehicle information interface unit 11ba. If it is determined that the integrated lane change cannot be performed, the process proceeds to step S32. If it is determined that the integrated lane change can be performed, the process proceeds to step S33. If the contents of the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed are different from the contents of the preceding-side other vehicle relative position and the preceding-side other vehicle relative speed, the determination result of this step S31, The determination results in step S6 in FIG. 7 are different from each other.
　ステップＳ３２にて、走行支援計画策定部１２ｂは、実行する車線変更モードを、一体型車線変更モードから独立型車線変更モードに変更する。その後、処理がステップＳ２２に戻る。 In step S32, the driving support plan formulation unit 12b changes the lane change mode to be executed from the integrated lane change mode to the independent lane change mode. Thereafter, the process returns to step S22.
　ステップＳ３３にて、走行支援計画策定部１２ｂは、自動運転制御部２４ｂに一体型車線変更を自動運転で行うための命令を出力する。 In step S33, the driving support plan formulation unit 12b outputs a command for performing the integrated lane change by automatic driving to the automatic driving control unit 24b.
　ステップＳ３４にて、自動運転制御部２４ｂは、走行支援計画策定部１２ｂから出力された命令に基づいて一体型車線変更を実行する。その後、図８の処理が終了する。 In step S34, the automatic driving control unit 24b executes the integrated lane change based on the command output from the travel support plan formulation unit 12b. Thereafter, the process of FIG. 8 ends.
　＜実施の形態２のまとめ＞
　以上のような本実施の形態２に係る走行支援装置１によれば、一体型車線変更を実行できるか否かを判定可能な一体型車線変更モードと、独立型車線変更を実行できるか否かを判定可能な独立型車線変更モードとを選択的に実行する。このような構成によれば、車線変更条件が満たされた場合に、一体型車線変更の実行を判定したり、独立型車線変更の実行を判定したりすることができる。 <Summary of Embodiment 2>
According to the driving support apparatus 1 according to the second embodiment as described above, the integrated lane change mode capable of determining whether or not the integrated lane change can be executed, and whether or not the independent lane change can be executed. The independent lane change mode capable of determining is selectively executed. According to such a configuration, when the lane change condition is satisfied, execution of the integrated lane change can be determined, or execution of the independent lane change can be determined.
　また本実施の形態２では、先行車両２及び後続車両３の両方からの、一体型車線変更モードを実行するための指示に基づいて一体型車線変更モードを実行し、先行車両２及び後続車両３の一方からの、独立型車線変更モードを実行するための指示に基づいて独立型車線変更モードを実行する。これにより、先行車両２及び後続車両３の両方において一体型車線変更モードを実行すると判定した場合には、一体型車線変更モードが実行され、先行車両２及び後続車両３の一方において独立型車線変更モードを実行すると判定した場合には、独立型車線変更モードを実行する。したがって、実行すべき車線変更モードを適切に選択することができる。 Further, in the second embodiment, the integrated lane change mode is executed based on the instruction for executing the integrated lane change mode from both the preceding vehicle 2 and the following vehicle 3, and the preceding vehicle 2 and the following vehicle 3 are executed. The independent lane change mode is executed based on an instruction for executing the independent lane change mode from one of the above. Accordingly, when it is determined that the integrated lane change mode is executed in both the preceding vehicle 2 and the subsequent vehicle 3, the integrated lane change mode is executed, and the independent lane change is performed in one of the preceding vehicle 2 and the subsequent vehicle 3. If it is determined that the mode is to be executed, the independent lane change mode is executed. Therefore, the lane change mode to be executed can be appropriately selected.
　また、本実施の形態２では、一体型車線変更を実行できるか否かについての走行支援計画策定部１２ａ，１２ｂの判定結果に基づいて、自動運転制御部２４ａ，２４ｂに一体型車線変更を自動運転で行うための命令を出力する。これにより、一体型車線変更を適切に行うことができる。また、本実施の形態２では、一体型車線変更を実行できるか否かについての走行支援計画策定部１２ａの判定結果に基づいて、先行車両２の自動運転の計画である先行側自動運転計画を策定する。これにより、一体型車線変更を実行できるか否かについての判定結果を、先行側自動運転計画に反映させることができる。 In the second embodiment, the automatic lane change is automatically performed by the automatic operation control units 24a and 24b based on the determination result of the travel support plan formulation units 12a and 12b as to whether or not the integrated lane change can be executed. Outputs instructions for operation. Thereby, an integrated lane change can be performed appropriately. Further, in the second embodiment, based on the determination result of the travel support plan formulation unit 12a as to whether or not the integrated lane change can be executed, the preceding-side automatic driving plan that is the automatic driving plan of the preceding vehicle 2 is determined. Formulate. Thereby, the determination result as to whether or not the integrated lane change can be executed can be reflected in the preceding automatic driving plan.
　＜実施の形態２の各変形例＞
　次に、実施の形態２の各変形例について説明する。なお説明の便宜上、以下では、先行車両２に搭載された周辺車両情報インタフェース部１１ａａ、運転制御インタフェース部１１ａｂ及び車外通信インタフェース部１１ａｃを、「先行側情報取得部」と記すこともあり、先行車両２に搭載された走行支援計画策定部１２ａを「先行側計画策定部１２ａ」と記すこともある。 <Each modification of Embodiment 2>
Next, modifications of the second embodiment will be described. For convenience of explanation, the surrounding vehicle information interface unit 11aa, the operation control interface unit 11ab, and the outside communication interface unit 11ac mounted on the preceding vehicle 2 may be referred to as “preceding side information acquisition unit”. 2 may be described as a “preceding side plan formulation unit 12a”.
　同様に以下では、後続車両３に搭載された周辺車両情報インタフェース部１１ｂａ、運転制御インタフェース部１１ｂｂ及び車外通信インタフェース部１１ｂｃを、「後続側情報取得部」と記すこともあり、後続車両３に搭載された走行支援計画策定部１２ｂを「後続側計画策定部１２ｂ」と記すこともある。 Similarly, hereinafter, the surrounding vehicle information interface unit 11ba, the operation control interface unit 11bb, and the outside-vehicle communication interface unit 11bc mounted on the following vehicle 3 may be referred to as “following side information acquisition unit”. The travel support plan formulation unit 12b may be referred to as a “subsequent plan formulation unit 12b”.
　＜実施の形態２の変形例１＞
　実施の形態２では、図７のステップＳ３にて、先行車両２が、一体型車線変更モードを実行する通知を後続車両３に送信し、一体型車線変更モードを実行するための指示を後続車両３から受信した場合に、先行車両２にて一体型車線変更モードが実行された。そして、図８のステップＳ２５にて、後続車両３が、一体型車線変更モードを実行する通知を先行車両２から受信し、一体型車線変更モードを実行するための指示を先行車両２に送信した場合に、後続車両３にて一体型車線変更モードが実行された。しかしこれら車線変更モードの切り替えは、これに限ったものではない。 <Modification 1 of Embodiment 2>
In the second embodiment, in step S3 in FIG. 7, the preceding vehicle 2 transmits a notification to execute the integrated lane change mode to the succeeding vehicle 3, and gives an instruction to execute the integrated lane change mode. 3, the integrated lane change mode is executed in the preceding vehicle 2. Then, in step S25 of FIG. 8, the following vehicle 3 receives a notification for executing the integrated lane change mode from the preceding vehicle 2, and transmits an instruction for executing the integrated lane change mode to the preceding vehicle 2. In this case, the integrated lane change mode is executed in the succeeding vehicle 3. However, switching between these lane change modes is not limited to this.
　例えば、最初に一体型車線変更モードを実行する通知を送信する車両が逆になってもよい。つまり図８のステップＳ２５にて、後続車両３が、一体型車線変更モードを実行する通知を先行車両２に送信し、一体型車線変更モードを実行するための指示を先行車両２から受信した場合に、後続車両３にて一体型車線変更モードが実行されてもよい。そして、図７のステップＳ３にて、先行車両２が、一体型車線変更モードを実行する通知を後続車両３から受信し、一体型車線変更モードを実行するための指示を後続車両３に送信した場合に、先行車両２にて一体型車線変更モードが実行されてもよい。 For example, the vehicle that first transmits the notification for executing the integrated lane change mode may be reversed. That is, in step S25 of FIG. 8, when the following vehicle 3 transmits a notification to execute the integrated lane change mode to the preceding vehicle 2 and receives an instruction from the preceding vehicle 2 to execute the integrated lane change mode. In addition, the integrated lane change mode may be executed in the following vehicle 3. Then, in step S3 of FIG. 7, the preceding vehicle 2 has received a notification for executing the integrated lane change mode from the succeeding vehicle 3, and has transmitted an instruction for executing the integrated lane change mode to the subsequent vehicle 3. In this case, the integrated lane change mode may be executed in the preceding vehicle 2.
　また、実施の形態２では、先行車両２及び後続車両３の一方の車両は、独立型車線変更モードを実行する際に、独立型車線変更モードを実行する通知を他方の車両に送信しなかった。しかしこれに限ったものではなく、先行車両２及び後続車両３の一方の車両は、独立型車線変更モードを実行する際に、独立型車線変更モードを実行する通知を他方の車両に送信してもよい。そして、他方の車両は、当該通知を受信した場合に独立型車線変更モードを実行してもよい。 In the second embodiment, when one of the preceding vehicle 2 and the following vehicle 3 executes the independent lane change mode, the vehicle that does not execute the independent lane change mode is not transmitted to the other vehicle. . However, the present invention is not limited to this. When one of the preceding vehicle 2 and the following vehicle 3 executes the independent lane change mode, the vehicle transmits a notification for executing the independent lane change mode to the other vehicle. Also good. The other vehicle may execute the independent lane change mode when receiving the notification.
　さらに、先行車両２が、一体型車線変更モードまたは独立型車線変更モードを実行する通知を送信する構成において、先行車両２は、当該送信を随時行ってもよい。同様に、後続車両３が、一体型車線変更モードまたは独立型車線変更モードを実行する通知を送信する構成において、後続車両３は、当該送信を随時行ってもよい。 Furthermore, in a configuration in which the preceding vehicle 2 transmits a notification for executing the integrated lane change mode or the independent lane change mode, the preceding vehicle 2 may perform the transmission at any time. Similarly, in the configuration in which the subsequent vehicle 3 transmits a notification for executing the integrated lane change mode or the independent lane change mode, the subsequent vehicle 3 may perform the transmission at any time.
　＜実施の形態２の変形例２＞
　実施の形態２にて、先行側計画策定部１２ａは、一体型車線変更及び独立型車線変更のいずれか一方の車線変更を実行してから完了するまでの間、一体型車線変更モード及び独立型車線変更モードのうち、実行していない他方の車線変更に対応する車線変更モードを実行しなくてもよい。 <Modification 2 of Embodiment 2>
In the second embodiment, the preceding-side plan formulation unit 12a performs the integrated lane change mode and the independent type from the execution of one of the integrated lane change and the independent lane change to the completion of the change. Of the lane change modes, the lane change mode corresponding to the other lane change that has not been executed may not be executed.
　つまり、先行側計画策定部１２ａは、一体型車線変更を実行してから完了するまでの間、車々間通信によって独立型車線変更モードに変更する通知を後続車両３から受信しても、実行する車線変更モードを独立型車線変更モードに変更しなくてもよい。また、先行側計画策定部１２ａは、独立型車線変更を実行してから完了するまでの間、車々間通信によって一体型車線変更モードに変更する通知を後続車両３から受信しても、実行する車線変更モードを一体型車線変更モードに変更しなくてもよい。 That is, the preceding-side plan formulation unit 12a executes the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the independent lane change mode by inter-vehicle communication until the completion of the integrated lane change. It is not necessary to change the change mode to the independent lane change mode. In addition, the preceding-side plan formulation unit 12a performs the lane to be executed even if it receives a notification from the following vehicle 3 for changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
　同様に、後続側計画策定部１２ｂは、一体型車線変更を実行してから完了するまでの間、車々間通信によって独立型車線変更モードに変更する通知を先行車両２から受信しても、実行する車線変更モードを独立型車線変更モードに変更しなくてもよい。また、後続側計画策定部１２ｂは、独立型車線変更を実行してから完了するまでの間、車々間通信によって一体型車線変更モードに変更する通知を先行車両２から受信しても、実行する車線変更モードを一体型車線変更モードに変更しなくてもよい。 Similarly, the subsequent plan formulation unit 12b executes the integrated lane change even after receiving from the preceding vehicle 2 a notification of changing to the independent lane change mode by inter-vehicle communication until the completion. It is not necessary to change the lane change mode to the independent lane change mode. Further, the succeeding-side plan formulation unit 12b performs the lane to be executed even if it receives from the preceding vehicle 2 a notification of changing to the integrated lane change mode by inter-vehicle communication from the execution to the completion of the independent lane change. It is not necessary to change the change mode to the integrated lane change mode.
　以上のような構成によれば、車線変更の実行が途中で乱れてしまうことを抑制することができる。 According to the configuration as described above, it is possible to prevent the execution of the lane change from being disturbed on the way.
　＜実施の形態２の変形例３＞
　実施の形態２では、先行側計画策定部１２ａは、一体型車線変更を実行できるか否かについての先行側計画策定部１２ａの判定結果に基づいて、先行側自動運転計画を策定した。先行側自動運転計画が策定された場合、先行側計画策定部１２ａは、後続車両３とネゴシエーションを随時行わなくても、先行側自動運転計画に基づいて一体型車線変更モード及び独立型車線変更モードを選択的に実行すること、ひいては一体型車線変更及び独立型車線変更を選択的に実行することが可能となる。しかしながら、後続車両３の周辺状況次第では、後続車両３の自動運転制御部２４ｂが一体型車線変更の即座の実行を望む場合があると考えられる。 <Modification 3 of Embodiment 2>
In the second embodiment, the preceding side plan formulation unit 12a has formulated the preceding side automatic driving plan based on the determination result of the preceding side plan formulation unit 12a as to whether or not the integrated lane change can be executed. When the preceding side automatic driving plan is formulated, the leading side plan formulation unit 12a does not need to negotiate with the succeeding vehicle 3 at any time, based on the leading side automatic driving plan and the integrated lane change mode and the independent lane change mode. Can be selectively executed, and consequently, the integrated lane change and the independent lane change can be selectively executed. However, depending on the surrounding situation of the following vehicle 3, it may be considered that the automatic operation control unit 24b of the following vehicle 3 may desire immediate execution of the integrated lane change.
　そこで、後続側情報取得部である車外通信インタフェース部１１ａｃは、一体型車線変更を実行するための実行要求を、後続車両３の自動運転制御部２４ｂから取得し、先行側情報取得部は、後続側情報取得部で取得された実行要求を車々間通信によって後続車両３から取得してもよい。そして、先行側計画策定部１２ａは、先行側情報取得部が後続車両３から実行要求を取得した場合に、先行側自動運転計画に関わらず一体型車線変更の実行が可能か否かを判定し、一体型車線変更の実行が可能であると判定した場合に一体型車線変更を実行してもよい。以上のような構成によれば、後続車両３の自動運転制御部２４ｂにおいて実行要求が行われることにより、一体型車線変更を即座に実行することができる。 Therefore, the outside communication interface unit 11ac, which is the subsequent side information acquisition unit, acquires an execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3, and the preceding side information acquisition unit The execution request acquired by the side information acquisition unit may be acquired from the following vehicle 3 by inter-vehicle communication. Then, when the preceding side information acquisition unit acquires an execution request from the following vehicle 3, the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed regardless of the preceding side automatic driving plan. The integrated lane change may be executed when it is determined that the integrated lane change can be executed. According to the configuration as described above, the integrated lane change can be immediately executed by making an execution request in the automatic driving control unit 24b of the following vehicle 3.
　＜実施の形態２の変形例４＞
　実施の形態２では、先行側計画策定部１２ａ及び後続側計画策定部１２ｂのそれぞれが、一体型車線変更モード及び独立型車線変更モードのいずれか一方を選択した。 <Modification 4 of Embodiment 2>
In the second embodiment, each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b selects either the integrated lane change mode or the independent lane change mode.
　しかしこれに限ったものではなく、走行支援装置１の先行側走行支援部１ａ及び後続側走行支援部１ｂと、無線通信などによって通信可能なセンター（図示せず）が選択してもよい。具体的には、センターが、先行車両２及び後続車両３の少なくともいずれか一方からの、一体型車線変更モード及び独立型車線変更モードのいずれか一方を実行するための指示を受信してもよい。そして、センターが、受信した指示に基づいて、一体型車線変更モード及び独立型車線変更モードのいずれか一方の車線変更モードを選択してもよい。それから、センターが、選択した車線変更モードを先行車両２及び後続車両３に送信し、先行側計画策定部１２ａ及び後続側計画策定部１２ｂのそれぞれは、センターが選択した車線変更モードを実行してもよい。 However, the present invention is not limited to this, and a center (not shown) capable of communicating with the preceding traveling support unit 1a and the following traveling support unit 1b of the traveling support device 1 by wireless communication or the like may be selected. Specifically, the center may receive an instruction for executing any one of the integrated lane change mode and the independent lane change mode from at least one of the preceding vehicle 2 and the following vehicle 3. . Then, the center may select one of the integrated lane change mode and the independent lane change mode based on the received instruction. Then, the center transmits the selected lane change mode to the preceding vehicle 2 and the succeeding vehicle 3, and each of the preceding side plan formulation unit 12a and the subsequent side plan formulation unit 12b executes the lane change mode selected by the center. Also good.
　このような構成によれば、センターが、先行車両２と後続車両３との間のネゴシエーションを仲介することができる。なお、先行側走行支援部１ａ及び後続側走行支援部１ｂのそれぞれとセンターとは、直接的または間接的に通信を行ってもよい。 According to such a configuration, the center can mediate the negotiation between the preceding vehicle 2 and the following vehicle 3. Each of the preceding side driving support unit 1a and the subsequent side driving support unit 1b and the center may communicate directly or indirectly.
　＜実施の形態２の変形例５＞
　実施の形態２にて先行側計画策定部１２ａが策定した先行側自動運転計画は、車々間通信によって後続車両３に送信されてもよい。つまり、先行側計画策定部１２ａは、一体型車線変更を実行できるか否かについての先行側計画策定部１２ａの判定結果に基づき、車々間通信によって後続車両３に送信すべき先行側自動運転計画を策定してもよい。 <Modification 5 of Embodiment 2>
The preceding automatic driving plan formulated by the preceding plan formulation unit 12a in the second embodiment may be transmitted to the succeeding vehicle 3 by inter-vehicle communication. That is, the preceding-side plan formulation unit 12a determines the preceding-side automatic driving plan to be transmitted to the succeeding vehicle 3 by inter-vehicle communication based on the determination result of the preceding-side plan formulation unit 12a as to whether or not the integrated lane change can be executed. It may be formulated.
　図９は、本変形例に係る先行側走行支援部１ａの動作を示すフローチャートである。この図９の動作は、図７のステップＳ７とステップＳ８との間にステップＳ４１を追加したものと同様である。このステップＳ４１にて、先行側計画策定部１２ａは、車々間通信によって先行側自動運転計画を後続車両３に送信する。 FIG. 9 is a flowchart showing the operation of the preceding side travel support unit 1a according to the present modification. The operation in FIG. 9 is the same as that in which step S41 is added between step S7 and step S8 in FIG. In this step S41, the preceding side plan formulation unit 12a transmits the preceding side automatic driving plan to the following vehicle 3 by inter-vehicle communication.
　図１０は、本変形例に係る後続側走行支援部１ｂの動作を示すフローチャートである。この図１０の動作は、図８のステップＳ３０をステップＳ４６に置き換えたものと同様である。このステップＳ４６にて、後続側計画策定部１２ｂは、車々間通信によって先行側自動運転計画を先行車両２から受信する。そして、後続側計画策定部１２ｂは、受信した先行側自動運転計画に、現時点に対して一体型車線変更を実行することが規定されているか否かを判定する。一体型車線変更を実行することが規定されていると判定した場合には処理がステップＳ３１に進み、一体型車線変更を実行することが規定されていないと判定した場合にはステップＳ４６の処理が再度行われる。 FIG. 10 is a flowchart showing the operation of the subsequent side travel support unit 1b according to this modification. The operation shown in FIG. 10 is the same as that obtained by replacing step S30 in FIG. 8 with step S46. In step S46, the succeeding-side plan formulation unit 12b receives the preceding-side automatic driving plan from the preceding vehicle 2 through inter-vehicle communication. Then, the succeeding-side plan formulation unit 12b determines whether or not the received leading-side automatic driving plan is prescribed to execute the integrated lane change with respect to the current time. If it is determined that execution of the integrated lane change is defined, the process proceeds to step S31. If it is determined that execution of the integrated lane change is not specified, the process of step S46 is performed. Done again.
　以上のような構成によれば、後続側計画策定部１２ｂは、先行側自動運転計画に基づいて一体型車線変更モードと独立型車線変更モードとを選択的に実行することができる。なお、後続側計画策定部１２ｂは、先行側自動運転計画と、後続側情報取得部で取得された情報とに基づいて、後続車両３の自動運転の計画である後続側自動運転計画を策定してもよい。この場合、後続側計画策定部１２ｂは、後続側自動運転計画に基づいて一体型車線変更モードと独立型車線変更モードとを選択的に実行したり、一体型車線変更と独立型車線変更とを選択的に実行したりすることができる。 According to the configuration as described above, the subsequent side plan formulation unit 12b can selectively execute the integrated lane change mode and the independent lane change mode based on the preceding side automatic driving plan. The succeeding-side plan formulation unit 12b formulates a succeeding-side automatic driving plan that is an automatic driving plan for the following vehicle 3 based on the preceding-side automatic driving plan and the information acquired by the succeeding-side information acquisition unit. May be. In this case, the subsequent side plan formulation unit 12b selectively executes the integrated lane change mode and the independent lane change mode based on the subsequent automatic driving plan, or performs the integrated lane change and the independent lane change. Or can be performed selectively.
　＜実施の形態２の変形例６＞
　実施の形態２の変形例５では、先行側計画策定部１２ａは、一体型車線変更を実行できるか否かについての先行側計画策定部１２ａ自身の判定結果に基づき、車々間通信によって後続車両３に送信すべき先行側自動運転計画を策定したが、これ限ったものではない。例えば、先行側計画策定部１２ａは、一体型車線変更を実行できるか否かについての先行側計画策定部１２ａ自身の判定結果に基づき、車々間通信によって後続車両３に送信すべき後続側自動運転計画を策定してもよい。 <Modification 6 of Embodiment 2>
In the fifth modification of the second embodiment, the preceding plan formulation unit 12a sends the following vehicle 3 to the following vehicle 3 by inter-vehicle communication based on the determination result of the preceding plan formulation unit 12a itself as to whether or not the integrated lane change can be executed. We have developed a leading automatic driving plan to be transmitted, but this is not a limitation. For example, the preceding side plan formulation unit 12a, based on the determination result of the preceding side plan formulation unit 12a itself as to whether or not the integrated lane change can be executed, is to be transmitted to the succeeding vehicle 3 by inter-vehicle communication. May be formulated.
　以上のような構成によれば、後続側計画策定部１２ｂは、先行側計画策定部１２ａで策定された後続側自動運転計画に基づいて、一体型車線変更モードと独立型車線変更モードとを選択的に実行したり、一体型車線変更と独立型車線変更とを選択的に実行したりすることができる。 According to the configuration as described above, the subsequent-side plan formulation unit 12b selects the integrated lane change mode and the independent lane change mode based on the subsequent-side automatic driving plan formulated by the preceding-side plan formulation unit 12a. It is possible to execute the operation in an integrated manner or selectively execute the integrated lane change and the independent lane change.
　なお、先行側自動運転計画を策定する際に用いる情報と、後続側自動運転計画を策定する際に用いる情報とは異なってもよく、この結果として先行側自動運転計画と後続側自動運転計画とは異なってもよい。また、先行側自動運転計画と後続側自動運転計画とが異なる場合には、走行支援計画策定部１２ａは、先行側自動運転計画及び後続側自動運転計画の両方を、車々間通信によって後続車両３に送信してもよい。 The information used when formulating the preceding automatic driving plan may be different from the information used when formulating the subsequent automatic driving plan. As a result, the preceding automatic driving plan and the subsequent automatic driving plan May be different. When the preceding automatic driving plan and the subsequent automatic driving plan are different, the driving support plan formulation unit 12a sends both the preceding automatic driving plan and the subsequent automatic driving plan to the subsequent vehicle 3 by inter-vehicle communication. You may send it.
　＜実施の形態２の変形例７＞
　実施の形態２にて、先行側情報取得部は、後続車両３の自動運転レベルを車々間通信によって後続車両３から取得してもよい。そして、走行支援計画策定部１２ａは、先行側情報取得部で取得された他車両相対位置、他車両相対速度及び自動運転レベルに基づいて、一体型車線変更を実行できるか否かを判定してもよい。 <Modification 7 of Embodiment 2>
In the second embodiment, the preceding side information acquisition unit may acquire the automatic driving level of the subsequent vehicle 3 from the subsequent vehicle 3 by inter-vehicle communication. Then, the driving support plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the automatic driving level acquired by the preceding side information acquisition unit. Also good.
　例えば、後続車両３の自動運転レベルが自動運転レベル２未満である場合には、後続車両３の運転者が概ね手動で運転している場合がある。そこで、走行支援計画策定部１２ａは、後続車両３の自動運転レベルが自動運転レベル２未満である場合に、実施の形態１で説明した第１距離を長くすることによって、一体型車線変更ができるという判定が得られ難くしてもよい。一方、後続車両３の自動運転レベルが自動運転レベル３である場合には、運転者が手動で運転する際に必要な空走時間を短くしたりなくしたりすることができる。そこで、走行支援計画策定部１２ａは、後続車両３の自動運転レベルが自動運転レベル３である場合に、実施の形態１で説明した第１距離を短くすることによって、一体型車線変更ができるという判定が得られ易くしてもよい。 For example, when the automatic driving level of the succeeding vehicle 3 is less than the automatic driving level 2, the driver of the following vehicle 3 may be generally driving manually. Therefore, when the automatic driving level of the following vehicle 3 is less than the automatic driving level 2, the driving support plan formulation unit 12a can change the integrated lane by increasing the first distance described in the first embodiment. May be difficult to obtain. On the other hand, when the automatic driving level of the following vehicle 3 is the automatic driving level 3, it is possible to shorten or eliminate the idling time required when the driver drives manually. Therefore, when the automatic driving level of the following vehicle 3 is the automatic driving level 3, the driving support plan formulation unit 12a can change the integrated lane by shortening the first distance described in the first embodiment. The determination may be easily obtained.
　以上のような構成によれば、一体型車線変更を実行できるか否かを適切に判定することができる。 According to the above configuration, it can be appropriately determined whether or not the integrated lane change can be executed.
　またこれに限ったものではなく、例えば、先行側情報取得部は、図１の他車両４ａ，４ｂの自動運転レベルを車々間通信によって他車両４ａ，４ｂから取得してもよい。そして、走行支援計画策定部１２ａは、先行側情報取得部で取得された他車両相対位置、他車両相対速度、後続車両３の自動運転レベル、及び、他車両４ａ，４ｂの自動運転レベルに基づいて、一体型車線変更を実行できるか否かを判定してもよい。 For example, the preceding information acquisition unit may acquire the automatic driving level of the other vehicles 4a and 4b in FIG. 1 from the other vehicles 4a and 4b by inter-vehicle communication. Then, the travel support plan formulation unit 12a is based on the other vehicle relative position, the other vehicle relative speed, the automatic driving level of the subsequent vehicle 3, and the automatic driving level of the other vehicles 4a and 4b acquired by the preceding side information acquisition unit. Thus, it may be determined whether or not the integrated lane change can be executed.
　＜実施の形態２の変形例８＞
　実施の形態２では、先行側計画策定部１２ａ及び後続側計画策定部１２ｂのそれぞれが、一体型車線変更及び独立型車線変更のそれぞれについて実行できるか否かを判定した。しかしこれに限ったものではなく、先行側計画策定部１２ａ及び後続側計画策定部１２ｂの一方が、一体型車線変更及び独立型車線変更のそれぞれについて実行できるか否かを判定し、他方が一方で判定した結果をそのまま用いてもよい。 <Modification 8 of Embodiment 2>
In the second embodiment, it is determined whether each of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b can execute each of the integrated lane change and the independent lane change. However, the present invention is not limited to this. One of the preceding plan formulation unit 12a and the subsequent plan formulation unit 12b determines whether or not each of the integrated lane change and the independent lane change can be executed, and the other is The result determined in (1) may be used as it is.
　＜実施の形態３＞
　本発明の実施の形態３に係る走行支援装置１が備える先行側走行支援部１ａのブロック構成は、実施の形態２の先行側走行支援部１ａのブロック構成（図５）と同様である。また、本実施の形態３に係る走行支援装置１が備える後続側走行支援部１ｂのブロック構成は、実施の形態２の後続側走行支援部１ｂのブロック構成（図６）と同様である。以下、本実施の形態３で説明する構成要素のうち、上述の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。 <Embodiment 3>
The block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the third embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment. Further, the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the third embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment. Hereinafter, among the constituent elements described in the third embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
　図１１及び図１２は、上述した実施の形態２に係る走行支援装置１の動作を説明するための図である。図１１及び図１２には、先行車両２及び後続車両３が、他車両４ａ，４ｂが走行している車線に一体型車線変更によって変更しようとしている場合が示されている。 11 and 12 are diagrams for explaining the operation of the travel support device 1 according to the second embodiment described above. 11 and 12 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane.
　この場合、先行車両２の先行側計画策定部１２ａは、先行側他車両相対位置及び先行側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。図１１の場合、先行車両２の検出範囲２ａ内には他車両４ａ，４ｃが存在するので、先行側計画策定部１２ａは、先行車両２と他車両４ａ，４ｃとについての他車両相対位置及び他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。 In this case, the preceding plan formulation unit 12a of the preceding vehicle 2 determines whether or not the integrated lane change can be executed based on the preceding other vehicle relative position and the preceding other vehicle relative speed. In the case of FIG. 11, since the other vehicles 4a and 4c exist within the detection range 2a of the preceding vehicle 2, the preceding-side plan formulation unit 12a determines the relative position of the other vehicle relative to the preceding vehicle 2 and the other vehicles 4a and 4c. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
　同様に、後続車両３の後続側計画策定部１２ｂは、後続側他車両相対位置及び後続側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。図１１の場合、後続車両３の検出範囲３ａ内には他車両４ｂ，４ｄが存在するので、後続側計画策定部１２ｂは、後続車両３と他車両４ｂ，４ｄとについての他車両相対位置及び他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。 Similarly, the succeeding side plan formulation unit 12b of the following vehicle 3 determines whether or not the integrated lane change can be executed based on the following other vehicle relative position and the following other vehicle relative speed. In the case of FIG. 11, since the other vehicles 4b and 4d exist within the detection range 3a of the subsequent vehicle 3, the subsequent-side plan formulation unit 12b determines the other vehicle relative position and the other vehicle 4 and the other vehicles 4b and 4d. It is determined whether the integrated lane change can be executed based on the relative speed of the other vehicle.
　以上の結果、他車両４ａの後ろの他車両４ｂを認識できない先行側計画策定部１２ａは、一体型車線変更を実行できると判定する。また、他車両４ｂの前の他車両４ａを認識できない後続側計画策定部１２ｂは、一体型車線変更を実行できると判定する。 As a result, the preceding plan formulation unit 12a that cannot recognize the other vehicle 4b behind the other vehicle 4a determines that the integrated lane change can be executed. Further, the succeeding plan formulation unit 12b that cannot recognize the other vehicle 4a in front of the other vehicle 4b determines that the integrated lane change can be executed.
　しかしながら、先行車両２及び後続車両３が一体型車線変更によって、他車両４ａ，４ｂが走行している車線に変更した場合には、図１２に示すように、後続車両３が他車両４ｂと接触してしまう可能性がある。あるいは別の場合として、後続側計画策定部１２ｂが一体型車線変更を実行できないと判定したが、先行側計画策定部１２ａが一体型車線変更を実行できると判定した場合が想定される。この場合、先行車両２だけが車線変更してしまい、後続車両３の先行車両２への自動追従を維持できなくなる。以下で説明する本実施の形態３では、このような問題を解決することが可能となっている。 However, when the preceding vehicle 2 and the following vehicle 3 are changed to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane, the following vehicle 3 comes into contact with the other vehicle 4b as shown in FIG. There is a possibility that. Alternatively, as another case, it is assumed that the succeeding plan formulation unit 12b determines that the integrated lane change cannot be performed, but the preceding plan formulation unit 12a determines that the integrated lane change can be performed. In this case, only the preceding vehicle 2 changes lanes, and the automatic tracking of the following vehicle 3 to the preceding vehicle 2 cannot be maintained. In Embodiment 3 described below, it is possible to solve such a problem.
　図１３及び図１４は、本実施の形態３に係る走行支援装置１の動作を説明するための図である。図１３及び図１４においても、図１１及び図１２と同様に、先行車両２及び後続車両３が、他車両４ａ，４ｂが走行している車線に一体型車線変更によって変更しようとしている場合が示されている。 FIGS. 13 and 14 are diagrams for explaining the operation of the travel support apparatus 1 according to the third embodiment. 13 and 14 also show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane, as in FIGS. 11 and 12. Has been.
　ここで本実施の形態３では、後続車両３の後続側情報取得部は、後続側他車両相対位置及び後続他車両相対速度を取得する。 Here, in the third embodiment, the subsequent side information acquisition unit of the subsequent vehicle 3 acquires the subsequent other vehicle relative position and the subsequent other vehicle relative speed.
　先行車両２の先行側情報取得部は、先行側他車両相対位置及び先行側他車両相対速度を取得するだけでなく、後続側情報取得部で取得された後続側他車両相対位置及び後続側他車両相対速度を車々間通信によって後続車両３から取得する。 The preceding side information acquisition unit of the preceding vehicle 2 not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side other vehicle relative position and the following side other acquired by the subsequent side information acquiring unit. The vehicle relative speed is acquired from the following vehicle 3 by inter-vehicle communication.
　先行側計画策定部１２ａは、先行側情報取得部で取得された先行側他車両相対位置、先行側他車両相対速度、後続側他車両相対位置及び後続側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。図１３の場合、先行側計画策定部１２ａは、先行車両２と他車両４ａ，４ｃとについての他車両相対位置及び他車両相対速度と、後続車両３と他車両４ｂ，４ｄとについての他車両相対位置及び他車両相対速度とに基づいて、一体型車線変更を実行できるか否かを判定する。 Based on the preceding other vehicle relative position, the preceding other vehicle relative speed, the succeeding other vehicle relative position, and the following other vehicle relative speed acquired by the preceding information acquisition unit, the preceding side plan formulation unit 12a is integrated. It is determined whether or not a lane change can be executed. In the case of FIG. 13, the preceding plan formulation unit 12a performs the other vehicle relative position and the other vehicle relative speed for the preceding vehicle 2 and the other vehicles 4a and 4c, and the other vehicle for the subsequent vehicle 3 and the other vehicles 4b and 4d. It is determined whether or not the integrated lane change can be executed based on the relative position and the relative speed of the other vehicle.
　この結果、先行側計画策定部１２ａは、他車両４ａと他車両４ｂとの間の車間距離、つまり他車両間距離は十分ではないと判定することができ、一体型車線変更を実行できないと判定することができる。このため、一体型車線変更は実行されず、自動追従を維持することなどが可能となる。なお、他車両間距離に高い精度が求められる場合には、情報取得部が、先行車両２と後続車両３との間の車間距離を取得し、先行側計画策定部１２ａが、上述の相対位置及び相対速度と、情報取得部で取得された車間距離とに基づいて、他車両間距離を求めてもよい。他車両間距離に高い精度が求められない場合には、先行側計画策定部１２ａは、上述の相対位置及び相対速度と、予め定められた距離とに基づいて、他車両間距離を求めてもよい。 As a result, the preceding side plan formulation unit 12a can determine that the inter-vehicle distance between the other vehicle 4a and the other vehicle 4b, that is, the inter-vehicle distance is not sufficient, and determines that the integrated lane change cannot be performed. can do. For this reason, the integrated lane change is not executed, and automatic tracking can be maintained. When high accuracy is required for the distance between other vehicles, the information acquisition unit acquires the inter-vehicle distance between the preceding vehicle 2 and the succeeding vehicle 3, and the preceding-side plan formulation unit 12a performs the above-described relative position. The inter-vehicle distance may be obtained based on the relative speed and the inter-vehicle distance acquired by the information acquisition unit. If high accuracy is not required for the distance between other vehicles, the preceding plan formulation unit 12a may obtain the distance between other vehicles based on the above-described relative position and relative speed and a predetermined distance. Good.
　図１５は、本実施の形態３に係る先行側走行支援部１ａの動作を示すフローチャートである。この図１５の動作は、図７のステップＳ６をステップＳ５１及びステップＳ５２に置き換えたものと同様である。 FIG. 15 is a flowchart showing the operation of the preceding-side travel support unit 1a according to the third embodiment. The operation in FIG. 15 is the same as that in which step S6 in FIG. 7 is replaced with steps S51 and S52.
　ステップＳ５１にて、先行側計画策定部１２ａは、車々間通信によって後続側他車両相対位置及び後続側他車両相対速度を後続車両３から受信する。 In step S51, the preceding plan formulation unit 12a receives the succeeding other vehicle relative position and the following other vehicle relative speed from the following vehicle 3 through inter-vehicle communication.
　ステップＳ５２にて、先行側計画策定部１２ａは、周辺車両情報インタフェース部１１ａａを介して、先行側他車両相対位置及び先行側他車両相対速度を取得する。走行支援計画策定部１２ａは、取得した先行側他車両相対位置及び先行側他車両相対速度と、ステップＳ５１で受信した後続側他車両相対位置及び後続側他車両相対速度とに基づいて、一体型車線変更を実行できるか否かを判定する。一体型車線変更を実行できると判定した場合には処理がステップＳ７に進み、一体型車線変更を実行できないと判定した場合には処理がステップＳ５に戻る。 In step S52, the preceding side plan formulation unit 12a acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed via the surrounding vehicle information interface unit 11aa. The driving support plan formulation unit 12a is integrated based on the acquired preceding other vehicle relative position and preceding other vehicle relative speed, and the subsequent other vehicle relative position and the following other vehicle relative speed received in step S51. It is determined whether or not a lane change can be executed. If it is determined that the integrated lane change can be performed, the process proceeds to step S7. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
　図１６は、本実施の形態３に係る後続側走行支援部１ｂの動作を示すフローチャートである。この図１６の動作は、図８のステップＳ２９とステップＳ３０との間にステップＳ５６を追加したものと同様である。このステップＳ５６にて、後続側計画策定部１２ｂは、車々間通信によって後続側他車両相対位置及び後続側他車両相対速度を先行車両２に送信する。なお、このような送信は、先行車両２から要求された場合に行ってもよい。 FIG. 16 is a flowchart showing the operation of the subsequent travel support unit 1b according to the third embodiment. The operation in FIG. 16 is the same as that in which step S56 is added between step S29 and step S30 in FIG. In step S56, the succeeding-side plan formulation unit 12b transmits the succeeding-side other vehicle relative position and the following-side other vehicle relative speed to the preceding vehicle 2 by inter-vehicle communication. Such transmission may be performed when requested by the preceding vehicle 2.
　ステップＳ３０にて、車線変更条件が満たされたと判定した場合には処理がステップＳ３１に進み、車線変更条件が満たされなかったと判定した場合には処理がステップＳ５６に戻る。 If it is determined in step S30 that the lane change condition is satisfied, the process proceeds to step S31. If it is determined that the lane change condition is not satisfied, the process returns to step S56.
　＜実施の形態３のまとめ＞
　以上のような本実施の形態３に係る走行支援装置１によれば、先行側他車両相対位置、先行側他車両相対速度、後続側他車両相対位置及び後続側他車両相対速度に基づいて、一体型車線変更を実行できるか否かを判定する。このような構成によれば、先行車両２の検出範囲２ａを実質的に拡大することができ、その結果として、一体型車線変更を実行できるか否かを適切に判定することができる。 <Summary of Embodiment 3>
According to the driving support device 1 according to the third embodiment as described above, based on the preceding other vehicle relative position, the preceding other vehicle relative speed, the following other vehicle relative position, and the following other vehicle relative speed, Determine whether an integrated lane change can be performed. According to such a configuration, the detection range 2a of the preceding vehicle 2 can be substantially enlarged, and as a result, it can be appropriately determined whether or not the integrated lane change can be executed.
　＜実施の形態３の各変形例＞
　次に、実施の形態３の各変形例について説明する。なお、詳細には説明しないが、実施の形態３に実施の形態２の各変形例を適宜組み合わせてもよいし、実施の形態２に実施の形態３の各変形例を適宜組み合わせてもよい。 <Each modification of Embodiment 3>
Next, modifications of the third embodiment will be described. Although not described in detail, each modification of the second embodiment may be appropriately combined with the third embodiment, or each modification of the third embodiment may be appropriately combined with the second embodiment.
　＜実施の形態３の変形例１＞
　実施の形態３では、先行車両２の先行側情報取得部である車外通信インタフェース部１１ａｃは、先行側他車両相対位置及び先行側他車両相対速度を取得するだけでなく、後続側情報取得部で取得された後続側他車両相対位置及び後続側他車両相対速度を車々間通信によって後続車両３から取得した。しかしこれに限ったものではなく、後続側他車両相対位置及び後続側他車両相対速度の代わりに、一体型車線変更を実行できるか否かについての後続側計画策定部１２ｂの判定結果が用いられてもよい。 <Modification 1 of Embodiment 3>
In Embodiment 3, the in-vehicle communication interface unit 11ac, which is the preceding side information acquisition unit of the preceding vehicle 2, not only acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed, but also the subsequent side information acquiring unit. The acquired subsequent-side other vehicle relative position and subsequent-side other vehicle relative speed were acquired from the following vehicle 3 by inter-vehicle communication. However, the present invention is not limited to this, and the determination result of the subsequent plan formulation unit 12b as to whether or not the integrated lane change can be executed is used instead of the subsequent other vehicle relative position and the subsequent other vehicle relative speed. May be.
　つまり、先行側情報取得部である車外通信インタフェース部１１ａｃは、先行側他車両相対位置及び先行側他車両相対速度を取得し、かつ、一体型車線変更を実行できるか否かについての後続側計画策定部１２ｂの判定結果を車々間通信によって後続車両３から取得してもよい。そして、先行側計画策定部１２ａは、先行側情報取得部で取得された先行側他車両相対位置、先行側他車両相対速度、及び、後続側計画策定部１２ｂの判定結果に基づいて、一体型車線変更を実行できるか否かを判定してもよい。この場合も、実施の形態３と同様の効果を得ることができる。 That is, the vehicle-side communication interface unit 11ac, which is the preceding side information acquisition unit, acquires the preceding side other vehicle relative position and the preceding side other vehicle relative speed and determines whether or not the integrated lane change can be executed. You may acquire the determination result of the formulation part 12b from the succeeding vehicle 3 by vehicle-to-vehicle communication. And the preceding side plan formulation unit 12a is based on the preceding side other vehicle relative position, the preceding side other vehicle relative speed acquired by the preceding side information acquisition unit, and the determination result of the subsequent side plan formulation unit 12b. It may be determined whether the lane change can be executed. Also in this case, the same effect as in the third embodiment can be obtained.
　＜実施の形態３の変形例２＞
　実施の形態３では、先行側計画策定部１２ａは、車線変更条件が満たされた場合に、車々間通信によって後続側他車両相対位置及び後続側他車両相対速度を後続車両３から受信した（図１５のステップＳ５１）。しかしこれに限ったものではなく、先行側計画策定部１２ａは、車線変更条件が満たされたか否かに関わらず、車々間通信によって後続側他車両相対位置及び後続側他車両相対速度を後続車両３から常時受信してもよい。 <Modification 2 of Embodiment 3>
In Embodiment 3, when the lane change condition is satisfied, the preceding-side plan formulation unit 12a receives the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed from the following vehicle 3 by inter-vehicle communication (FIG. 15). Step S51). However, the present invention is not limited to this, and the preceding-side plan formulation unit 12a determines the subsequent-side other vehicle relative position and the subsequent-side other vehicle relative speed by the inter-vehicle communication regardless of whether the lane change condition is satisfied or not. You may always receive from.
　＜実施の形態４＞
　＜先行側走行支援部＞
　図１７は、本発明の実施の形態４に係る先行側走行支援部１ａの構成を示すブロック図である。以下、本実施の形態４で説明する構成要素のうち、上述の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。 <Embodiment 4>
<Advance driving support department>
FIG. 17 is a block diagram showing a configuration of the preceding traveling support unit 1a according to the fourth embodiment of the present invention. Hereinafter, among the constituent elements described in the fourth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
　図１７の先行側走行支援部１ａ内部の構成について説明する前に、先行側走行支援部１ａ周辺の構成要素について説明する。なお、ＨＭＩ（Human Machine Interface）部２６ａ以外の周辺の構成要素については、実施の形態２の周辺の構成要素と同様である。 Before describing the internal configuration of the preceding travel support unit 1a in FIG. 17, the components around the preceding travel support unit 1a will be described. The peripheral components other than the HMI (Human Machine Interface) unit 26a are the same as the peripheral components in the second embodiment.
　ＨＭＩ部２６ａは、先行車両２の運転者のＨＭＩであり、表示部２６ａａと、音響部２６ａｂと、タッチパネルなどの操作入力部２６ａｃとを備える。ただしこれに限ったものではなく、ＨＭＩ部２６ａは、表示部２６ａａ、音響部２６ａｂ、及び、操作入力部２６ａｃの少なくともいずれか１つを備えればよい。また、ＨＭＩ部２６ａは、運転者に振動を与える振動部などの他の機能部を備えてもよい。 The HMI unit 26a is an HMI of the driver of the preceding vehicle 2, and includes a display unit 26aa, an acoustic unit 26ab, and an operation input unit 26ac such as a touch panel. However, the present invention is not limited to this, and the HMI unit 26a may include at least one of the display unit 26aa, the acoustic unit 26ab, and the operation input unit 26ac. Further, the HMI unit 26a may include other functional units such as a vibration unit that applies vibration to the driver.
　次に、図１７の先行側走行支援部１ａ内部の構成について説明する。図１７の先行側走行支援部１ａは、図５の先行側走行支援部１ａに、ＨＭＩインタフェース部１１ａｄが追加された構成と同様である。なお、ＨＭＩインタフェース部１１ａｄは、上述した先行側情報取得部の概念に含まれる。 Next, the internal configuration of the preceding-side travel support unit 1a in FIG. 17 will be described. 17 is the same as the configuration in which the HMI interface unit 11ad is added to the preceding side driving support unit 1a of FIG. The HMI interface unit 11ad is included in the concept of the preceding information acquisition unit described above.
　ＨＭＩインタフェース部１１ａｄは、操作入力部２６ａｃで取得された運転者からの操作を先行側計画策定部１２ａに出力する。また、ＨＭＩインタフェース部１１ａｄは、先行側計画策定部１２ａから出力された映像信号を表示部２６ａａに出力し、先行側計画策定部１２ａから出力された音声報知信号を音響部２６ａｂに出力する。これにより、先行側計画策定部１２ａは、各種情報を表示部２６ａａに表示させたり、各種情報を音響部２６ａｂに音声出力させたりすることが可能となっている。 The HMI interface unit 11ad outputs the operation from the driver acquired by the operation input unit 26ac to the preceding plan formulation unit 12a. Further, the HMI interface unit 11ad outputs the video signal output from the preceding plan formulation unit 12a to the display unit 26aa, and outputs the audio notification signal output from the preceding plan formulation unit 12a to the acoustic unit 26ab. Thereby, the preceding side plan formulation part 12a can display various information on the display part 26aa, or can output various information to the sound part 26ab by voice.
　周辺状況検出部２１ａは、先行車両２と後続車両３とについての相対位置である先後相対位置を随時検出し、周辺車両情報インタフェース部１１ａａは、周辺状況検出部２１ａで検出された先後相対位置を随時取得する。 The peripheral situation detection unit 21a detects a front-rear relative position, which is a relative position with respect to the preceding vehicle 2 and the subsequent vehicle 3, as needed. Get from time to time.
　図１８～図２３は、先行側走行支援部１ａが備える先行側計画策定部１２ａの表示制御による表示部２６ａａの表示例を示す図である。 18 to 23 are diagrams showing display examples of the display unit 26aa by the display control of the preceding side plan formulation unit 12a included in the preceding side travel support unit 1a.
　図１８は、ステップＳ２においてＹｅｓと判定されるまでの表示例である。この図１８、ひいては図１９～図２３に示すように、先行側計画策定部１２ａは、周辺車両情報インタフェース部１１ａａで取得された先行側他車両相対位置及び先後相対位置に基づいて、先行車両２、後続車両３及び他車両４ａ，４ｂ，４ｃの相対位置を表示部２６ａａに適宜表示させる。なお、図１８～図２３では、先行車両２などはデフォルメ表示されているが、先行車両２などの表示態様はこれに限ったものではない。 FIG. 18 is a display example until it is determined Yes in step S2. As shown in FIG. 18 and as shown in FIGS. 19 to 23, the preceding-side plan formulation unit 12a determines that the preceding vehicle 2 based on the preceding-side other vehicle relative position and the preceding-rear relative position acquired by the surrounding vehicle information interface unit 11aa. The relative positions of the following vehicle 3 and the other vehicles 4a, 4b, 4c are appropriately displayed on the display unit 26aa. 18 to 23, the preceding vehicle 2 and the like are displayed in a deformed manner, but the display mode of the preceding vehicle 2 and the like is not limited to this.
　図１９は、図７のステップＳ２においてＹｅｓと判定されてからステップＳ３が行われるまでの表示例であり、図２０は、図７のステップＳ３が行われている間の表示例である。図１９及び図２０に示すように、先行側計画策定部１２ａは、車々間通信によって先行車両２と後続車両３との間で送受信される情報を、記号などによって表示部２６ａａに表示させる。なお、本実施の形態４に係る記号は、図形及び文字の少なくともいずれか１つを含む。 FIG. 19 is a display example from the determination of Yes in step S2 of FIG. 7 until step S3 is performed, and FIG. 20 is a display example while step S3 of FIG. 7 is performed. As shown in FIGS. 19 and 20, the preceding-side plan formulation unit 12a causes the display unit 26aa to display information transmitted and received between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication using symbols or the like. Note that the symbol according to the fourth embodiment includes at least one of a figure and a character.
　例えば図１９に示すように、先行側計画策定部１２ａは、車々間通信によって先行車両２と後続車両３との間で自動追従が行われている場合に、そのことを表す記号２７ａなどを表示部２６ａａに表示させる。また例えば図２０に示すように、先行側計画策定部１２ａは、車々間通信によって先行車両２と後続車両３との間で一体型車線変更モードを実行するためのネゴシエーションが行われている場合に、そのことを表す記号２７ｂなどを表示部２６ａａに表示させる。また例えば、図示しないが、先行側計画策定部１２ａは、車々間通信によって後続車両３から先行車両２に実施の形態２の変形例３で説明した実行要求が送信された場合に、そのことを表す記号などを表示部２６ａａに表示させてもよい。 For example, as shown in FIG. 19, when the automatic follow-up is performed between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication, the preceding side plan formulation unit 12 a displays a symbol 27 a or the like indicating that. 26aa. Also, for example, as shown in FIG. 20, when the preceding side plan formulation unit 12a performs negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication, A symbol 27b or the like indicating that is displayed on the display unit 26aa. Also, for example, although not shown, the preceding plan formulation unit 12a represents that when the execution request described in the third modification of the second embodiment is transmitted from the succeeding vehicle 3 to the preceding vehicle 2 by inter-vehicle communication. A symbol or the like may be displayed on the display unit 26aa.
　また例えば、図示しないが、車々間通信によって先行車両２と他車両との間で情報を送受信することが可能に構成されている場合には、先行側計画策定部１２ａは、図１９及び図２０と同様に、先行車両２と他車両との間で送受信される情報を示す記号などを表示部２６ａａに表示させてもよい。 In addition, for example, although not shown in the drawings, when it is configured to be able to transmit and receive information between the preceding vehicle 2 and the other vehicle by inter-vehicle communication, the preceding-side plan formulation unit 12a is configured as shown in FIGS. Similarly, a symbol or the like indicating information transmitted / received between the preceding vehicle 2 and another vehicle may be displayed on the display unit 26aa.
　図２１は、図７のステップＳ４にて一体型車線変更モードに変更された場合の表示例である。図２１に示すように、先行側計画策定部１２ａは、一体型車線変更モード及び独立型第２車線変更モードのうち実行されているモードに基づいて、表示部２６ａａの表示を変更する。 FIG. 21 is a display example when the mode is changed to the integrated lane change mode in step S4 of FIG. As shown in FIG. 21, the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
　本実施の形態４に係る先行側計画策定部１２ａは、一体型車線変更モードが実行されている場合には、一体型車線変更モードの実行中を表す記号２７ｃ，２７ｄなどを表示部２６ａａに表示させる。なお、記号２７ｃは、先行車両２と後続車両３とを繋ぐロープ状の図形であり、記号２７ｄは、一体型車線変更の実行可否の指標となる図形である。 In the case where the integrated lane change mode is being executed, the preceding side plan formulation unit 12a according to the fourth embodiment displays symbols 27c, 27d and the like indicating that the integrated lane change mode is being executed on the display unit 26aa. Let The symbol 27c is a rope-like figure that connects the preceding vehicle 2 and the following vehicle 3, and the symbol 27d is a figure that serves as an indicator of whether or not the integrated lane change can be performed.
　一方、本実施の形態４に係る先行側計画策定部１２ａは、独立型車線変更モードが実行されている場合には、独立型車線変更モードの実行中を表す記号などを表示部２６ａａに表示させない。この場合、先行車両２の運転者は、記号２７ｃ，２７ｄの表示の有無によって、一体型車線変更モード及び独立型車線変更モードのいずれが実行されているのかを把握することができる。もちろん、先行側計画策定部１２ａは、独立型車線変更モードが実行されている場合に、独立型車線変更モードの実行中を表す記号（図示せず）などを表示部２６ａａに表示させてもよい。 On the other hand, when the independent lane change mode is being executed, the preceding plan formulation unit 12a according to the fourth embodiment does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26aa. . In this case, the driver of the preceding vehicle 2 can grasp which of the integrated lane change mode and the independent lane change mode is being executed based on whether or not the symbols 27c and 27d are displayed. Of course, when the independent lane change mode is executed, the preceding plan formulation unit 12a may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26aa. .
　図２２は、図７のステップＳ６においてＹｅｓと判定された場合の表示例であり、図２３は、図７のステップＳ６においてＮｏと判定された場合の表示例である。図２２及び図２３に示すように、先行側計画策定部１２ａは、一体型車線変更の判定結果に基づいて、表示部２６ａａの表示を変更する。 FIG. 22 is a display example when it is determined Yes in step S6 of FIG. 7, and FIG. 23 is a display example when it is determined No in step S6 of FIG. As shown in FIGS. 22 and 23, the preceding plan formulation unit 12a changes the display of the display unit 26aa based on the determination result of the integrated lane change.
　図２２には、一体型車線変更が行われた場合の先行車両２及び後続車両３の予想位置をそれぞれ示す記号２７ｅ，２７ｆと、一体型車線変更モードが維持されることを示す記号２７ｇと、一体型車線変更の実行可否の指標となる記号２７ｈと、先行車両２及び後続車両３が記号２７ｅ，２７ｆに向かうことできることを示す矢印の記号２７ｉとが示されている。 FIG. 22 includes symbols 27e and 27f respectively indicating the predicted positions of the preceding vehicle 2 and the succeeding vehicle 3 when the integrated lane change is performed, and a symbol 27g indicating that the integrated lane change mode is maintained. A symbol 27h serving as an index indicating whether the integrated lane change can be performed and an arrow symbol 27i indicating that the preceding vehicle 2 and the following vehicle 3 can go to the symbols 27e and 27f are illustrated.
　図２３には、上述した記号２７ｅ，２７ｆ，２７ｈと、先行車両２が記号２７ｅに向かうことできることを示す矢印の記号２７ｊと、後続車両３が記号２７ｆに向かうことできないことを示す記号２７ｋとが示されている。 In FIG. 23, the above-described symbols 27e, 27f, and 27h, an arrow symbol 27j indicating that the preceding vehicle 2 can go to the symbol 27e, and a symbol 27k indicating that the following vehicle 3 cannot go to the symbol 27f are included. It is shown.
　なお、図示しないが、先行側計画策定部１２ａは、一体型車線変更の判定結果に基づいて表示部２６ａａの表示を変更したことと同様に、独立型車線変更の判定結果に基づいて表示部２６ａａの表示を変更してもよい。また、記号２７ａ～２７ｋは、アニメーションによって表示されてもよい。 Although not shown, the preceding plan formulation unit 12a displays the display unit 26aa based on the determination result of the independent lane change in the same manner as changing the display of the display unit 26aa based on the determination result of the integrated lane change. The display of may be changed. The symbols 27a to 27k may be displayed by animation.
　＜後続側走行支援部＞
　図２４は、本発明の実施の形態４に係る後続側走行支援部１ｂの構成を示すブロック図である。以下、本実施の形態４で説明する構成要素のうち、上述の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。 <Subsequent travel support unit>
FIG. 24 is a block diagram showing a configuration of the subsequent side travel support unit 1b according to Embodiment 4 of the present invention. Hereinafter, among the constituent elements described in the fourth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
　図２４に示すように、後続側走行支援部１ｂ周辺には、図１７の先行側走行支援部１ａ周辺に設けられたＨＭＩ部２６ａと同様に、表示部２６ｂａと、音響部２６ｂｂと、タッチパネルなどの操作入力部２６ｂｃとを備えるＨＭＩ部２６ｂが設けられている。また、図２４の後続側走行支援部１ｂは、図６の後続側走行支援部１ｂに、ＨＭＩインタフェース部１１ｂｄが追加された構成と同様である。なお、ＨＭＩインタフェース部１１ｂｄは、後続側情報取得部の概念に含まれる。 As shown in FIG. 24, a display unit 26ba, an acoustic unit 26bb, a touch panel, and the like are provided around the subsequent driving support unit 1b, like the HMI unit 26a provided around the preceding driving support unit 1a in FIG. HMI part 26b provided with the operation input part 26bc. 24 is the same as the configuration in which the HMI interface unit 11bd is added to the subsequent travel support unit 1b in FIG. The HMI interface unit 11bd is included in the concept of the subsequent side information acquisition unit.
　ＨＭＩインタフェース部１１ｂｄは、操作入力部２６ｂｃで取得された運転者からの操作を後続側計画策定部１２ｂに出力する。また、ＨＭＩインタフェース部１１ｂｄは、後続側計画策定部１２ｂから出力された映像信号を表示部２６ｂａに出力し、後続側計画策定部１２ｂから出力された音声報知信号を音響部２６ｂｂに出力する。これにより、後続側計画策定部１２ｂは、各種情報を表示部２６ｂａに表示させたり、各種情報を音響部２６ｂｂに音声出力させたりすることが可能となっている。 The HMI interface unit 11bd outputs the operation from the driver acquired by the operation input unit 26bc to the subsequent plan formulation unit 12b. In addition, the HMI interface unit 11bd outputs the video signal output from the subsequent side plan formulation unit 12b to the display unit 26ba, and outputs the audio notification signal output from the subsequent side plan formulation unit 12b to the acoustic unit 26bb. Thereby, the succeeding plan formulation unit 12b can display various information on the display unit 26ba, and can output various information to the sound unit 26bb by voice.
　後続側計画策定部１２ｂは、上述した先行側計画策定部１２ａと同様の表示制御を行う。このため、後続側計画策定部１２ｂの表示制御によって、図１８～図２３の表示例と同様の表示が行われてもよい。しかしながら、ここでは別の例として、表示部２６ｂａが、後続車両３外の景色に重ねて後続車両３の運転席から視認される１以上の表示オブジェクトを表示可能なＨＵＤ（ヘッドアップディスプレイ）である場合を例にして説明する。なお、このようなＨＵＤから構成された表示部２６ｂａによれば、あたかも現実世界の３次元空間に実在するように後続車両３の運転者に見える虚像を、仮想的な表示オブジェクトとして表示することが可能となる。 The subsequent plan formulation unit 12b performs display control similar to that of the preceding plan formulation unit 12a described above. For this reason, display similar to the display examples of FIGS. 18 to 23 may be performed by the display control of the subsequent plan formulation unit 12b. However, as another example here, the display unit 26ba is a HUD (head-up display) that can display one or more display objects that are visible from the driver's seat of the following vehicle 3 so as to overlap the scenery outside the following vehicle 3. A case will be described as an example. In addition, according to the display part 26ba comprised from such HUD, the virtual image which is visible to the driver | operator of the following vehicle 3 as if it exists in the real world three-dimensional space can be displayed as a virtual display object. It becomes possible.
　図２５～図２９は、後続側走行支援部１ｂが備える後続側計画策定部１２ｂの表示制御による表示部２６ｂａの表示例を示す図である。図２５～図２９には、後続車両３の室内からフロントガラス３ｂ越しに見える状態が示されている。なお、図２５～図２９の表示例における記号２８ａなどは、仮想的な表示オブジェクトである。 25 to 29 are diagrams showing display examples of the display unit 26ba by the display control of the subsequent side plan formulation unit 12b included in the subsequent side travel support unit 1b. 25 to 29 show a state where the vehicle can be seen from the interior of the following vehicle 3 through the windshield 3b. The symbols 28a and the like in the display examples of FIGS. 25 to 29 are virtual display objects.
　図２５は、図８のステップＳ２３が行われてから同ステップＳ２３においてＹｅｓと判定されるまでの表示例である。図２５に示すように、走行支援計画策定部１２ｂは、先行車両２と後続車両３との間の車間距離を示す記号２８ａを表示部２６ｂａに表示させる。 FIG. 25 is a display example from step S23 in FIG. 8 until it is determined Yes in step S23. As shown in FIG. 25, the driving support plan formulation unit 12b causes the display unit 26ba to display a symbol 28a indicating the inter-vehicle distance between the preceding vehicle 2 and the following vehicle 3.
　図２６は、図８のステップＳ２４にて自動追従が行われた場合の表示例であり、図２７は、図８のステップＳ２５が行われている間の表示例である。図２６及び図２７に示すように、後続側計画策定部１２ｂは、車々間通信によって先行車両２と後続車両３との間で送受信される情報を、記号などによって表示部２６ｂａに表示させる。 FIG. 26 is a display example when automatic tracking is performed in step S24 of FIG. 8, and FIG. 27 is a display example while step S25 of FIG. 8 is performed. As shown in FIG.26 and FIG.27, the succeeding side plan formulation part 12b displays on the display part 26ba the information transmitted / received between the preceding vehicle 2 and the succeeding vehicle 3 by inter-vehicle communication by a symbol or the like.
　例えば図２６に示すように、後続側計画策定部１２ｂは、車々間通信によって先行車両２と後続車両３との間で自動追従が行われた場合に、そのことを表す記号２８ｂなどを表示部２６ｂａに表示させる。なお、ここでは記号２８ｂは、「追従」という文字であるが、これに限ったものではない。例えば記号２８ｂとして、先行車両２を囲う図形が用いられてもよいし、それ以外の文字または記号などが用いられてもよい。 For example, as shown in FIG. 26, when the automatic follow-up is performed between the preceding vehicle 2 and the succeeding vehicle 3 by inter-vehicle communication, the succeeding plan formulation unit 12b displays a symbol 28b or the like indicating the fact. To display. Here, the symbol 28b is a character “follow”, but is not limited thereto. For example, as the symbol 28b, a figure surrounding the preceding vehicle 2 may be used, or other characters or symbols may be used.
　また例えば図２７に示すように、後続側計画策定部１２ｂは、車々間通信によって先行車両２と後続車両３との間で一体型車線変更モードを実行するためのネゴシエーションが行われている場合に、そのことを表す記号２８ｃなどを表示部２６ｂａに表示させる。この際、後続側計画策定部１２ｂは、後続車両３を示す記号２８ｄも表示部２６ｂａに表示させる。 Further, for example, as shown in FIG. 27, the subsequent plan formulation unit 12b performs the negotiation for executing the integrated lane change mode between the preceding vehicle 2 and the following vehicle 3 by inter-vehicle communication. A symbol 28c or the like indicating that is displayed on the display unit 26ba. At this time, the subsequent plan formulation unit 12b also displays the symbol 28d indicating the subsequent vehicle 3 on the display unit 26ba.
　図２８は、図８のステップＳ２９にて一体型車線変更モードに変更された場合の表示例である。図２８に示すように、後続側計画策定部１２ｂは、一体型車線変更モード及び独立型第２車線変更モードのうち実行されているモードに基づいて、表示部２６ｂａの表示を変更する。 FIG. 28 is a display example when the mode is changed to the integrated lane change mode in step S29 of FIG. As shown in FIG. 28, the succeeding plan formulation unit 12b changes the display of the display unit 26ba based on the mode being executed among the integrated lane change mode and the independent second lane change mode.
　本実施の形態４に係る後続側計画策定部１２ｂは、一体型車線変更モードが実行されている場合には、一体型車線変更モードの実行中を表す記号２８ｅ，２８ｆなどを表示部２６ｂａに表示させる。なお、記号２８ｅは、「一体化」という文字であり、記号２８ｆは、先行車両２と後続車両３を示す記号２８ｄとを繋ぐロープ状の図形である。 When the integrated lane change mode is executed, the subsequent plan formulation unit 12b according to the fourth embodiment displays symbols 28e, 28f and the like indicating that the integrated lane change mode is being executed on the display unit 26ba. Let The symbol 28e is a character “integrated”, and the symbol 28f is a rope-like figure connecting the preceding vehicle 2 and the symbol 28d indicating the following vehicle 3.
　一方、本実施の形態４に係る後続側計画策定部１２ｂは、独立型車線変更モードが実行されている場合には、独立型車線変更モードの実行中を表す記号などを表示部２６ｂａに表示させない。この場合、後続車両３の運転者は、記号２８ｅ，２８ｆの表示の有無によって、一体型車線変更モード及び独立型車線変更モードのいずれが実行されているのかを把握することができる。もちろん、後続側計画策定部１２ｂは、独立型車線変更モードが実行されている場合に、独立型車線変更モードの実行中を表す記号（図示せず）などを表示部２６ｂａに表示させてもよい。 On the other hand, when the independent lane change mode is executed, the subsequent plan formulation unit 12b according to the fourth embodiment does not display a symbol or the like indicating that the independent lane change mode is being executed on the display unit 26ba. . In this case, the driver of the succeeding vehicle 3 can grasp which of the integrated lane change mode and the independent lane change mode is executed based on whether or not the symbols 28e and 28f are displayed. Of course, when the independent lane change mode is being executed, the subsequent plan formulation unit 12b may display a symbol (not shown) indicating that the independent lane change mode is being executed on the display unit 26ba. .
　図２９は、図８のステップＳ３４において一体型車線変更を実行している場合の表示例である。図２９に示すように、後続側計画策定部１２ｂは、一体型車線変更の判定結果に基づいて、表示部２６ｂａの表示を変更する。図２９には、一体型車線変更を実行していることを示す矢印の記号２８ｇ及び文字の記号２８ｈが示されている。 FIG. 29 is a display example when the integrated lane change is executed in step S34 of FIG. As illustrated in FIG. 29, the subsequent plan formulation unit 12b changes the display of the display unit 26ba based on the determination result of the integrated lane change. FIG. 29 shows an arrow symbol 28g and a character symbol 28h indicating that the integrated lane change is being performed.
　＜実施の形態４のまとめ＞
　以上のような本実施の形態４に係る走行支援装置１によれば、一体型車線変更の判定結果と、独立型車線変更の判定結果と、一体型車線変更モード及び独立型車線変更モードのうち実行されているモードと、の少なくともいずれか１つに基づいて表示部の表示を変更する。これにより、運転者は、一体型車線変更及び独立型車線変更の状況を知ることができる。 <Summary of Embodiment 4>
According to the driving support apparatus 1 according to the fourth embodiment as described above, the determination result of the integrated lane change, the determination result of the independent lane change, the integrated lane change mode, and the independent lane change mode The display on the display unit is changed based on at least one of the mode being executed. Thus, the driver can know the status of the integrated lane change and the independent lane change.
　また本実施の形態４では、先行車両２、後続車両３及び他車両の相対位置を表示部に表示させるので、運転者は、先行車両２、後続車両３及び他車両の相対位置を知ることができる。 In the fourth embodiment, since the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle are displayed on the display unit, the driver can know the relative positions of the preceding vehicle 2, the succeeding vehicle 3 and the other vehicle. it can.
　また本実施の形態４では、車々間通信によって先行車両２と後続車両３との間で送受信される情報を表示部に表示させるので、運転者は、先行車両２と後続車両３との間でどのような情報が送受信されているのかを知ることができる。 Further, in the fourth embodiment, information transmitted and received between the preceding vehicle 2 and the following vehicle 3 is displayed on the display unit by inter-vehicle communication, so that the driver can determine which between the preceding vehicle 2 and the following vehicle 3. It is possible to know whether such information is being transmitted / received.
　＜実施の形態４の各変形例＞
　次に、実施の形態４の各変形例について説明する。なお、詳細には説明しないが、実施の形態４に実施の形態２，３の各変形例を適宜組み合わせてもよいし、実施の形態２，３に実施の形態４の各変形例を適宜組み合わせてもよい。 <Each modification of Embodiment 4>
Next, modifications of the fourth embodiment will be described. Although not described in detail, the modification examples of the second and third embodiments may be appropriately combined with the fourth embodiment, or the modification examples of the fourth embodiment may be appropriately combined with the second and third embodiments. May be.
　＜実施の形態４の変形例１＞
　実施の形態２及び３では、図７のステップＳ３のネゴシエーションは、運転者に通知されることなく自動的に行われた。しかしこれに限ったものではなく、ネゴシエーションにおける指示、つまり一体型車線変更モードを実行するための指示は、先行車両２及び後続車両３の少なくともいずれか一方の運転者からの指示であってもよい。この場合、操作入力部２６ａｃ，２６ｂｃの少なくともいずれか一方が、対応する運転者から、一体型車線変更モードを実行するための指示を受け付けてもよい。 <Modification 1 of Embodiment 4>
In Embodiments 2 and 3, the negotiation in step S3 in FIG. 7 was automatically performed without notifying the driver. However, the present invention is not limited to this, and the instruction in the negotiation, that is, the instruction for executing the integrated lane change mode may be an instruction from the driver of at least one of the preceding vehicle 2 and the following vehicle 3. . In this case, at least one of the operation input units 26ac and 26bc may receive an instruction for executing the integrated lane change mode from the corresponding driver.
　具体的には、先行車両２の先行側情報取得部が、先行車両２の運転者から操作入力部２６ａｃを介して、一体型車線変更モードを実行するための指示を取得した場合に、先行側計画策定部１２ａは、当該指示を車々間通信によって後続車両３に送信してもよい。そして、実施の形態４に係る後続側計画策定部１２ｂは、当該指示を車々間通信によって先行車両２から受信した場合に、そのことを表示部２６ｂａに表示させる（図２７）。この際に、後続車両３の後続側情報取得部が、後続車両３の運転者から操作入力部２６ｂｃを介して、一体型車線変更モードを実行するための指示の承認を取得した場合に、後続側計画策定部１２ｂは、当該指示を車々間通信によって先行車両２に送信してもよい。 Specifically, when the preceding side information acquisition unit of the preceding vehicle 2 acquires an instruction for executing the integrated lane change mode from the driver of the preceding vehicle 2 via the operation input unit 26ac, The plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication. And the succeeding side plan formulation part 12b which concerns on Embodiment 4 displays that on the display part 26ba, when the said instruction | indication is received from the preceding vehicle 2 by vehicle-to-vehicle communication (FIG. 27). At this time, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires the approval of the instruction for executing the integrated lane change mode from the driver of the subsequent vehicle 3 via the operation input unit 26bc, The side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication.
　または、後続車両３の後続側情報取得部が、後続車両３の運転者から操作入力部２６ｂｃを介して、一体型車線変更モードを実行するための指示を取得した場合に、後続側計画策定部１２ｂは、当該指示を車々間通信によって先行車両２に送信してもよい。そして、実施の形態４に係る先行側計画策定部１２ａは、当該指示を車々間通信によって後続車両３から受信した場合に、そのことを表示部２６ａａに表示させる（図２０）。この際に、先行車両２の先行側情報取得部が、先行車両２の運転者から操作入力部２６ａｃを介して、一体型車線変更モードを実行するための指示の承認を取得した場合に、先行側計画策定部１２ａは、当該指示を車々間通信によって後続車両３に送信してもよい。 Alternatively, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires an instruction for executing the integrated lane change mode from the driver of the subsequent vehicle 3 via the operation input unit 26bc, the subsequent side plan formulation unit 12b may transmit the instruction to the preceding vehicle 2 by inter-vehicle communication. Then, when the preceding plan formulation unit 12a according to the fourth embodiment receives the instruction from the succeeding vehicle 3 through inter-vehicle communication, the preceding plan formulation unit 12a displays that on the display unit 26aa (FIG. 20). At this time, when the preceding side information acquisition unit of the preceding vehicle 2 acquires the approval of the instruction for executing the integrated lane change mode from the driver of the preceding vehicle 2 via the operation input unit 26ac, The side plan formulation unit 12a may transmit the instruction to the following vehicle 3 by inter-vehicle communication.
　以上のような構成によれば、運転者は、自分の意志でネゴシエーションを制御するための操作を行うことができる。なお、上述と同様に、操作入力部２６ａｃ，２６ｂｃの少なくともいずれか一方が、対応する運転者から、独立型車線変更モードを実行するための指示を受け付けてもよい。 According to the above configuration, the driver can perform an operation for controlling the negotiation at his / her will. As described above, at least one of the operation input units 26ac and 26bc may receive an instruction for executing the independent lane change mode from the corresponding driver.
　＜実施の形態４の変形例２＞
　実施の形態２の変形例３では、後続側情報取得部は、一体型車線変更を実行するための実行要求を、後続車両３の自動運転制御部２４ｂから取得した。しかしこれに限ったものではなく、後続側情報取得部は、一体型車線変更を実行するための実行要求を、後続車両３の自動運転制御部２４ｂではなく、後続車両３の運転者から取得してもよい。 <Modification 2 of Embodiment 4>
In the third modification of the second embodiment, the subsequent side information acquisition unit acquires the execution request for executing the integrated lane change from the automatic driving control unit 24b of the subsequent vehicle 3. However, the present invention is not limited to this, and the subsequent side information acquisition unit acquires an execution request for executing the integrated lane change from the driver of the subsequent vehicle 3 instead of the automatic driving control unit 24b of the subsequent vehicle 3. May be.
　＜実施の形態４の変形例３＞
　実施の形態４において、後続側情報取得部は、後続側他車両相対位置及び後続側他車両相対位置以外の、後続車両３の他車両に関する情報である後続側他車両情報を取得し、先行側情報取得部は、後続側情報取得部で取得された後続側他車両情報を車々間通信によって後続車両３から取得してもよい。そして、先行側計画策定部１２ａは、先行側情報取得部で取得された後続側他車両情報を表示部２６ａａに表示させてもよい。ここで、後続側他車両情報には、例えば、後続車両３の検出範囲３ａなどが含まれる。 <Modification 3 of Embodiment 4>
In Embodiment 4, the subsequent side information acquisition unit acquires subsequent side other vehicle information that is information related to the other vehicle of the subsequent vehicle 3 other than the subsequent side other vehicle relative position and the subsequent side other vehicle relative position. The information acquisition unit may acquire the subsequent-side other vehicle information acquired by the subsequent-side information acquisition unit from the subsequent vehicle 3 by inter-vehicle communication. And the preceding side plan formulation part 12a may display the following side other vehicle information acquired in the preceding side information acquisition part on the display part 26aa. Here, the subsequent side other vehicle information includes, for example, the detection range 3a of the subsequent vehicle 3 and the like.
　図３０の例では、先行側計画策定部１２ａの表示制御によって、先行車両２の検出範囲２ａだけでなく、先行側情報取得部で取得された後続車両３の検出範囲３ａが表示部２６ａａに表示されている。このような構成によれば、先行車両２の運転者は、先行車両２の検出範囲２ａ及び後続車両３の検出範囲３ａを知ることができる。 In the example of FIG. 30, not only the detection range 2a of the preceding vehicle 2 but also the detection range 3a of the subsequent vehicle 3 acquired by the preceding information acquisition unit is displayed on the display unit 26aa by the display control of the preceding plan formulation unit 12a. Has been. According to such a configuration, the driver of the preceding vehicle 2 can know the detection range 2 a of the preceding vehicle 2 and the detection range 3 a of the subsequent vehicle 3.
　なお、上述とは逆に、先行側情報取得部は、先行側他車両相対位置及び先行側他車両相対位置以外の、先行車両２の他車両に関する情報である先行側他車両情報を取得し、後続側情報取得部は、先行側情報取得部で取得された先行側他車両情報を車々間通信によって取得してもよい。そして、後続側計画策定部１２ｂは、後続側情報取得部で取得された先行側他車両情報を表示部２６ｂａに表示させてもよい。 Contrary to the above, the preceding side information acquisition unit acquires the preceding side other vehicle information that is information related to the other vehicle of the preceding vehicle 2 other than the preceding side other vehicle relative position and the preceding side other vehicle relative position, The succeeding side information acquiring unit may acquire the preceding other vehicle information acquired by the preceding side information acquiring unit through inter-vehicle communication. And the succeeding side plan formulation part 12b may display the preceding side other vehicle information acquired in the succeeding side information acquisition part on the display part 26ba.
　＜実施の形態５＞
　本発明の実施の形態５に係る走行支援装置１が備える先行側走行支援部１ａのブロック構成は、実施の形態２の先行側走行支援部１ａのブロック構成（図５）と同様である。また、本実施の形態５に係る走行支援装置１が備える後続側走行支援部１ｂのブロック構成は、実施の形態２の後続側走行支援部１ｂのブロック構成（図６）と同様である。以下、本実施の形態５で説明する構成要素のうち、上述の構成要素と同じまたは類似する構成要素については同じ参照符号を付し、異なる構成要素について主に説明する。 <Embodiment 5>
The block configuration of the preceding traveling support unit 1a included in the traveling support device 1 according to the fifth embodiment of the present invention is the same as the block configuration (FIG. 5) of the preceding traveling support unit 1a according to the second embodiment. Further, the block configuration of the subsequent travel support unit 1b included in the travel support device 1 according to the fifth embodiment is the same as the block configuration (FIG. 6) of the subsequent travel support unit 1b according to the second embodiment. Hereinafter, among the constituent elements described in the fifth embodiment, constituent elements that are the same as or similar to the constituent elements described above are assigned the same reference numerals, and different constituent elements are mainly described.
　本実施の形態５では、先行側情報取得部は、後続車両３の自動追従における先行車両２と後続車両３との間の車間距離である先後車間距離を取得する。そして、先行側計画策定部１２ａは、先行側情報取得部で取得された他車両相対位置、他車両相対速度及び先後車間距離に基づいて、一体型車線変更が実行できるか否かを判定し、一体型車線変更ができないと判定した場合に先後車間距離を短くする。 In the fifth embodiment, the preceding side information acquisition unit acquires the front-rear inter-vehicle distance that is the inter-vehicle distance between the preceding vehicle 2 and the subsequent vehicle 3 in the automatic tracking of the subsequent vehicle 3. And the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the preceding side information acquisition unit, When it is determined that the integrated lane change is not possible, the front-rear distance is shortened.
　図３１は、本実施の形態５に係る先行側走行支援部１ａの動作を示すフローチャートである。この図３１の動作は、図１５のステップＳ５２とステップＳ５との間にステップＳ６１及びステップＳ６２を追加したものと同様である。 FIG. 31 is a flowchart showing the operation of the preceding traveling support unit 1a according to the fifth embodiment. The operation in FIG. 31 is the same as that in which steps S61 and S62 are added between steps S52 and S5 in FIG.
　ステップＳ５２後のステップＳ６１にて、先行側情報取得部は先後車間距離を取得する。先行側計画策定部１２ａは、先行側情報取得部で取得された先後車間距離を短くした場合に、一体型車線変更が実行できるか否かを判定する。一体型車線変更を実行できると判定した場合には処理がステップＳ６２に進み、一体型車線変更を実行できないと判定した場合には処理がステップＳ５に戻る。 In step S61 after step S52, the preceding side information acquisition unit acquires the front-rear inter-vehicle distance. The preceding side plan formulation unit 12a determines whether or not the integrated lane change can be executed when the distance between the preceding and following vehicles acquired by the preceding side information acquisition unit is shortened. If it is determined that the integrated lane change can be performed, the process proceeds to step S62. If it is determined that the integrated lane change cannot be performed, the process returns to step S5.
　ステップＳ６２にて、先行側計画策定部１２ａは、車々間通信によって先後車間距離を短くする指示を後続車両３に送信する。その後、処理がステップＳ５に戻る。 In step S62, the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the following vehicle 3 by inter-vehicle communication. Thereafter, the process returns to step S5.
　図３２は、本実施の形態５に係る後続側走行支援部１ｂの動作を示すフローチャートである。この図３２の動作は、図１６のステップＳ５６とステップＳ３０との間にステップＳ６６及びステップＳ６７を追加したものと同様である。 FIG. 32 is a flowchart showing the operation of the trailing side travel support unit 1b according to the fifth embodiment. The operation in FIG. 32 is the same as that in which steps S66 and S67 are added between step S56 and step S30 in FIG.
　ステップＳ５６後のステップＳ６６にて、後続側計画策定部１２ｂは、車々間通信によって先後車間距離を短くする指示を先行車両２から受信したか否かを判定する。先後車間距離を短くする指示を受信したと判定した場合には処理がステップＳ６７に進み、先後車間距離を短くする指示を受信しなかったと判定した場合には処理がステップＳ３０に進む。 In step S66 after step S56, the subsequent plan formulation unit 12b determines whether or not an instruction to shorten the distance between the preceding and following vehicles has been received from the preceding vehicle 2 by inter-vehicle communication. The process proceeds to step S67 when it is determined that an instruction to shorten the front-rear distance is received, and the process proceeds to step S30 when it is determined that an instruction to shorten the front-rear distance is not received.
　ステップＳ６７にて、後続側計画策定部１２ｂは、自動運転制御部２４ｂに先後車間距離を短くするための命令を出力し、自動運転制御部２４ｂは、走行支援計画策定部１２ａから出力された命令に基づいて先後車間距離を短くする。その後、処理がステップＳ３０に進む。 In step S67, the subsequent plan formulation unit 12b outputs a command for shortening the front-rear vehicle distance to the automatic driving control unit 24b, and the automatic driving control unit 24b outputs the command output from the travel support plan formulating unit 12a. To reduce the distance between the two cars. Thereafter, the process proceeds to step S30.
　図３３及び図３４は、本実施の形態５に係る走行支援装置１の動作を説明するための図である。図３３及び図３４には、先行車両２及び後続車両３が、他車両４ａ，４ｂが走行している車線に一体型車線変更によって変更しようとしている場合が示されている。なお、先行側計画策定部１２ａは、先行車両２及び後続車両３を囲う範囲２９が他車両４ａ，４ｂと接触する場合に、一体型車線変更を実行できないと判定する。 33 and 34 are diagrams for explaining the operation of the travel support apparatus 1 according to the fifth embodiment. 33 and 34 show a case where the preceding vehicle 2 and the following vehicle 3 are about to change to the lane in which the other vehicles 4a and 4b are traveling by changing the integrated lane. Note that the preceding-side plan formulation unit 12a determines that the integrated lane change cannot be performed when the range 29 surrounding the preceding vehicle 2 and the following vehicle 3 is in contact with the other vehicles 4a and 4b.
　図３３の場合、範囲２９が他車両４ｂと接触しているので、ステップＳ５２にて先行側計画策定部１２ａは一体型車線変更を実行できないと判定する。この場合、先行側計画策定部１２ａがステップＳ６１及びステップＳ６２の処理を行い、後続側計画策定部１２ｂがステップＳ６６及びステップＳ６７の処理を行う。この結果、先後車間距離が短くなり、図３４に示すように、範囲２９の長手方向の長さは短くなる。図３４の場合、範囲２９はどの他車両４ａ，４ｂとも接触しないので、ステップＳ５２にて先行側計画策定部１２ａは一体型車線変更を実行できると判定し、一体型車線変更が実行される。 33, since the range 29 is in contact with the other vehicle 4b, the preceding plan formulation unit 12a determines in step S52 that the integrated lane change cannot be executed. In this case, the preceding side plan formulation unit 12a performs the processes of Steps S61 and S62, and the subsequent side plan formulation unit 12b performs the processes of Steps S66 and S67. As a result, the front-rear inter-vehicle distance is shortened, and the longitudinal length of the range 29 is shortened as shown in FIG. In the case of FIG. 34, since the range 29 does not come into contact with any other vehicle 4a, 4b, the preceding-side plan formulation unit 12a determines in step S52 that the integrated lane change can be executed, and the integrated lane change is executed.
　＜実施の形態５のまとめ＞
　以上のような本実施の形態４に係る走行支援装置１によれば、一体型車線変更ができないと判定した場合に先後車間距離を短くする。このような構成によれば、一体型車線変更が実行される可能性を高めることができる。 <Summary of Embodiment 5>
According to the driving support apparatus 1 according to the fourth embodiment as described above, the front-rear inter-vehicle distance is shortened when it is determined that the integrated lane change is not possible. According to such a structure, possibility that an integrated lane change will be performed can be raised.
　＜実施の形態５の各変形例＞
　次に、実施の形態５の各変形例について説明する。なお、詳細には説明しないが、実施の形態５に実施の形態２～４の各変形例を適宜組み合わせてもよいし、実施の形態２～４に実施の形態５の各変形例を適宜組み合わせてもよい。 <Variations of Embodiment 5>
Next, modifications of the fifth embodiment will be described. Although not described in detail, Embodiment 5 may be appropriately combined with each modification of Embodiments 2 to 4, or Embodiment 2 to 4 may be appropriately combined with each modification of Embodiment 5. May be.
　＜実施の形態５の変形例１＞
　実施の形態５では、図３１のステップＳ６２にて、先行側計画策定部１２ａは、車々間通信によって先後車間距離を短くする指示を後続車両３に送信した。この際に、先行側計画策定部１２ａは、車々間通信によって先後車間距離を何ｍにすればよいかを後続車両３に送信してもよい。 <Modification 1 of Embodiment 5>
In the fifth embodiment, in step S62 in FIG. 31, the preceding plan formulation unit 12a transmits an instruction to shorten the distance between the preceding and following vehicles to the succeeding vehicle 3 by inter-vehicle communication. At this time, the predecessor plan formulation unit 12a may transmit to the succeeding vehicle 3 how many meters the front-rear inter-vehicle distance should be set by inter-vehicle communication.
　また、後続側計画策定部１２ｂは、先後車間距離を短くして一体型車線変更を実行した後に、短くする前の元の距離に先後車間距離を戻す命令を自動運転制御部２４ｂに出力してもよい。また、この代わりに、後続側計画策定部１２ｂは、先後車間距離を短くして一体型車線変更を実行した後に、車々間通信によって先後車間距離を戻す命令を先行車両２に送信してもよい。そして、先行側計画策定部１２ａは、車々間通信によって先後車間距離を戻す命令を後続車両３から受信した場合に、後続車両３から遠ざかる命令を自動運転制御部２４ａに出力してもよい。 In addition, the subsequent plan formulation unit 12b outputs a command to the automatic operation control unit 24b to return the front-rear inter-vehicle distance to the original distance before the shortening after executing the integrated lane change by shortening the front-rear inter-vehicle distance. Also good. Alternatively, the subsequent plan formulation unit 12b may transmit a command to the preceding vehicle 2 to return the front-rear inter-vehicle distance by inter-vehicle communication after executing the integrated lane change by shortening the front-rear inter-vehicle distance. And the preceding side plan formulation part 12a may output the instruction | command which leaves | separates from the succeeding vehicle 3 to the automatic driving control part 24a, when the instruction | command which returns the distance between preceding and succeeding vehicles is received from the succeeding vehicle 3 by communication between vehicles.
　なお実施の形態５は、先行側計画策定部１２ａが先後車間距離を短くしたが、後続側計画策定部１２ｂが先後車間距離を短くしてもよい。具体的には、先行側情報取得部ではなく、後続側情報取得部が先後車間距離を取得してもよい。そして、後続側計画策定部１２ｂは、後続側情報取得部で取得された他車両相対位置、他車両相対速度及び先後車間距離に基づいて、一体型車線変更が実行できるか否かを判定し、一体型車線変更ができないと判定した場合に先後車間距離を短くしてもよい。 In the fifth embodiment, the preceding-side plan formulation unit 12a shortens the preceding and following vehicle distance, but the following-side plan formulation unit 12b may shorten the preceding and following vehicle distance. Specifically, not the preceding side information acquisition unit but the subsequent side information acquisition unit may acquire the front-rear inter-vehicle distance. Then, the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the distance between the front and rear vehicles acquired by the subsequent side information acquisition unit, When it is determined that the integrated lane cannot be changed, the front-rear inter-vehicle distance may be shortened.
　＜実施の形態５の変形例２＞
　実施の形態５では、先後車間距離は、先行車両２の先行側計画策定部１２ａと、後続車両３の後続側計画策定部１２ｂとの間で車々間通信を行うことによって自動的に変更された。 <Modification 2 of Embodiment 5>
In the fifth embodiment, the front-rear inter-vehicle distance is automatically changed by performing inter-vehicle communication between the preceding plan formulation unit 12a of the preceding vehicle 2 and the subsequent plan formulation unit 12b of the subsequent vehicle 3.
　しかしこれに限ったものではなく例えば、実施の形態４のように後続側走行支援部１ｂの周辺に操作入力部２６ｂｃが設けられていてもよい。そして、後続車両３の後続側情報取得部が、後続車両３の運転者から操作入力部２６ｂｃを介して、先後車間距離を変更するか否かについての操作を取得した場合に、後続側計画策定部１２ｂは、後続側情報取得部で取得された操作に対応する操作信号を、車々間通信によって先行車両２に送信してもよい。そして、図３１のステップＳ６１にて、先行側計画策定部１２ａが一体型車線変更を実行できると判定し、かつ、先後車間距離を変更する操作に対応する操作信号を、車々間通信によって後続車両３から受信した場合に、処理がステップＳ６２に進むように構成されてもよい。 However, the present invention is not limited to this. For example, an operation input unit 26bc may be provided in the vicinity of the subsequent-side travel support unit 1b as in the fourth embodiment. Then, when the subsequent side information acquisition unit of the subsequent vehicle 3 acquires an operation from the driver of the subsequent vehicle 3 about whether to change the distance between the preceding and rear vehicles via the operation input unit 26bc, the subsequent side plan is formulated. The unit 12b may transmit an operation signal corresponding to the operation acquired by the subsequent side information acquisition unit to the preceding vehicle 2 by inter-vehicle communication. Then, in step S61 in FIG. 31, it is determined that the preceding plan formulation unit 12a can execute the integrated lane change, and an operation signal corresponding to an operation for changing the front-rear inter-vehicle distance is transmitted by inter-vehicle communication. If received from, the process may proceed to step S62.
　＜実施の形態５の変形例３＞
　実施の形態５では、先行側計画策定部１２ａは、一体型車線変更ができないと判定した場合に、先後車間距離を短くする指示を車々間通信によって後続車両３に送信した。しかしこれに限ったものではなく、先行側計画策定部１２ａは、一体型車線変更ができないと判定した場合に、図３３の１つの他車両４ａと別の他車両４ｂとの間の車間距離、つまり他車両間距離を長くする指示を、車々間通信によって１つの他車両４ａと別の他車両４ｂに送信してもよい。 <Modification 3 of Embodiment 5>
In the fifth embodiment, when the preceding-side plan formulation unit 12a determines that the integrated lane change is not possible, the preceding-side plan formulation unit 12a transmits an instruction to shorten the front-rear inter-vehicle distance to the subsequent vehicle 3 by inter-vehicle communication. However, the present invention is not limited to this, and when the preceding plan formulation unit 12a determines that the integrated lane change is not possible, the inter-vehicle distance between one other vehicle 4a and another other vehicle 4b in FIG. That is, an instruction to increase the distance between other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication.
　具体的には、先行側計画策定部１２ａは、先行側情報取得部で取得された他車両相対位置及び他車両相対速度に基づいて、一体型車線変更が実行できるか否かを判定し、一体型車線変更ができないと判定した場合に、他車両間距離を長くする指示を、車々間通信によって１つの他車両４ａと別の他車両４ｂに送信してもよい。このような構成によれば、一体型車線変更が実行される可能性を高めることができる。 Specifically, the preceding side plan formulation unit 12a determines whether or not the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed acquired by the preceding side information acquisition unit. When it is determined that the body lane cannot be changed, an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication. According to such a structure, possibility that an integrated lane change will be performed can be raised.
　なお、先行側計画策定部１２ａが、他車両間距離を長くする指示を車々間通信によって後続車両３に送信してもよく、後続側計画策定部１２ｂが、先行車両２から送信された当該指示を、車々間通信によって１つの他車両４ａと別の他車両４ｂに送信してもよい。 The preceding side plan formulation unit 12a may transmit an instruction to increase the distance between the other vehicles to the subsequent vehicle 3 by inter-vehicle communication, and the subsequent side plan formulation unit 12b may transmit the instruction transmitted from the preceding vehicle 2. The vehicle may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
　または、後続側計画策定部１２ｂが、後続側情報取得部で取得された他車両相対位置及び他車両相対速度に基づいて、一体型車線変更が実行できるか否かを判定し、一体型車線変更ができないと判定した場合に、他車両間距離を長くする指示を、車々間通信によって１つの他車両４ａと別の他車両４ｂに送信してもよい。この場合に、後続側計画策定部１２ｂが、他車両間距離を長くする指示を車々間通信によって先行車両２に送信してもよく、先行側計画策定部１２ａが、後続車両３から送信された当該指示を、車々間通信によって１つの他車両４ａと別の他車両４ｂに送信してもよい。 Alternatively, the subsequent side plan formulation unit 12b determines whether or not the integrated lane change can be executed based on the other vehicle relative position and the other vehicle relative speed acquired by the subsequent side information acquisition unit, and the integrated lane change is performed. When it is determined that the vehicle cannot be operated, an instruction to increase the distance between the other vehicles may be transmitted to one other vehicle 4a and another other vehicle 4b by inter-vehicle communication. In this case, the subsequent side plan formulation unit 12b may transmit an instruction to increase the distance between the other vehicles to the preceding vehicle 2 by inter-vehicle communication, and the preceding side plan formulation unit 12a may transmit the instruction transmitted from the subsequent vehicle 3. The instruction may be transmitted to one other vehicle 4a and another vehicle 4b by inter-vehicle communication.
　＜その他の変形例＞
　上述した走行支援装置１における情報取得部１１及び制御部１２を、以下「情報取得部１１等」と記す。情報取得部１１等は、図３５に示す処理回路８１により実現される。すなわち、処理回路８１は、他車両相対位置及び他車両相対速度を取得する情報取得部１１と、情報取得部１１で取得された他車両相対位置及び他車両相対速度に基づいて、後続車両３が自動追従を維持しながら先行車両２及び後続車両３が一体的に車線変更する第１車線変更を実行できるか否かを判定する制御部１２と、を備える。処理回路８１には、専用のハードウェアが適用されてもよいし、メモリに格納されるプログラムを実行するプロセッサが適用されてもよい。プロセッサには、例えば、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）などが該当する。 <Other variations>
The information acquisition unit 11 and the control unit 12 in the above-described travel support device 1 are hereinafter referred to as “information acquisition unit 11 etc.”. The information acquisition unit 11 and the like are realized by a processing circuit 81 illustrated in FIG. That is, the processing circuit 81 determines whether the succeeding vehicle 3 is based on the information acquisition unit 11 that acquires the other vehicle relative position and the other vehicle relative speed, and the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit 11. And a control unit 12 that determines whether or not the preceding vehicle 2 and the following vehicle 3 can execute the first lane change in which the lane is changed integrally while maintaining the automatic tracking. Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied. The processor corresponds to, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) and the like.
　処理回路８１が専用のハードウェアである場合、処理回路８１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field Programmable Gate Array）、またはこれらを組み合わせたものが該当する。情報取得部１１等の各部の機能それぞれは、処理回路を分散させた回路で実現されてもよいし、各部の機能をまとめて一つの処理回路で実現されてもよい。 When the processing circuit 81 is dedicated hardware, the processing circuit 81 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate). Array) or a combination thereof. Each function of each unit such as the information acquisition unit 11 may be realized by a circuit in which processing circuits are distributed, or the function of each unit may be realized by a single processing circuit.
　処理回路８１がプロセッサである場合、情報取得部１１等の機能は、ソフトウェア等との組み合わせにより実現される。なお、ソフトウェア等には、例えば、ソフトウェア、ファームウェア、または、ソフトウェア及びファームウェアが該当する。ソフトウェア等はプログラムとして記述され、メモリ８３に格納される。図３６に示すように、処理回路８１に適用されるプロセッサ８２は、メモリ８３に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、走行支援装置１は、処理回路８１により実行されるときに、他車両相対位置及び他車両相対速度を取得するステップと、取得された他車両相対位置及び他車両相対速度に基づいて、後続車両３が自動追従を維持しながら先行車両２及び後続車両３が一体的に車線変更する第１車線変更を実行できるか否かを判定するステップと、が結果的に実行されることになるプログラムを格納するためのメモリ８３を備える。換言すれば、このプログラムは、情報取得部１１等の手順や方法をコンピュータに実行させるものであるともいえる。ここで、メモリ８３は、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリー、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disc）、そのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。 When the processing circuit 81 is a processor, the functions of the information acquisition unit 11 and the like are realized by a combination with software or the like. Note that the software or the like corresponds to, for example, software, firmware, or software and firmware. Software or the like is described as a program and stored in the memory 83. As shown in FIG. 36, the processor 82 applied to the processing circuit 81 implements the functions of the respective units by reading out and executing the program stored in the memory 83. That is, the driving support device 1 is executed by the processing circuit 81 to acquire the other vehicle relative position and the other vehicle relative speed, and the subsequent operation based on the acquired other vehicle relative position and the other vehicle relative speed. A step of determining whether or not the vehicle 3 can perform a first lane change in which the preceding vehicle 2 and the following vehicle 3 change lanes integrally while maintaining automatic tracking; The memory 83 is stored. In other words, it can be said that this program causes a computer to execute procedures and methods such as the information acquisition unit 11. Here, the memory 83 is, for example, non-volatile or RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), or the like. Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disk), its drive device, etc., or any storage media used in the future May be.
　以上、情報取得部１１等の各機能が、ハードウェア及びソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、情報取得部１１等の一部を専用のハードウェアで実現し、別の一部をソフトウェア等で実現する構成であってもよい。例えば、情報取得部１１については専用のハードウェアとしての処理回路８１でその機能を実現し、それ以外についてはプロセッサ８２としての処理回路８１がメモリ８３に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。以上のように、処理回路８１は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the configuration in which each function of the information acquisition unit 11 and the like is realized by either hardware or software has been described. However, the present invention is not limited to this, and a configuration in which a part of the information acquisition unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the function of the information acquisition unit 11 is realized by the processing circuit 81 as dedicated hardware, and the processing circuit 81 as the processor 82 reads and executes the program stored in the memory 83 for the other parts. The function can be realized. As described above, the processing circuit 81 can realize the functions described above by hardware, software, or the like, or a combination thereof.
　また、以上で説明した走行支援装置１は、ＰＮＤ（Portable Navigation Device）及びナビゲーション装置などの車載装置と、携帯電話、スマートフォン及びタブレットなどの携帯端末を含む通信端末と、これらにインストールされるアプリケーションの機能と、サーバとを適宜に組み合わせてシステムとして構築される走行支援システムにも適用することができる。この場合、以上で説明した走行支援装置１の各機能あるいは各構成要素は、前記システムを構築する各機器に分散して配置されてもよいし、いずれかの機器に集中して配置されてもよい。その一例として、走行支援装置は、先行車両２に搭載された車載装置、及び、後続車両３に搭載された車載装置に分散して配置されてもよいし、いずれかの車載装置に集中して配置されてもよい。 In addition, the driving support device 1 described above includes an in-vehicle device such as a PND (Portable Navigation Device) and a navigation device, a communication terminal including a mobile terminal such as a mobile phone, a smartphone, and a tablet, and applications installed on these devices. The present invention can also be applied to a driving support system constructed as a system by appropriately combining functions and servers. In this case, each function or each component of the driving support device 1 described above may be distributed and arranged in each device that constructs the system, or may be concentrated on any device. Good. As an example, the driving support device may be distributed and arranged in the in-vehicle device mounted in the preceding vehicle 2 and the in-vehicle device mounted in the succeeding vehicle 3, or concentrated on one of the in-vehicle devices. It may be arranged.
　図３７は、本変形例に係るサーバ９１の構成を示すブロック図である。図３７のサーバ９１は、通信部９１ａと制御部９１ｂとを備えており、先行車両２の車載装置５ａ及び後続車両３の車載装置５ｂと無線通信を行うことが可能となっている。 FIG. 37 is a block diagram showing a configuration of the server 91 according to this modification. The server 91 of FIG. 37 includes a communication unit 91a and a control unit 91b, and can perform wireless communication with the in-vehicle device 5a of the preceding vehicle 2 and the in-vehicle device 5b of the subsequent vehicle 3.
　取得部である通信部９１ａは、車載装置５ａ，５ｂと無線通信を行うことにより、他車両相対位置及び他車両相対速度を受信する。 The communication unit 91a as an acquisition unit receives the other vehicle relative position and the other vehicle relative speed by performing wireless communication with the in- vehicle devices 5a and 5b.
　制御部９１ｂは、サーバ９１の図示しないプロセッサなどが、サーバ９１の図示しないメモリに記憶されたプログラムを実行することにより、図２の制御部１２と同様の機能を有している。つまり、制御部９１ｂは、通信部９１ａで受信された他車両相対位置及び他車両相対速度に基づいて、第１車線変更、つまり一体型車線変更を実行できるか否かを判定する。そして、通信部９１ａは、制御部９１ｂの判定結果を車載装置５ａ，５ｂに送信する。 The control unit 91b has a function similar to that of the control unit 12 in FIG. 2 when a processor (not illustrated) of the server 91 executes a program stored in a memory (not illustrated) of the server 91. That is, the control unit 91b determines whether or not the first lane change, that is, the integrated lane change can be performed based on the other vehicle relative position and the other vehicle relative speed received by the communication unit 91a. And the communication part 91a transmits the determination result of the control part 91b to the vehicle equipment 5a, 5b.
　このように構成されたサーバ９１によれば、実施の形態１で説明した走行支援装置１と同様の効果を得ることができる。 The server 91 configured as described above can obtain the same effects as those of the travel support device 1 described in the first embodiment.
　図３８は、本変形例に係る通信端末９６の構成を示すブロック図である。図３８の通信端末９６は、通信部９１ａと同様の通信部９６ａと、制御部９１ｂと同様の制御部９６ｂとを備えており、先行車両２の車載装置５ａ及び後続車両３の車載装置５ｂと無線通信を行うことが可能となっている。なお、通信端末９６には、例えば先行車両２または後続車両３の運転者が携帯する携帯電話機、スマートフォン、及びタブレットなどの携帯端末が適用される。図３８では一例として、通信端末９６は、例えば先行車両２の運転者によって携帯されている。このように構成された通信端末９６によれば、実施の形態１で説明した走行支援装置１と同様の効果を得ることができる。 FIG. 38 is a block diagram showing a configuration of the communication terminal 96 according to the present modification. 38 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and includes an in-vehicle device 5a of the preceding vehicle 2 and an in-vehicle device 5b of the subsequent vehicle 3. Wireless communication can be performed. For example, a mobile terminal such as a mobile phone, a smart phone, and a tablet carried by the driver of the preceding vehicle 2 or the following vehicle 3 is applied to the communication terminal 96. In FIG. 38, as an example, the communication terminal 96 is carried by the driver of the preceding vehicle 2, for example. According to the communication terminal 96 configured as described above, it is possible to obtain the same effect as that of the driving support device 1 described in the first embodiment.
　なお、本発明は、その発明の範囲内において、各実施の形態及び各変形例を自由に組み合わせたり、各実施の形態及び各変形例を適宜、変形、省略したりすることが可能である。 The present invention can be freely combined with each embodiment and each modification within the scope of the invention, or can be appropriately modified and omitted with each embodiment and each modification.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、本発明がそれに限定されるものではない。例示されていない無数の変形例が、本発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.
　１　走行支援装置、２　先行車両、３　後続車両、４ａ，４ｂ　他車両、１１　情報取得部、１１ａａ，１１ｂａ　周辺車両情報インタフェース部、１１ａｂ，１１ｂｂ　運転制御インタフェース部、１１ａｃ，１１ｂｃ　車外通信インタフェース部、１２　制御部、１２ａ　先行側計画策定部、１２ｂ　後続側計画策定部、２６ａａ，２６ｂａ　表示部。 1 driving support device, 2 preceding vehicle, 3 succeeding vehicle, 4a, 4b other vehicle, 11 information acquisition unit, 11aa, 11ba peripheral vehicle information interface unit, 11ab, 11bb driving control interface unit, 11ac, 11bc external communication interface unit, 12 Control unit, 12a preceding plan formulation unit, 12b succeeding plan formulation unit, 26aa, 26ba display unit.

Claims (21)

  1. 　先行車両と、車々間通信及び自動運転によって前記先行車両への追従走行を行う自動追従が可能な後続車両との少なくとも一方と、前記先行車両及び前記後続車両以外の１以上の他車両とについての相対位置である他車両相対位置を取得し、かつ、前記先行車両及び前記後続車両の少なくとも一方と前記他車両とについての相対速度である他車両相対速度を取得する情報取得部と、
    　前記情報取得部で取得された前記他車両相対位置及び前記他車両相対速度に基づいて、前記後続車両が自動追従を維持しながら前記先行車両及び前記後続車両が一体的に車線変更する第１車線変更を実行できるか否かを判定する制御部と
    を備え、
    　前記後続車両の自動運転は、前記後続車両の運転者が関与可能な自動運転である、走行支援装置。     Relative relation between at least one of the preceding vehicle and a succeeding vehicle capable of following the preceding vehicle by inter-vehicle communication and automatic driving and one or more other vehicles other than the preceding vehicle and the following vehicle An information acquisition unit that acquires a relative position of another vehicle that is a position and acquires a relative speed of another vehicle that is a relative speed of at least one of the preceding vehicle and the subsequent vehicle and the other vehicle;
    Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, a first lane in which the preceding vehicle and the succeeding vehicle change lanes integrally while the following vehicle maintains automatic tracking. A control unit for determining whether or not the change can be executed,
    The driving support apparatus according to claim 1, wherein the automatic driving of the succeeding vehicle is an automatic driving in which a driver of the succeeding vehicle can participate.
  2. 　請求項１に記載の走行支援装置であって、
    　前記制御部は、
    　前記情報取得部で取得された前記他車両相対位置及び前記他車両相対速度に基づいて、前記後続車両が自動追従を維持せずに前記先行車両及び前記後続車両が個別に車線変更する第２車線変更を実行できるか否かを判定する、走行支援装置。     The driving support device according to claim 1,
    The controller is
    Based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, a second lane in which the preceding vehicle and the succeeding vehicle individually change lanes without maintaining the automatic following of the succeeding vehicle. A driving support device that determines whether or not a change can be executed.
  3. 　請求項２に記載の走行支援装置であって、
    　前記制御部は、
    　前記第１車線変更を実行できるか否かを判定可能な第１車線変更モードと、前記第２車線変更を実行できるか否かを判定可能な第２車線変更モードとを選択的に実行する、走行支援装置。     The driving support device according to claim 2,
    The controller is
    Selectively executing a first lane change mode capable of determining whether or not the first lane change can be executed and a second lane change mode capable of determining whether or not the second lane change can be executed; Driving support device.
  4. 　請求項３に記載の走行支援装置であって、
    　前記制御部は、
    　前記先行車両及び前記後続車両の少なくともいずれか一方からの、前記第１車線変更モード及び前記第２車線変更モードのいずれか一方を実行するための指示に基づいて、前記第１車線変更モード及び前記第２車線変更モードを選択的に実行する、走行支援装置。     It is a driving assistance device according to claim 3,
    The controller is
    Based on an instruction for executing one of the first lane change mode and the second lane change mode from at least one of the preceding vehicle and the subsequent vehicle, the first lane change mode and the A driving support device that selectively executes the second lane change mode.
  5. 　請求項４に記載の走行支援装置であって、
    　前記指示は、前記先行車両及び前記後続車両の少なくともいずれか一方の運転者からの指示である、走行支援装置。     The driving support device according to claim 4,
    The driving support device, wherein the instruction is an instruction from a driver of at least one of the preceding vehicle and the following vehicle.
  6. 　請求項４に記載の走行支援装置であって、
    　前記制御部は、
    　前記先行車両及び前記後続車両の両方からの、前記第１車線変更モードを実行するための指示に基づいて、前記第１車線変更モードを実行し、
    　前記先行車両及び前記後続車両の一方からの、前記第２車線変更モードを実行するための指示に基づいて、前記第２車線変更モードを実行する、走行支援装置。     The driving support device according to claim 4,
    The controller is
    Based on an instruction to execute the first lane change mode from both the preceding vehicle and the subsequent vehicle, the first lane change mode is executed,
    A travel support device that executes the second lane change mode based on an instruction from one of the preceding vehicle and the subsequent vehicle to execute the second lane change mode.
  7. 　請求項３に記載の走行支援装置であって、
    　前記制御部は、
    　前記第１車線変更及び前記第２車線変更のいずれか一方の車線変更を実行してから完了するまでの間、前記第１車線変更モード及び前記第２車線変更モードのうち、実行していない他方の車線変更に対応する車線変更モードを実行しない、走行支援装置。     It is a driving assistance device according to claim 3,
    The controller is
    The other of the first lane change mode and the second lane change mode that is not executed during the period from the execution of one of the first lane change and the second lane change to completion. The driving support device that does not execute the lane change mode corresponding to the lane change.
  8. 　請求項３に記載の走行支援装置であって、
    　前記走行支援装置と通信可能なセンターは、
    　前記先行車両及び前記後続車両の少なくともいずれか一方からの、前記第１車線変更モード及び前記第２車線変更モードのいずれか一方を実行するための指示に基づいて、前記第１車線変更モード及び前記第２車線変更モードのいずれか一方の車線変更モードを選択し、
    　前記制御部は、
    　前記センターが選択した車線変更モードを実行する、走行支援装置。     It is a driving assistance device according to claim 3,
    The center capable of communicating with the driving support device is
    Based on an instruction for executing one of the first lane change mode and the second lane change mode from at least one of the preceding vehicle and the subsequent vehicle, the first lane change mode and the Select one lane change mode of the second lane change mode,
    The controller is
    A travel support device that executes a lane change mode selected by the center.
  9. 　請求項１に記載の走行支援装置であって、
    　前記情報取得部は、
    　前記先行車両及び前記後続車両にそれぞれ搭載された先行側情報取得部及び後続側情報取得部を含み、
    　前記制御部は、
    　前記先行車両及び前記後続車両にそれぞれ搭載された先行側制御部及び後続側制御部を含み、
    　前記先行側情報取得部は、
    　前記先行車両と前記他車両とについての前記他車両相対位置である先行側他車両相対位置と、前記先行車両と前記他車両とについての前記他車両相対速度である先行側他車両相対速度とを取得し、
    　前記先行側制御部は、
    　前記情報取得部で取得された前記先行側他車両相対位置及び前記先行側他車両相対速度に基づいて、前記第１車線変更を実行できるか否かを判定し、
    　前記後続側情報取得部は、
    　前記後続車両と前記他車両とについての前記他車両相対位置である後続側他車両相対位置と、前記後続車両と前記他車両とについての前記他車両相対速度である後続側他車両相対速度とを取得し、
    　前記後続側制御部は
    　前記情報取得部で取得された前記後続側他車両相対位置及び前記後続側他車両相対速度に基づいて、前記第１車線変更を実行できるか否かを判定する、走行支援装置。     The driving support device according to claim 1,
    The information acquisition unit
    Including a preceding side information acquisition unit and a subsequent side information acquisition unit mounted on the preceding vehicle and the subsequent vehicle,
    The controller is
    Including a preceding control unit and a following control unit mounted on the preceding vehicle and the following vehicle,
    The preceding information acquisition unit
    A preceding-side other vehicle relative position that is the other-vehicle relative position for the preceding vehicle and the other vehicle, and a preceding-side other vehicle relative speed that is the other-vehicle relative speed for the preceding vehicle and the other vehicle. Acquired,
    The preceding control unit is
    Determining whether or not the first lane change can be performed based on the preceding other vehicle relative position and the preceding other vehicle relative speed acquired by the information acquisition unit;
    The subsequent side information acquisition unit includes:
    A subsequent-side relative vehicle relative position that is the relative position of the other vehicle with respect to the subsequent vehicle and the other vehicle, and a subsequent-side relative speed of the other vehicle that is the relative speed of the other vehicle with respect to the subsequent vehicle and the other vehicle. Acquired,
    The succeeding side control unit determines whether or not the first lane change can be executed based on the succeeding side other vehicle relative position and the succeeding side other vehicle relative speed acquired by the information acquiring unit. apparatus.
  10. 　請求項９に記載の走行支援装置であって、
    　前記先行側情報取得部は、
    　前記後続側情報取得部で取得された前記後続側他車両相対位置及び前記後続側他車両相対速度、または、前記第１車線変更を実行できるか否かについての前記後続側制御部の判定結果を車々間通信によってさらに取得し、
    　前記先行側制御部は、
    　前記先行側情報取得部で取得された前記先行側他車両相対位置及び前記先行側他車両相対速度と、前記先行側情報取得部で取得された前記後続側他車両相対位置及び前記後続側他車両相対速度、または、前記先行側情報取得部で取得された前記後続側制御部の判定結果とに基づいて、前記第１車線変更を実行できるか否かを判定する、走行支援装置。     The driving support device according to claim 9, wherein
    The preceding information acquisition unit
    The determination result of the succeeding side control unit as to whether or not the succeeding side other vehicle relative position and the succeeding side other vehicle relative speed acquired by the succeeding side information acquiring unit or the first lane change can be executed. Further acquisition by inter-vehicle communication,
    The preceding control unit is
    The preceding-side other vehicle relative position and the preceding-side other vehicle relative speed acquired by the preceding-side information acquiring unit, and the subsequent-side other vehicle relative position and the succeeding-side other vehicle acquired by the preceding-side information acquiring unit. A travel support device that determines whether or not the first lane change can be performed based on a relative speed or a determination result of the subsequent control unit acquired by the preceding information acquisition unit.
  11. 　請求項９に記載の走行支援装置であって、
    　前記先行側情報取得部は、
    　前記後続車両の自動運転レベルを車々間通信によって取得し、
    　前記先行側制御部は、
    　前記先行側情報取得部で取得された前記他車両相対位置、前記他車両相対速度及び前記自動運転レベルに基づいて、前記第１車線変更を実行できるか否かを判定する、走行支援装置。     The driving support device according to claim 9, wherein
    The preceding information acquisition unit
    Obtaining the automatic driving level of the following vehicle by inter-vehicle communication;
    The preceding control unit is
    A travel support device that determines whether or not the first lane change can be executed based on the other vehicle relative position, the other vehicle relative speed, and the automatic driving level acquired by the preceding side information acquisition unit.
  12. 　請求項９に記載の走行支援装置であって、
    　前記先行車両は自動運転が可能であり、
    　前記先行側制御部は、
    　前記第１車線変更を実行できるか否かについての前記先行側制御部の判定結果に基づいて、前記先行車両の自動運転の制御を行う自動運転制御部に前記第１車線変更を自動運転で行うための命令を出力する、または、前記先行車両の自動運転の計画である先行側自動運転計画を策定する、走行支援装置。     The driving support device according to claim 9, wherein
    The preceding vehicle can be driven automatically,
    The preceding control unit is
    Based on the determination result of the preceding control unit as to whether or not the first lane change can be performed, the first lane change is performed by the automatic driving to the automatic driving control unit that controls the automatic driving of the preceding vehicle. A driving support device that outputs a command for driving or formulates a preceding automatic driving plan that is an automatic driving plan for the preceding vehicle.
  13. 　請求項９に記載の走行支援装置であって、
    　前記先行車両は自動運転が可能であり、
    　前記先行側制御部は、
    　前記第１車線変更を実行できるか否かについての前記先行側制御部の判定結果に基づき、車々間通信によって前記後続車両に送信すべき、前記先行車両の自動運転の計画である先行側自動運転計画、または、前記後続車両の自動運転の計画である後続側自動運転計画を策定する、走行支援装置。     The driving support device according to claim 9, wherein
    The preceding vehicle can be driven automatically,
    The preceding control unit is
    A preceding automatic driving plan that is an automatic driving plan for the preceding vehicle to be transmitted to the following vehicle by inter-vehicle communication based on a determination result of the preceding control unit as to whether or not the first lane change can be performed. Or the driving assistance device which formulates the succeeding side automatic driving plan which is the plan of the automatic driving of the succeeding vehicle.
  14. 　請求項１２に記載の走行支援装置であって、
    　前記後続側情報取得部は、
    　前記第１車線変更を実行するための実行要求を前記後続車両から取得し、
    　前記先行側情報取得部は、
    　前記後続側情報取得部で取得された前記実行要求を車々間通信によって取得し、
    　前記先行側制御部は、
    　前記先行側情報取得部が前記実行要求を取得した場合に、前記先行側自動運転計画に関わらず前記第１車線変更の実行が可能か否かを判定し、前記第１車線変更の実行が可能であると判定した場合に前記第１車線変更を実行する、走行支援装置。     It is a driving assistance device according to claim 12, Comprising:
    The subsequent side information acquisition unit includes:
    An execution request for executing the first lane change is acquired from the following vehicle,
    The preceding information acquisition unit
    The execution request acquired by the subsequent side information acquisition unit is acquired by inter-vehicle communication,
    The preceding control unit is
    When the preceding information acquisition unit acquires the execution request, it is determined whether or not the first lane change can be executed regardless of the preceding automatic driving plan, and the first lane change can be executed. The driving support device that executes the first lane change when it is determined that
  15. 　請求項１に記載の走行支援装置であって、
    　前記情報取得部は、
    　前記後続車両の自動追従における前記先行車両と前記後続車両との間の車間距離を取得し、
    　前記制御部は、
    　前記情報取得部で取得された前記他車両相対位置、前記他車両相対速度及び前記車間距離に基づいて、前記第１車線変更が実行できるか否かを判定し、前記第１車線変更ができないと判定した場合に前記車間距離を短くする、走行支援装置。     The driving support device according to claim 1,
    The information acquisition unit
    Obtaining an inter-vehicle distance between the preceding vehicle and the succeeding vehicle in automatic follow-up of the succeeding vehicle;
    The controller is
    Based on the other vehicle relative position, the other vehicle relative speed, and the inter-vehicle distance acquired by the information acquisition unit, it is determined whether or not the first lane change can be executed, and the first lane change cannot be performed. A travel support device that shortens the inter-vehicle distance when it is determined.
  16. 　請求項１に記載の走行支援装置であって、
    　前記制御部は、
    　前記情報取得部で取得された前記他車両相対位置及び前記他車両相対速度に基づいて、前記第１車線変更が実行できるか否かを判定し、前記第１車線変更ができないと判定した場合に、一つの前記他車両と別の前記他車両との間の車間距離を長くする指示を、車々間通信によって前記一つの他車両と前記別の他車両に送信する、走行支援装置。     The driving support device according to claim 1,
    The controller is
    When determining whether or not the first lane change can be executed based on the other vehicle relative position and the other vehicle relative speed acquired by the information acquisition unit, and when determining that the first lane change cannot be performed A driving support device that transmits an instruction to increase the inter-vehicle distance between one other vehicle and another other vehicle to the one other vehicle and the other other vehicle by inter-vehicle communication.
  17. 　請求項３に記載の走行支援装置であって、
    　前記制御部は、
    　前記第１車線変更の判定結果と、前記第２車線変更の判定結果と、前記第１車線変更モード及び前記第２車線変更モードのうち実行されているモードと、の少なくともいずれか１つに基づいて表示部の表示を変更する、走行支援装置。     It is a driving assistance device according to claim 3,
    The controller is
    Based on at least one of the determination result of the first lane change, the determination result of the second lane change, and the mode being executed among the first lane change mode and the second lane change mode. The driving support device that changes the display on the display unit.
  18. 　請求項１に記載の走行支援装置であって、
    　前記情報取得部は、前記先行車両と前記後続車両とについての相対位置である先後相対位置を取得し、
    　前記制御部は、
    　前記情報取得部で取得された前記他車両相対位置及び前記先後相対位置に基づいて、前記先行車両、前記後続車両及び前記他車両の相対位置を表示部に表示させる、走行支援装置。     The driving support device according to claim 1,
    The information acquisition unit acquires a front-rear relative position that is a relative position of the preceding vehicle and the subsequent vehicle;
    The controller is
    A travel support device that causes a display unit to display relative positions of the preceding vehicle, the succeeding vehicle, and the other vehicle based on the relative position of the other vehicle and the relative position of the front and rear acquired by the information acquisition unit.
  19. 　請求項９に記載の走行支援装置であって、
    　前記後続側情報取得部は、前記後続車両の前記他車両に関する情報である後続側他車両情報を取得し、
    　前記先行側情報取得部は、前記後続側情報取得部で取得された前記後続側他車両情報を車々間通信によって取得し、
    　前記先行側制御部は、
    　前記先行側情報取得部で取得された前記後続側他車両情報を表示部に表示させる、走行支援装置。     The driving support device according to claim 9, wherein
    The subsequent side information acquisition unit acquires subsequent side other vehicle information that is information related to the other vehicle of the subsequent vehicle,
    The preceding side information acquisition unit acquires the subsequent side other vehicle information acquired by the subsequent side information acquisition unit by inter-vehicle communication,
    The preceding control unit is
    A travel support device that causes the display unit to display the subsequent-side other vehicle information acquired by the preceding-side information acquisition unit.
  20. 　請求項１に記載の走行支援装置であって、
    　前記制御部は、
    　車々間通信によって前記先行車両と前記後続車両との間で送受信される情報を、表示部に表示させる、走行支援装置。     The driving support device according to claim 1,
    The controller is
    A driving support device that displays information transmitted and received between the preceding vehicle and the following vehicle by inter-vehicle communication on a display unit.
  21. 　先行車両と、車々間通信及び自動運転によって前記先行車両への追従走行を行う自動追従が可能な後続車両との少なくとも一方と、前記先行車両及び前記後続車両以外の１以上の他車両とについての相対位置である他車両相対位置を取得し、かつ、前記先行車両及び前記後続車両の少なくとも一方と前記他車両とについての相対速度である他車両相対速度を取得し、
    　取得された前記他車両相対位置及び前記他車両相対速度に基づいて、前記後続車両が自動追従を維持しながら前記先行車両及び前記後続車両が一体的に車線変更する第１車線変更を実行できるか否かを判定し、
    　前記後続車両の自動運転は、前記後続車両の運転者が関与可能な自動運転である、走行支援方法。     Relative relation between at least one of the preceding vehicle and a succeeding vehicle capable of following the preceding vehicle by inter-vehicle communication and automatic driving and one or more other vehicles other than the preceding vehicle and the following vehicle The other vehicle relative position which is a position, and the other vehicle relative speed which is a relative speed for at least one of the preceding vehicle and the succeeding vehicle and the other vehicle,
    Based on the acquired relative position of the other vehicle and the relative speed of the other vehicle, is it possible to execute a first lane change in which the preceding vehicle and the succeeding vehicle change lanes integrally while the subsequent vehicle maintains automatic tracking? Determine whether or not
    The driving support method, wherein the automatic driving of the succeeding vehicle is an automatic driving in which a driver of the succeeding vehicle can be involved.
PCT/JP2017/009445 2017-03-09 2017-03-09 Traveling support device and traveling support method WO2018163349A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2017/009445 WO2018163349A1 (en) 2017-03-09 2017-03-09 Traveling support device and traveling support method
JP2019504220A JP6804629B2 (en) 2017-03-09 2017-03-09 Driving support device and driving support method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/009445 WO2018163349A1 (en) 2017-03-09 2017-03-09 Traveling support device and traveling support method

Publications (1)

Publication Number Publication Date
WO2018163349A1 true WO2018163349A1 (en) 2018-09-13

Family

ID=63448464

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/009445 WO2018163349A1 (en) 2017-03-09 2017-03-09 Traveling support device and traveling support method

Country Status (2)

Country Link
JP (1) JP6804629B2 (en)
WO (1) WO2018163349A1 (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020157830A (en) * 2019-03-25 2020-10-01 本田技研工業株式会社 Vehicle control device, vehicle control method, and program
JP2022528360A (en) * 2019-03-25 2022-06-10 マイクロン テクノロジー，インク． Cryptographically secure mechanism for remote control of autonomous vehicles
US11358599B2 (en) 2019-03-25 2022-06-14 Honda Motor Co., Ltd. Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program
US11465627B2 (en) 2019-03-25 2022-10-11 Honda Motor Co., Ltd. Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program for controlling traveling of a vehicle

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10261194A (en) * 1997-03-18 1998-09-29 Fujitsu Ten Ltd Device and method for controlling vehicle group formation
JPH10307997A (en) * 1997-05-01 1998-11-17 Fujitsu Ten Ltd Device and method for controlling travelling in files
JPH11144185A (en) * 1997-09-03 1999-05-28 Honda Motor Co Ltd Automatic drive control guidance system
JPH11328584A (en) * 1998-05-15 1999-11-30 Fujitsu Ten Ltd Vehicles group formation control device
JP2015011458A (en) * 2013-06-27 2015-01-19 株式会社デンソー Vehicle information providing device
JP2015020503A (en) * 2013-07-17 2015-02-02 日産自動車株式会社 Travel control device for vehicle and convoy travel control method
JP2016017914A (en) * 2014-07-10 2016-02-01 日産自動車株式会社 Travel support device and travel support method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10261194A (en) * 1997-03-18 1998-09-29 Fujitsu Ten Ltd Device and method for controlling vehicle group formation
JPH10307997A (en) * 1997-05-01 1998-11-17 Fujitsu Ten Ltd Device and method for controlling travelling in files
JPH11144185A (en) * 1997-09-03 1999-05-28 Honda Motor Co Ltd Automatic drive control guidance system
JPH11328584A (en) * 1998-05-15 1999-11-30 Fujitsu Ten Ltd Vehicles group formation control device
JP2015011458A (en) * 2013-06-27 2015-01-19 株式会社デンソー Vehicle information providing device
JP2015020503A (en) * 2013-07-17 2015-02-02 日産自動車株式会社 Travel control device for vehicle and convoy travel control method
JP2016017914A (en) * 2014-07-10 2016-02-01 日産自動車株式会社 Travel support device and travel support method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020157830A (en) * 2019-03-25 2020-10-01 本田技研工業株式会社 Vehicle control device, vehicle control method, and program
US11285957B2 (en) * 2019-03-25 2022-03-29 Honda Motor Co., Ltd. Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program
JP2022528360A (en) * 2019-03-25 2022-06-10 マイクロン テクノロジー，インク． Cryptographically secure mechanism for remote control of autonomous vehicles
US11358599B2 (en) 2019-03-25 2022-06-14 Honda Motor Co., Ltd. Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program
US11465627B2 (en) 2019-03-25 2022-10-11 Honda Motor Co., Ltd. Traveling control apparatus, traveling control method, and non-transitory computer-readable storage medium storing program for controlling traveling of a vehicle
JP7156988B2 (en) 2019-03-25 2022-10-19 本田技研工業株式会社 Travel control device, travel control method, and program

Also Published As

Publication number Publication date
JP6804629B2 (en) 2020-12-23
JPWO2018163349A1 (en) 2019-06-27

Similar Documents

Publication Publication Date Title
JP6799592B2 (en) Speed control to completely stop autonomous vehicles
WO2018163349A1 (en) Traveling support device and traveling support method
JP6575818B2 (en) Driving support method, driving support device using the same, automatic driving control device, vehicle, driving support system, program
JP6611957B2 (en) Information output control device and information output control method
US20140371988A1 (en) Steering assistance display device
CN109866768A (en) The device and method thereof of queueization control
US10625676B1 (en) Interactive driving system and method
JP6350596B2 (en) Display system
JP2018135075A (en) Image display system, image display method, and program
US20200310448A1 (en) Behavioral path-planning for a vehicle
US10747222B2 (en) Traveling control system
CN108473138B (en) Method and apparatus for assisting shifting and lane changing
US10583841B2 (en) Driving support method, data processor using the same, and driving support system using the same
JPWO2019150525A1 (en) Vehicle control devices, vehicles, and vehicle control methods
US20200307574A1 (en) Path-planning fusion for a vehicle
JP6016996B1 (en) Vehicle steering control device and steering control method
JP6527070B2 (en) Traveling control device
JP2010182148A (en) Travelling condition recording device
CN109144070A (en) Mobile device assists automatic Pilot method, automobile and storage medium
US20220126817A1 (en) Semi-autonomous parking of a follower vehicle
US20210402981A1 (en) Virtual vehicle interface
WO2020053983A1 (en) Autonomous driving diagnostic device and autonomous driving diagnostic method
WO2018127962A1 (en) Reporting control device and reporting control method
GB2599309A (en) Vehicle control system and method
JP2018188020A (en) Automated driving support device and automated driving support method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17899718

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2019504220

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17899718

Country of ref document: EP

Kind code of ref document: A1