WO2020065892A1

WO2020065892A1 - Travel control method and travel control device for vehicle

Info

Publication number: WO2020065892A1
Application number: PCT/JP2018/036143
Authority: WO
Inventors: 早川　泰久; 沖　孝彦
Original assignee: 日産自動車株式会社
Priority date: 2018-09-27
Filing date: 2018-09-27
Publication date: 2020-04-02
Also published as: JPWO2020065892A1; JP7147858B2

Abstract

Before executing the automatic travel control for automatically changing the direction of travel of a vehicle (V₀), first travel control change information (Td1) indicating the travel direction to be changed is presented to a driver (D) by a presentation device (15). In response to the presentation of the first travel control change information (Td1), an acceptance gesture indicating the travel direction by the driver (D) is detected. If the travel direction indicated by the acceptance gesture matches the travel direction presented in the first travel control change information (Td1), it is determined that the change in the travel direction has been accepted, and automatic travel control for changing the travel direction is executed.

Description

Vehicle traveling control method and traveling control device

The present invention relates to a travel control method and a travel control device for a vehicle, including a control of changing a travel lane, a right-turn travel control or a left-turn travel control, a departure travel control from a main road, and an entry travel control on a main road.

When automatically changing the lane of a vehicle, the driver operates the blinker lever to indicate the driver's intention to change lanes in order to prompt the driver to confirm safety. It is determined whether the driver has performed a lane change safety check operation based on either the face direction or the line of sight direction based on the captured image of the head of the driver, and the lane change is automatically performed on this condition Devices are known. (Patent Document 1).

International Publication WO2017 / 094316

However, in the prior art, the safety of the lane change can be confirmed by the driving support device, and even if the lane change is automatically performed without any problem, the driver does not perform the intention to accept the lane change and does not perform the safety confirmation operation. There was a problem that it was bothersome.

The problem to be solved by the present invention is to provide a travel control method and a travel control device that allow a driver to accept a change in a travel direction including a lane change without feeling bothersome.

According to the present invention, before executing the automatic traveling control for automatically changing the traveling direction of the vehicle, the traveling direction indicated by the first traveling control change information and the traveling direction indicated by the first gesture of the driver are determined. The above problem is solved by determining that the change in the traveling direction has been accepted when they match.

According to the present invention, the driver can accept the change in the traveling direction only by indicating the traveling direction by the first gesture, so that the driver does not feel troublesome.

1 is a block diagram illustrating an embodiment of a travel control device for a vehicle according to the present invention. It is a figure showing an example of a table used for judgment of a run scene. It is a top view showing the scene of the lane change concerning an embodiment of the present invention. It is an explanatory view showing an installation state of an in-vehicle camera concerning an embodiment of the present invention. FIG. 4 is a diagram illustrating an example of a gesture table according to the embodiment of the present invention. It is a figure which shows the 1st lane control change information presented before the change of the travel control which concerns on embodiment of this invention. It is a figure showing an example of a consent gesture concerning an embodiment of the present invention. It is a figure showing the 3rd run control change information shown to gesture detection and judgment error concerning an embodiment of the present invention. It is a figure showing the 2nd run control change information presented when a gesture concerning an embodiment of the present invention cannot be detected. It is a flowchart (the 1) which shows the lane change control processing of the driving control device of the vehicle which concerns on this invention. It is a flowchart (the 2) which shows the lane change control processing of the driving | running control apparatus of the vehicle which concerns on this invention. It is a flowchart (the 3) which shows the lane change control processing of the driving | running control apparatus of the vehicle which concerns on this invention. It is a flowchart (the 4) which shows the lane change control processing of the driving control device for the vehicle according to the present invention. It is a flowchart (the 5) which shows the lane change control process of the drive control apparatus of the vehicle which concerns on this invention. It is a top view (the 1) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 2) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 3) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 4) for explaining the detection method of the target range of the traveling control device for vehicles concerning the present invention. It is a top view (the 5) for explaining the detection method of the object range of the traveling control device for vehicles concerning the present invention. It is a top view (the 6) for explaining the detection method of the object range of the traveling control device for vehicles concerning the present invention. It is a top view for explaining the setting method of the target position of the lane change of the traveling control device of the vehicle concerning the present invention. FIG. 5 is a plan view (part 1) for explaining a method of predicting the position of another vehicle after a required time by the vehicle travel control device according to the present invention. It is a top view (the 2) for explaining the method of predicting the position of other vehicles after the required time of the running control device of the vehicles concerning the present invention. It is a top view (the 1) for explaining the method of judging whether the lane change of the traveling control device of vehicles concerning the present invention is possible. It is a top view (the 2) for explaining the method of judging whether the lane change of the traveling control device of vehicles concerning the present invention is possible. FIG. 5 is a plan view for explaining a positional relationship between a target lane mark and a host vehicle in a width direction.

FIG. 1 is a block diagram showing the configuration of the vehicle travel control device 1 according to the present embodiment. The travel control device 1 for a vehicle according to the present embodiment is also an embodiment that implements the travel control method for a vehicle according to the present invention. As shown in FIG. 1, the vehicle travel control device 1 according to the present embodiment includes a sensor 11, a vehicle position detection device 12, a map database 13, an in-vehicle device 14, a presentation device 15, an input device 16 , A communication device 17, a drive control device 18, and a control device 19. These apparatuses are connected to each other by, for example, a CAN (Controller Area Network) or another in-vehicle LAN in order to mutually transmit and receive information.

The sensor 11 detects a traveling state of the own vehicle. For example, as the sensor 11, a front camera that images the front of the host vehicle, a rear camera that images the rear of the host vehicle, a front radar that detects an obstacle in front of the host vehicle, a rear that detects an obstacle behind the host vehicle. Examples include a radar, a side radar for detecting obstacles present on the left and right sides of the host vehicle, a vehicle speed sensor for detecting the vehicle speed of the host vehicle, and an in-vehicle camera for imaging the driver. Note that the sensor 11 may be configured to use one of the plurality of sensors described above, or may be configured to use a combination of two or more types of sensors. The detection result of the sensor 11 is output to the control device 19 at predetermined time intervals.

The own-vehicle position detecting device 12 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like, detects radio waves transmitted from a plurality of satellite communications by the GPS unit, and periodically transmits position information of a target vehicle (own vehicle). The current position of the target vehicle is detected based on the obtained position information of the target vehicle, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. The position information of the target vehicle detected by the vehicle position detection device 12 is output to the control device 19 at predetermined time intervals.

The map database 13 stores map information including positional information of various facilities and specific points. Specifically, positional information such as a merging point of a road, a branch point, a tollgate, a position where the number of lanes is reduced, and a service area (SA) / parking area (PA) is stored together with map information. The map information stored in the map database can be referred to by the control device 19.

The on-vehicle device 14 is various devices mounted on the vehicle, and operates by being operated by a driver. Examples of such in-vehicle devices include steering, accelerator pedals, brake pedals, navigation devices, audio devices, air conditioners, hands-free switches, power windows, wipers, lights, direction indicators, horns, and specific switches. When the in-vehicle device 14 is operated by the driver, the information is output to the control device 19.

The presentation device 15 includes, for example, a display included in a navigation device, a display incorporated in a room mirror, a display incorporated in a meter unit, a head-up display projected on a windshield, a speaker included in an audio device, and a vibrating body embedded therein. Such as a seat device. The presentation device 15 notifies the driver of presentation information and travel control change information, which will be described later, under the control of the control device 19. The travel control change information includes information on lane change control of the vehicle, information on right turn travel control or left turn travel control of the vehicle, or information on travel control of the vehicle leaving the main road or approaching the main road. And so on.

The input device 16 is, for example, a device such as a dial switch that can be manually input by a driver, a touch panel arranged on a display screen, or a microphone that can be input by a driver's voice. In the present embodiment, the driver operates the input device 16 to input response information to the presentation information presented by the presentation device 15. For example, in the present embodiment, a direction indicator or a switch of another vehicle-mounted device 14 can be used as the input device 16. By turning on the switch of the turn signal, it is possible to input a consent or permission to change the traveling control. Note that the response information input by the input device 16 is output to the control device 19.

The communication device 17 communicates with a communication device outside the vehicle. For example, the communication device 17 performs inter-vehicle communication with another vehicle, performs inter-vehicle communication with a device installed on the shoulder of a road, or communicates with an information server installed outside the vehicle. Various information can be obtained from an external device by performing wireless communication or the like. The information acquired by the communication device 17 is output to the control device 19.

The drive control device 18 controls the traveling of the own vehicle. For example, the drive control device 18 includes a drive mechanism for realizing the acceleration / deceleration and the vehicle speed so that the distance between the host vehicle and the preceding vehicle is constant when the own vehicle controls the following of the preceding vehicle. (Including the operation of the internal combustion engine for an engine vehicle, the operation of the traction motor for an electric vehicle, and the torque distribution between the internal combustion engine and the traction motor for a hybrid vehicle) and brakes Control behavior. Also, lane keeping control for detecting a lane mark of a lane in which the vehicle travels (hereinafter, also referred to as the vehicle lane) and controlling a traveling position of the vehicle in the width direction so that the vehicle travels in the vehicle lane. When the vehicle performs lane change control such as passing of a preceding vehicle or changing the traveling direction, or when performing a right or left turn traveling control at an intersection or the like, driving for realizing acceleration / deceleration and vehicle speed is performed. The steering control of the own vehicle is executed by controlling the operation of the steering actuator in addition to the operation of the mechanism and the brake operation. The drive control device 18 controls the traveling of the host vehicle in accordance with an instruction from a control device 19 described later. Further, as the traveling control method by the drive control device 18, other known methods can be used.

The control device 19 includes a ROM (Read Only Memory) storing a program for controlling traveling of the own vehicle, a CPU (Central Processing Unit) executing the program stored in the ROM, and an accessible storage device. It consists of a functioning RAM (Random Access Memory). In addition, as an operation circuit, instead of or together with a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit Circuit), an FPGA (Field Programmable Gate Array), etc. Can be used.

The control device 19 executes a program stored in the ROM by the CPU to obtain a traveling information acquisition function for acquiring information on the traveling state of the own vehicle, a traveling scene determination function for determining a traveling scene of the own vehicle, A travel control function for controlling the travel of the vehicle, a lane change control function for judging whether or not lane change is possible, and a lane change control function for controlling lane change, and a travel control for presenting lane change information relating to a traveling operation of the vehicle by the lane change control to the driver. A change information presentation function, a consent confirmation function for confirming whether or not the driver has accepted the lane change with respect to the presented lane change information, and a tightness determination function for determining a tightness with respect to a change in the traveling direction, To achieve. Hereinafter, each function of the control device 19 will be described.

The driving information obtaining function of the control device 19 is a function of obtaining driving information relating to the driving state of the host vehicle. For example, the control device 19 uses the running information acquisition function to run the image information of the outside of the vehicle captured by the front camera and the rear camera included in the sensor 11 and the detection results by the front radar, the rear radar, and the side radar. Get as information. The control device 19 also acquires, as travel information, vehicle speed information of the own vehicle detected by a vehicle speed sensor included in the sensor 11 and image information of a driver's face imaged by an in-vehicle camera, by a travel information acquisition function.

制御 Furthermore, the control device 19 obtains information on the current position of the own vehicle as running information from the own vehicle position detecting device 12 by the running information obtaining function. In addition, the control device 19 uses the travel information acquisition function to use location information such as a merging point, a branch point, a tollgate, a reduced number of lanes, and a service area (SA) / parking area (PA) as travel information. To get from. In addition, the control device 19 acquires operation information of the in-vehicle device 14 by the driver from the in-vehicle device 14 by using the traveling information acquisition function as traveling information.

The driving scene determination function of the control device 19 refers to a table stored in the ROM of the control device 19 and determines a driving scene in which the host vehicle is traveling. FIG. 2 is a diagram illustrating an example of a table used for determining a traveling scene. As shown in FIG. 2, the table stores a traveling scene suitable for changing lanes and a determination condition thereof for each traveling scene. The control device 19 refers to the table shown in FIG. 2 and determines whether or not the traveling scene of the own vehicle is a traveling scene suitable for changing lanes by using the traveling scene determination function.

For example, in the example illustrated in FIG. 2, “the preceding vehicle is present ahead”, “the speed of the preceding vehicle <the set vehicle speed of the own vehicle”, and “the arrival to the preceding vehicle” Are within a predetermined time "and" the lane change direction is not a lane change prohibition condition ". The control device 19 uses the traveling scene determination function to detect, for example, a result of detection by a front camera or a forward radar included in the sensor 11, a vehicle speed of the own vehicle detected by a vehicle speed sensor, and a position of the own vehicle by the own vehicle position detection device 12. It is determined whether or not the own vehicle satisfies the above condition based on the information and the like. If the above condition is satisfied, it is determined that the own vehicle is a “scene catching up with the preceding vehicle”. Similarly, the control device 19 determines whether or not the determination conditions are satisfied for all the driving scenes registered in the scene determination table illustrated in FIG. 2 by the driving scene determination function.

The lane change prohibition conditions include, for example, “running in a lane change prohibition area”, “an obstacle exists in the lane change direction”, “every time a center line (road center line) is straddled”, And "becoming on the shoulder or straddling the road edge". In addition, on a road that permits an emergency stop at a road shoulder or the like in the “emergency evacuation scene”, the condition of “entering the road shoulder or straddling the road edge” is permitted in the “emergency evacuation scene”. You can also. In the table shown in FIG. 2, the necessity of lane change, the time limit, and the direction of lane change will be described later.

In addition, when the traveling scene of the own vehicle corresponds to a plurality of traveling scenes, the control device 19 determines the traveling scene having the higher necessity of the lane change as the traveling scene of the own vehicle when the traveling scene of the own vehicle corresponds to a plurality of traveling scenes. I do. For example, in the table shown in FIG. 2, the traveling scene of the own vehicle corresponds to the “scene of catching up with the preceding vehicle” and the “scene of changing lanes to the destination”, and the necessity of the lane change in the “scene of catching up with the preceding vehicle” It is assumed that X1 is lower than the necessity X8 of lane change in the “lane transfer scene to destination” (X1 <X8). In this case, the control device 19 determines the “lane transfer scene to the destination” having the higher necessity of the lane change as the traveling scene of the own vehicle by the traveling scene determination function. The “lane transfer scene to the destination” is a lane in the target branch direction or exit direction from the lane where the vehicle is currently traveling, such as at a branch point of a road having a plurality of lanes or just before an exit. This refers to a scene in which the lane is changed to transfer to.

The traveling control function of the control device 19 is a function of controlling traveling of the own vehicle. For example, the control device 19 detects the lane mark of the own lane on which the own vehicle travels based on the detection result of the sensor 11 by the travel control function, and controls the own vehicle so that the own vehicle travels in the own lane. Lane keeping control for controlling the traveling position in the width direction is performed. In this case, the control device 19 causes the drive control device 18 to control the operation of the steering actuator and the like so that the vehicle travels at an appropriate traveling position by the traveling control function. In addition, the control device 19 can also perform a follow-up traveling control that automatically follows the preceding vehicle at a predetermined inter-vehicle distance from the preceding vehicle by the traveling control function. When performing the following travel control, the control device 19 outputs a control signal to the drive control device 18 by a travel control function so that the own vehicle and the preceding vehicle travel at a constant inter-vehicle distance, and outputs an engine, a brake, and the like. Control the operation of the drive mechanism of In the following, description will be made as automatic travel control, including lane keeping control, follow-up travel control, right / left turn travel control, and lane change control.

The lane change control function of the control device 19 is a function of determining whether or not to change lanes based on the traveling scene of the own vehicle and information on obstacles existing around the own vehicle. The lane change control function is also a function of causing the drive control device 18 to control the operation of a drive mechanism such as an engine or a brake and the operation of a steering actuator when it is determined that a lane change is to be performed. Further, the lane change control function is a function of setting a start timing for starting the lane change control based on the traveling state of the vehicle and the state of the driver, and executing the lane change control according to the set start timing. The details of the lane change control by the lane change control function will be described later.

The traveling control change information presenting function of the control device 19 transmits, via the presentation device 15, change information relating to the traveling operation of the own vehicle by automatic traveling control including lane keeping control, following traveling control, right / left turn traveling control, lane change control, and the like. Function to present to the driver. For example, if there is a branch point of a road ahead or an exit or a service area of an exclusive motorway during the execution of the lane keeping control, the traveling direction of the own vehicle is changed and the lane change is required. Sometimes. In addition, if the preceding vehicle changes lanes during execution of the follow-up running control of the preceding vehicle, the own vehicle may change lanes accordingly. Further, it may be necessary to change the traveling direction of turning right or left at an intersection or the like in the middle of the route to the destination. When such a change in the traveling direction is performed by the automatic traveling control, it is determined whether or not the traveling direction can be changed, and if the traveling direction can be changed, the driver himself / herself must confirm safety. The control device 19 presents the driving direction change information of the driving control to the driver by the driving control change information presenting function. The presentation timing of the travel control change information is intended to be at least before the start of the change of the travel direction of the travel control because the purpose is to confirm the safety by the driver himself.

Here, an example of the travel control change information presented to the driver before the start of the change of the travel direction of the travel control will be described. Figure 3 is a plan view showing a scene of a lane change according to an embodiment of the present invention, in road three lanes L1, L2, L3 of the left-hand traffic, other vehicles traveling vehicle V ₀ is the forward it is a scene that overtake the V _1. The left side of FIG. 3 is a plan view showing an example of a current lane change control vehicle V ₀ executes a lane change to the adjacent lane L3 from the lane L2 traveling, right view of FIG. 3, another vehicle V FIG. 9 is a plan view showing an example of lane change control for returning to lane L2 after overtaking ₁ ;

In the present embodiment, when performing the lane change a plurality of times, the first travel control change information Td1 (see FIG. 6A) indicating that the lane change is to be performed is presented to the presentation device 15 before performing the first lane change control. I do. If the driver indicates his / her intent to accept this presentation, after the first lane change is performed, the second lane change is performed before the second lane change control is performed. Is presented to the presentation device 15. In the example illustrated in FIG. 3, the lane change is performed twice. However, when the lane change is performed three or more times, similarly, the first travel that the lane change is performed before the next lane change is performed. The control change information Td1 is presented to the presentation device 15 to confirm the driver's consent. As described above, the control device 19 of the present embodiment prompts the driver himself to confirm the safety every time the lane is changed by the driving control change information presenting function.

In addition, the presentation form to the presentation device 15 by the traveling control change information presentation function is, when the presentation device 15 includes a display, in addition to displaying a visual pattern including images and languages, and when the presentation device 15 includes a speaker. The travel control change information (for example, guidance information for changing lanes to the left or right lane) including the width direction of the vehicle moving by the lane change control is used as auditory information (voice or sound). May be presented to the driver. In the case where the presentation device 15 includes one or more warning lamps installed on an instrument panel or the like, the own vehicle moves by lane change control by turning on a specific warning lamp in a specific presentation mode. Travel control change information including the width direction may be presented to the driver. Further, in the case where the presentation device 15 includes a seat device in which a plurality of vibrating bodies are embedded, the specific vibrating body is vibrated in a specific presentation mode, so that the direction of the width direction in which the own vehicle moves by the lane change control. May be presented to the driver.

In this way, instead of displaying the travel control change information on the display as visual information, or in addition to displaying it on the display as visual information, audio information such as sound and sound, visual information by displaying a warning lamp, Alternatively, by presenting the driving control change information to the driver as tactile information by vibration, the driver can more intuitively grasp the driving control change information. In addition, in the vehicle travel control device 1 according to the present embodiment, the travel control change information presented to the presentation device 15 is not performed once so that the driver does not feel troublesome about the operation for accepting the information. The driver's consent operation every time the travel direction of the travel control is changed is set as follows in relation to the presentation of the travel control change information.

The consent confirmation function of the control device 19 is a function for confirming whether or not the driver has accepted the change in the traveling control with respect to the first traveling control change information Td1 presented by the traveling control change information presenting function. The driver's consent to change the driving direction of the driving control is made by a gesture with directionality by the driver, that is, a consent gesture including an instruction of the driving direction to be changed, such as the direction of the width direction moving in the lane change or the right / left turn direction. Is shown. Note that the consent gesture performed on the first travel control change information Td1 corresponds to a first gesture of the present invention.

As shown in FIG. 4, for example, on the dashboard V _0a of the vehicle V ₀ , the upper body, head, and face of the driver D sitting in the driver seat V _0b are photographed, and the photographed image is input to the control device 19. An in-vehicle camera 111 is installed. When accepting the first traveling control change information Td1 presented by the presentation device 15, the driver D performs an acceptance gesture including an instruction of the traveling direction to be changed.

The consent confirmation function of the control device 19 analyzes an image input from the in-vehicle camera 111 by image recognition processing or the like, and detects a consent gesture performed by the driver D. Then, it is determined whether or not the traveling direction indicated by the detected consent gesture matches the traveling direction of the change destination presented in the first traveling control change information Td1. The consent confirmation function of the control device 19 is configured such that when the traveling direction presented in the first traveling control change information Td1 matches the traveling direction indicated by the consent gesture, the change in the traveling direction of the traveling control is accepted. Is determined to have been made.

The control device 19 detects and determines the consent gesture of the driver D by referring to the gesture table shown in FIG. 5 by the consent confirmation function. The gesture table is stored in the ROM of the control device 19. In the gesture table, an acceptance gesture for indicating acceptance of the change in the traveling direction presented in the first traveling control change information Td1 and a cancel gesture for not accepting or canceling are registered. The consent gesture includes, for example, "shaking head in running direction", "turning face in running direction", "moving line of sight in running direction", "pointing in running direction", "hand or arm in running direction" A plurality of types of gestures are registered, such as "raise hand or arm in running direction". Note that the motion of shaking the head may include a motion of turning the neck, a motion of tilting the neck, and the like.

In addition, the cancel gesture of the gesture table includes a plurality of types of gestures, such as “shaking the neck left and right”, “raising both hands or both arms”, “shaking the hands left and right”, and “representing X with both hands or both arms”. Gesture is registered. Incidentally, compliance, gesture representing a like non-compliance is different depending on the country or region, depending on the country or region the vehicle V ₀ is traveling, appropriately add the contents of gestures that are registered in the gesture table, to be able to change Is preferred.

As described above, the driver D registers a plurality of types of consent gestures in the gesture table, and the driver D indicates any one of the consent gestures from the plurality of types of consent gestures registered in the gesture table. Is detected and it is determined whether or not the consent has been accepted. Therefore, the driver D only needs to show the consent gesture that is most easily performed, and can eliminate troublesomeness associated with the consent operation.

FIGS. 6A to 6D are diagrams showing traveling control change information presented by the traveling control change information presenting function, and an example of a gesture of consent of the driver D to the traveling control change information. As described above, in addition to the lane change information, the first travel control change information of the present embodiment includes change information relating to right / left turn travel control, control of departure travel from the main road, or approach travel to the main road. Although change information regarding control is included, FIGS. 6A to 6D show an example in which the first lane change is executed in the two lane change controls shown in FIG.

FIG. 6A shows the first travel control change information Td1 presented to the presentation device 15 before starting to change lanes from the center lane L2 to the rightmost lane L3 as shown in FIG. In this example, before starting the lane change to the rightmost lane L3 from the center of the lane L2, as shown in FIG. 6A, the vehicle V ₀ on the display of the presentation device 15, lanes L1, L2, L3 image data of the forward view is displayed including a lane change destination of the vehicle V ₀ using the visual pattern, such as arrows, and OK mark and Cancel mark, is displayed. The OK mark and the Cancel mark indicate to the driver D an option for the first travel control change information Td1, and in FIG. 6A, both are displayed with a light density so as to indicate that they are not selected. In addition, in FIG. 6A, along with this display, a message such as "Do you accept lane change to the right direction? Please instruct by gesture" is output from the speaker by voice data. This message may be displayed on the display as character data.

The driver visually checks the surroundings and the like with respect to the first traveling control change information Td1 shown in FIG. 6A, and if it is determined that the lane may be changed, the driver is registered in the gesture table of FIG. Performs an arbitrary gesture selected from a plurality of accepted gestures. FIG. 6B shows an example of a consent gesture performed by the driver D when changing lanes to the right, including an indication of the driving direction to be changed. FIG. 3A shows a consent gesture of “shaking his head in the running direction” or “turning his face in the running direction”. FIG. 6B shows a consent gesture of “moving the line of sight in the traveling direction”. FIG. 7C shows a consent gesture of “pointing in the running direction” with the left hand. FIG. 3D shows a consent gesture of “raise the hand or arm in the running direction” with the right hand, or “shake the hand or arm in the running direction”. As described above, the driver D can consent to the change in the traveling direction presented in the first traveling control change information Td1 by performing the gesture with the consent gesture direction including the instruction of the traveling direction to be changed. It is.

The control device 19 detects the consent gesture of the driver D by the consent confirmation function, and when the driving direction indicated by the detected consent gesture matches the driving direction presented in the first driving control change information Td1. As shown in the left diagram of FIG. 6C, the third travel control change information Td3 indicating the gesture determination result is presented to the presentation device 15. In the third travel control change information Td3, the OK mark is displayed with a high density to indicate that the driver D has accepted the lane change. In addition, in the left diagram of FIG. 6C, along with this display, a message such as “The lane change to the right has been accepted. When changing, please perform a cancel gesture” is output from the speaker by voice data. This message may be displayed on the display as character data.

Conversely, when the driver D performs a cancel gesture on the first travel control change information, the third travel control change information Td3 includes Cancel as shown in the right diagram of FIG. 6C. The mark is displayed with a high density. In addition, in the right diagram of FIG. 6C, along with this display, a message such as “lane change to the right has been canceled. If you want to change, please perform the cancel gesture” is output from the speaker by voice data. . This message may be displayed on the display as character data.

When changing the determination result presented in the third traveling control change information Td3, the driver D performs an arbitrary cancel gesture selected from a plurality of types of cancel gestures registered in the gesture table of FIG. The cancel gesture is photographed by the in-vehicle camera 111, analyzed by the consent confirmation function of the control device 19, and detected / determined.

When the driver D does not perform the cancel gesture with respect to the third traveling control change information Td3, the consent confirmation function of the control device 19 changes the determination result presented in the third traveling control change information Td3 to the normal determination result. To be specified. That is, when the determination result indicating that the driver D accepts the lane change is presented in the third traveling control change information Td3, the determination result becomes a normal determination result. In addition, when the determination result indicating that the lane change is stopped is presented in the third traveling control change information Td3, the determination result becomes a normal determination result.

On the other hand, when the driver D performs the cancel gesture on the third travel control change information Td3, the consent confirmation function of the control device 19 determines whether the determination result presented in the third travel control change information Td3 is The opposite determination result is specified as a normal determination result. That is, when the determination result indicating that the driver D accepts the lane change is presented in the third travel control change information Td3, the determination result indicating that the lane change is stopped is a normal determination result. In addition, when the third traveling control change information Td3 includes a determination result indicating that the lane change is to be stopped, the determination result indicating that the lane change is accepted is a normal determination result.

As described above, after the detection and determination of the gesture of the driver D with respect to the first travel control change information Td1, the third travel control change information Td3 indicating the determination result is presented to prompt the driver D to reconfirm the same gesture. Even if the operation is performed, the operation may be different depending on the understanding and recognition of the gesture of the driver D, the physique, the gender, and the like. In such a case, the gesture may be erroneously detected by the consent confirmation function of the control device 19. Because there is. Therefore, after detecting and determining the gesture of the driver D with respect to the first travel control change information Td1, the third travel control change information Td3 is presented, and the determination result can be changed by reaccepting the cancel gesture. Note that the cancel gesture performed on the third travel control change information Td3 corresponds to the second gesture of the present invention.

した As described above, depending on the understanding and recognition of the gesture of the driver D, there is a possibility that the driver D may erroneously detect the gesture even if the same gesture is performed many times. Therefore, even if it is detected that the driver D is performing a gesture, if the content of the gesture or the instruction of the traveling direction cannot be identified, the type of the gesture is specified to the driver D, and the gesture It is preferable to prompt re-execution. In the present embodiment, when consent or non-consent cannot be identified from the gesture of the driver D, as shown in FIG. 6D, the second travel control change information Td2 is displayed in order to specify the type of the gesture and prompt re-execution. A message such as "Gesture could not be detected. Raise your right hand if you accept the lane change to the right" is output from the speaker by voice data. Further, the message may be displayed as character data on the display of the presentation device 15 in order to clarify that the information is the second travel control change information Td2 for prompting the re-execution of the gesture.

As described above, when the traveling direction indicated by the first traveling control change information Td1 matches the traveling direction indicated by the detected consent gesture, it is determined that the change in the traveling control has been accepted by the driver D. By making the determination, it is possible to prevent the driver D from feeling troublesome about the operation for accepting the change in the traveling direction. That is, in the prior art, even if there is no problem even if the lane change is automatically performed, the driver D displays the intention of the lane change by operating the turn signal lever, and thereafter, the direction of the face and the direction of the line of sight can be predetermined. The operation to consent was very troublesome because the user had to move the device as described above and check the safety. On the other hand, in the present embodiment, since the consent can be made only by the consent gesture indicating the traveling direction, the trouble of the driver can be eliminated. Further, by using a gesture indicating the traveling direction instead of a simple gesture, the driver D can maintain a certain level of consciousness or attention to a change in the traveling direction.

Note that, in the vehicle travel control device 1 of the present embodiment, in principle, a predetermined determination threshold is used for detecting and determining the gesture of the driver D, but the degree of tightness with respect to the change in the travel direction is set in advance. If the gesture is equal to or larger than the threshold, the gesture determination threshold is lowered so that a gesture that is somewhat unclear, such as a gesture with a short duration or a gesture with a small motion, can be detected and determined. The tightness determination function of the control device 19 illustrated in FIG. 1 determines whether the tightness with respect to the change in the traveling direction is equal to or greater than a preset threshold, and when the tightness is equal to or greater than the threshold, the gesture This is a function that sets the determination threshold value lower than the normal level so that even a somewhat unclear gesture can be detected and determined. Note that the gesture determination threshold is, for example, a normal level determination threshold used for a consent gesture of raising the right hand, and when the right hand is raised to a position higher than the chest, it is determined that the driver D has accepted. Is set as follows. In the present embodiment, by lowering the determination threshold below the normal level, it is determined that the driver D has accepted even when the right hand is raised only to a position lower than the chest.

In addition, the case where the degree of tightness against the change of the traveling direction is high means, for example, that the distance to the junction of the interchange, the approach point to the service area, or the exit point of the motorway is short enough to shift the traveling control of the vehicle. In addition to the case where there is no such condition, the detection accuracy of the surroundings of the own vehicle by the sensor 11 is often low such as bad weather, and the reliability of the automatic cruise control by the cruise control device 1 of the vehicle is equal to or less than a certain threshold. It also includes the case where it is reduced to. Therefore, in the vehicle travel control device 1 of the present embodiment, in principle, a common gesture determination threshold is applied at normal times regardless of the age, physique, gender, etc. of the driver D. If the degree is equal to or higher than the predetermined threshold under the above-described situation, the gesture determination threshold is set lower than usual in order to give priority to the prompt instruction from the driver D. Thus, the driver D can focus on monitoring the vehicle without giving extra attention to accurately performing the gesture.

Next, a lane change control process according to the present embodiment will be described with reference to FIGS. 7A to 7E. 7A to 7E are flowcharts showing the lane change control processing according to the present embodiment. The lane change control process described below is executed by the control device 19 at predetermined time intervals. In the following, the cruise control function of the control unit 19, the scene of the lane change control shown in FIG. 3, as the vehicle V ₀ is running in its own traffic lane L2, traveling in the width direction of the vehicle V ₀ while the lane keep control for controlling the position is being carried out, the other vehicle V ₁ of the preceding After passing from the lane L3, described as again returns to the original lane L2.

First, in step S1 of FIG. 7A, the control device 19 acquires the traveling information on the traveling state of the own vehicle by the traveling information acquiring function. In the following step S2, the control device 19 determines the traveling scene of the own vehicle by the traveling scene determination function based on the traveling information acquired in step S1.

In step S3, the control device 19 uses the traveling scene determination function to determine whether the traveling scene of the own vehicle determined in step S2 is a traveling scene suitable for changing lanes. Specifically, the traveling scene determination function determines that the traveling scene of the own vehicle is a traveling scene suitable for changing lanes when the traveling scene of the own vehicle is any of the traveling scenes shown in FIG. I do. If the traveling scene of the own vehicle is not a traveling scene suitable for changing lanes, the process returns to step S1, and the determination of the traveling scene is repeated. On the other hand, if the traveling scene of the host vehicle is a traveling scene suitable for changing lanes, the process proceeds to step S4.

In step S4, the control device 19 detects the target range by the lane change control function. Specifically, the control device 19 uses the lane change control function to output image information of the outside of the vehicle captured by the front camera and the rear camera included in the sensor 11 and the detection results by the front radar, the rear radar, and the side radar. Obstacles around the own vehicle are detected based on the travel information including Then, the control device 19 detects, as the target range, a range that is located on the side of the host vehicle and in which no obstacle exists by the lane change control function.

Note that the “target range” in the present embodiment is a relative range based on a running position when the own vehicle runs at the current speed, and other vehicles existing around the own vehicle are different from the own vehicle. When traveling straight at the same speed, the target range will not change. In addition, “the side of the own vehicle” refers to the target position of the lane change when the own vehicle changes lanes (this target position is also a relative position based on the running position when the own vehicle runs at the current speed). Position), and the range (direction, width, angle, etc.) can be set as appropriate. Hereinafter, a method of detecting the target range OS will be described with reference to FIGS. 8A to 8F. 8A to 8F are plan views for explaining the target range OS.

Example shown in FIG. 8A is a scene that is not the other vehicle V ₁ is a obstacle to right and left adjacent lane L1, L3 which are adjacent to the lane L2 the vehicle V ₀ travels exist. In this case, the control device 19 detects the adjacent lanes L1 and L3 as the target range OS by the lane change control function. Note that the road shoulder RS is a range in which the lane cannot be changed in principle, and is excluded from the target range OS. However, a running scene of the vehicle V ₀ is "emergency evacuation scene" in the road such as a stop to shoulder RS in an emergency is allowed, it is possible to include shoulder RS in scope OS (hereinafter, the same .).

Example shown in FIG. 8B, the left side of the adjacent lane L1 adjacent to the lane L2 the vehicle V ₀ is traveling is no other vehicle V _1, on the right side of the adjacent lane L3, becomes an obstacle other vehicles V is a _{scene _1,} _V ₁ is present. However, a range in which the other vehicles V ₁ , V ₁ do not exist between the other vehicle V _{1 in} front of and behind the other vehicle V ₁ adjacent to the lane L 2 in which the own vehicle V ₀ travels in the adjacent lane L 3. There is a scene. The control device 19 detects, as a target range OS, a left adjacent lane L1 and a range where no other vehicle exists on the right adjacent lane L3 by the lane change control function.

In the example shown in FIG. 8C, there is a range in which the other vehicles V ₁ and V ₁ do not exist in the right adjacent lane L3 as in the example shown in FIG. 8B, and also in the left adjacent lane L1, the front and rear other vehicles V ₁ and V ₁ are present. _1, another vehicle during the V ₁ is a scene where there is a range that does not exist. In this case, the control unit 19, the lane change control function, not a range of other vehicles V _1, V ₁ is absent on the left side of the adjacent lane L1, the other vehicle V _1, V ₁ on the right side of the adjacent lane L3 exist range Are detected as the target range OS.

In the example shown in FIG. 8D, there is a range where other vehicles V ₁ and V ₁ do not exist in the left adjacent lane L1 and there is no other vehicle in the right adjacent lane L3 as in the example shown in FIG. 8C. such construction section and accident vehicle in the adjacent lane L3, a scene in which the range RA of the vehicle V ₀ can not travel there. In this case, the control unit 19, the lane change control function, such as construction area and during the accident vehicle, the range RA of the vehicle V ₀ can not be run, except from the scope OS, to detect the target range OS. The range RA of the vehicle V ₀ can not travel, in addition to the construction period, and the range of the other vehicle V ₁ is parked or stopped, such as by traffic control traveling of the vehicle, and the like extent prohibited. Incidentally, as shown in FIG. 8D, the range RA of the vehicle V ₀ can not be run due to construction section, for example in the case of more than half of the adjacent lane L3 (more than half in the width direction) in the range of less than the other half May be excluded from the target range OS.

Example shown in Figure 8E, there is a range of other vehicles V ₁ on the left side of the adjacent lane _L1, V ₁ is not present, on the right side of the adjacent lane L3 are traveling other vehicle V ₁ is continuous, the adjacent This is a scene in which there is no lane changeable space in the lane L3. In this case, the control device 19 determines that the target range OS cannot be detected in the right adjacent lane L3 by the lane change control function.

The example shown in FIG. 8F is a scene in which the lane change from the adjacent lane L2 to the adjacent lane L3 is prohibited by the lane change prohibition mark RL. In such a road, the control device 19 determines that the target range OS cannot be detected in the right adjacent lane L3 by the lane change control function.

The control device 19 of the present embodiment, the lane change control function, of the left and right direction, the direction to be the lane change in the running scene of the vehicle V _0, detects the direction of the target range OS suitable for lane change I do. In the present embodiment, directions suitable for changing lanes in each traveling scene are stored in the table shown in FIG. 2 in advance. The control device 19 acquires the information of the “direction of lane change” in the traveling scene of the own vehicle with reference to the table shown in FIG. 2 by the lane change control function. For example, when the traveling scene of the own vehicle is a “scene of catching up with the preceding vehicle”, the “lane changing direction” is acquired as the “lane changing direction” by the lane change control function with reference to FIG. Then, the target range OS is detected in the acquired “direction of lane change” by the lane change control function.

Further, the control unit 19, the lane change control function, the side of the vehicle V _0, detects the target range OS. For example, even if the range on the left side of the adjacent lane L1 and right adjacent lane L3 no obstacle exists is detected, the range is separated more than a predetermined distance from the current position of the vehicle V _0, of the vehicle rear side or When the vehicle is located on the front side, it is difficult to change the lane to such a range, and thus it is not detected as the target range OS.

Returning to FIG. 7A, in step S5, a lane change target position is set by the lane change control function. FIG. 9 is a diagram for explaining a method of setting a target position for lane change. For example, the control unit 19, the lane change control function, as shown in FIG. 9, a position within the target range OS of the right adjacent lane L3 detected in step S4, than the current position of the vehicle V ₀ A position slightly shifted backward is set as a target position for changing lanes (for example, the position of the vehicle _V01 shown in FIG. 9). The target position of the lane change (position of the vehicle V ₀₁₎ is a relative position with respect to the position of the vehicle V ₀ is traveling. That is, the vehicle V ₀ is the case of the position reference position when the vehicle travels while the current speed, the position where the rear side slightly than the reference position is set as the target position of the lane change. Thus, when moving the vehicle V ₀ to the target position of the lane change, without accelerating the host vehicle V _0, the vehicle V ₀ can change lanes to the right of the adjacent lane L3.

The control unit 19, the lane change control function entry, and that there is a vehicle V ₀ can range move within the scope OS of the right adjacent lane L3, the scope OS around the vehicle V ₀ such that other vehicle V ₁ that may be the absence, in consideration of the lane change easiness, may set the target position of the lane change. For example, if the lane change control function, the other vehicle V ₁ existing around the target range OS is that running or if, by the scope OS side which issues a turn signal in the direction of the target range OS is determines that the other vehicle V ₁ is is likely to enter the target range OS, the other vehicle V ₁ is the new position in the lesser scope OS may enter, it may be set as a target position. Also, although an example of setting a target position of the lane change to the rearward position than the vehicle V ₀ in the target range OS adjacent lane L3, the target position of the lane change in the target range OS adjacent lane L3 it may be set to a position ahead of the vehicle V _0. Further, in step S5, a target route for changing lanes may be set instead of the target position for changing lanes.

Returning to FIG. 7A, in step S6, the control device 19 predicts the required time T1 of the lane change by the lane change control function. For example, the lane change control function predicts the time required to move from the current position of the own vehicle to the target position of the lane change based on the vehicle speed and acceleration of the own vehicle as the required time T1. Therefore, for example, when the width of the lane is large, when the road is congested, or when the lane is changed continuously as in this example, the required time T1 is predicted in a long time.

In step S7, the control device 19 predicts the target range OS after the required time T1 predicted in step S6 by the lane change control function. Specifically, the lane change control function, based on the speed and acceleration of the other vehicle V ₁ existing around the vehicle V _0, predicts the travel position of the other vehicle V ₁ of the post-required time T1. For example, the control unit 19, the lane change control function, by detecting repeated position information of the other vehicle V _1, as shown in FIG. 10A, the velocity vector v ₀ of the other vehicle V _{_1,} the acceleration vector a _0, and calculating a position vector _{p 0.}

Table Here, as shown in FIG. 10A, if the traveling direction of the host vehicle V ₀ X-axis, the width direction of the road and the Y-axis, the velocity vector v ₀ of the other vehicle V ₁ was, by the following formula (1) Is done.
v ₀ = vx ₀ i + vy ₀ j (1)
In the above formula (1), vx ₀ is the velocity component in the X-axis direction of the velocity vector _{v 0} of the other vehicle _{V 1,} vy ₀ is the Y-axis direction of the velocity vector _{v 0} of the other vehicle _{V 1} The velocity component. Further, i is a unit vector in the X-axis direction, and j is a unit vector in the Y-axis direction (the same applies to the following equations (2), (3), and (6)).

Further, the acceleration vector a ₀ of the other vehicle V ₁ was, can be obtained as shown in the following formula (2), the position vector p ₀ of the other vehicle V ₁ was, be obtained as shown in the following formula (3) it can.
a ₀ = ax ₀ i + ay ₀ j (2)
p ₀ = px ₀ i + py ₀ j (3)
In the above formula (2), ax ₀ is the acceleration component in the X-axis direction of the acceleration vector _{a 0} of the other vehicle _{V 1,} ay ₀ is the Y-axis direction of the acceleration vector _{a 0} in the other vehicle _{V 1} This is the acceleration component. In the above formula (3), px ₀ is the position component of the X-axis direction in the position vector _{p 0} of the other vehicle _{V 1,} py ₀ is the Y-axis direction in the position vector _{p 0} of the other vehicle _{V 1} It is a position component.

Then, the control unit 19, the lane change control function, as shown in FIG. 10B, calculates the position vector pT ₁ of another vehicle _{V 1} after the required time T1. Specifically, the lane change control function, on the basis of the following equation (4) to (6), calculates the position vector pT ₁ of another vehicle V ₁ after the required time T1.
pxT ₁ = px ₀ + vx ₀ T1 + ／ (ax ₀ T1) ² (4)
pyT ₁ = py ₀ + vy ₀ T1 + 1/2 (ay ₀ T1) ² (5)
pT ₁ = pxT ₁ i + pyT ₁ j (6)
In the above equations (4) and (5), pxT ₁ is the position component in the X-axis direction of the position vector pT ₁ of the other vehicle V ₁ after the required time T ₁ , and pyT ₁ is the required time after the required time T 1 which is a position component of the Y-axis direction in the position vector pT ₁ of another vehicle V _1. Also, _{it vx} 0 T1 is the moving speed of the X-axis direction of the other vehicle _{V 1} after the required time T1, _vy 0 T1 is the moving speed of the Y-axis direction of the other vehicle _{V 1} after the required time T1. Furthermore, _ax 0 T1 is an acceleration in the X-axis direction of the other vehicle _{V 1} after the required time T1, _ay 0 T1 is the acceleration in the Y-axis direction of the other vehicle _{V 1} after the required time T1.

Next, the control unit 19, the lane change control function for all of the other vehicle V ₁ existing around the vehicle V _0, predicts the position after the required time T1. Then, the lane change control function, based on the position of the other vehicle V ₁ of the post-required time T1, to predict the target range OS after the required time T1. In addition, the lane change control function further takes into account the lane regulation state after the required time T1, the presence of obstacles on the road, the presence or absence of the blockage of the adjacent lane L3, and the existence of sections where the vehicle cannot move such as the construction section. The target range OS after the required time T1 is predicted. Note that the target range OS after the required time T1 can be predicted by the lane change control function, similarly to step S4.

In step S8, the control device 19 acquires information on the required range RR by the lane change control function. And the request area RR, the vehicle V ₀ is the size range of required for performing lane change, a range with at least the host vehicle V ₀ in size than the size of occupied in the road surface. In the present embodiment, when the required range RR is set at the target position of the lane change, when the target range OS of the adjacent lane L3 includes the required range RR, the target range OS of the adjacent lane L3 corresponds to the required range RR. It is determined that there is a space, and the lane change to the adjacent lane L3 is permitted. In the present embodiment, information including the shape and size of the required range RR is stored in the memory of the control device 19, and the information of the required range RR is acquired from the memory of the control device 19 by the lane change control function.

In step S9, the control device 19 uses the lane change control function to determine whether there is a space corresponding to the required range RR acquired in step S8 in the target range OS of the adjacent lane L3 after the required time T1 predicted in step S7. A determination is made as to whether or not it is. Specifically, as shown in FIG. 11A, the required range RR is set at the target lane change position (the position of the host vehicle _V01 ) set in step S5 by the lane change control function. Then, the lane change control function determines whether the target range OS of the adjacent lane L3 after the required time T1 includes the required range RR.

For example, in the example shown in FIG. 11A, since the target range OS of the adjacent lane L3 after the required time T1 does not include the rear side of the required range RR, the target of the adjacent lane after the required time T1 is determined by the lane change control function. It is determined that there is no space corresponding to the required range RR in the range OS. On the other hand, as shown in FIG. 11B, when the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1, the target range of the adjacent lane L3 after the required time T1 is controlled by the lane change control function. It is determined that there is a space corresponding to the required range RR in the OS. If there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T1, the process proceeds to step S11 shown in FIG. 7B, and if there is no space, the process proceeds to step S10.

In step S10, the required range RR is not included in the target range OS of the adjacent lane L3 after the required time T1, and a space corresponding to the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. It has been determined that it cannot be detected. Therefore, in step S10, the control device 19 changes the target position of the lane change by the lane change control function. Specifically, the lane change target function is reset by the lane change control function so that the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. For example, as shown in FIG. 11A, when the rear part of the required range RR is not included in the target range OS of the adjacent lane L3 after the required time T1, the target position of the lane change is changed to the front. Thereby, as shown in FIG. 11B, the required range RR is included in both the target range OS of the adjacent lane L3 after the required time T1, and the required range RR is included in the target range OS of the adjacent lane L3 after the required time T1. Is determined to be detectable. After step S10, the process returns to step S6, and the detection of the target range OS is performed again.

On the other hand, if it is determined in step S9 of FIG. 7A that the target range OS of the adjacent lane L3 after the required time T1 includes the required range RR, the process proceeds to step S11 shown in FIG. 7B. In step S11 of FIG. 7B, the control device 19 performs the first lane change control consent request processing by the lane change control function. In step S11, the control device 19 determines in the processing of steps S1 to S9 that the lane change from the lane L2 to the lane L3 is possible, and before the lane change is actually executed, the driver himself / herself In order to prompt the driver to confirm the safety, the driver is requested to answer whether or not to approve the execution of the lane change control. This corresponds to the presentation of the first traveling control change information Td1 according to the present invention.

FIG. 7D is a flowchart showing a subroutine of a lane change control consent request and consent confirmation process executed in step S11. In step S111 of FIG. 7D, the control device 19 sets a gesture determination threshold value by using the traveling control change information presentation function.

In step S111, the control device 19 first detects the tightness of the lane change by the tightness determination function, and determines whether or not the detected tightness is equal to or greater than a preset threshold. As described above, for example, when the distance to the branch point of the interchange, the point of entry into the service area, or the exit point of the motorway is short and there is not enough time until the transition of the traveling control of the vehicle, the sensor 11 is used as in bad weather. In an environment where the detection accuracy of the surroundings of the own vehicle by the vehicle is often reduced and the reliability of the automatic traveling control by the traveling control device 1 of the vehicle is reduced below a certain threshold, the tightness is high. Is determined. Next, the control device 19 sets the gesture determination level to the normal level determination threshold when the detected tightness is less than a preset threshold by the tightness determination function. Conversely, when the detected degree of tightness is equal to or greater than the preset threshold, the gesture determination threshold is lower than the normal level, that is, the gesture is not detected at the normal level determination threshold. A gesture determination threshold is set so that an unclear gesture can be detected.

In step S112 of FIG. 7D, the first travel control change information Td1 described with reference to FIG. 6A is presented to the presentation device 15. That is, in the example of FIG. 6A, the control device 19 uses the lane change information presentation function to start the lane change from the center lane L2 to the rightmost lane L3 as shown in FIG. as such, the vehicle V ₀ on the display of the presentation device 15 displays the image data of the forward view including lane L1, L2, L3, and lane change destination of the vehicle V ₀ using the visual pattern such as an arrow, The OK mark and the Cancel mark with the reduced density are displayed. Along with this display, a message such as "Do you accept the lane change to the right direction? Please instruct by gesture" is output from the speaker by voice data.

Returning to FIG. 7D, in step S113, the control device 19 detects a gesture performed by the driver D in accordance with the first traveling control change information Td1 by the lane change information presenting function. Specifically, the control device 19 captures an image of the upper body, head, and face of the driver D using the in-vehicle camera 111 illustrated in FIG. 4 by the lane change information presentation function. Next, the control device 19 analyzes the captured image by an image recognition process or the like using the lane change information presentation function to detect whether or not the driver D is performing a gesture. When the gesture of the driver D is detected, the process proceeds to step S114.

In step S114, the control device 19 uses the lane change information presentation function to determine whether the detected gesture is a consent gesture with directionality. The determination as to whether or not this is a consent gesture is made by, for example, referring to the gesture table shown in FIG. 5 and comparing the analysis result of an image captured by the in-vehicle camera 111, and the analysis result corresponding to a plurality of types of consent gestures. It is determined whether or not to perform. If the detected gesture is a consent gesture, the process proceeds to step S115.

In step S115, the control device 19 uses the lane change information presentation function to determine whether the traveling direction indicated by the detected consent gesture matches the traveling direction presented in the first traveling control change information Td1. . The determination of the traveling direction is based on, for example, the analysis result of the image captured by the in-vehicle camera 111, the traveling direction indicated by the detected consent gesture is determined by the traveling direction indicated by the first traveling control change information Td1. It is determined whether they match. If the traveling directions match, the process proceeds to step S116.

In step S116, the control device 19 presents the third travel control change information Td3 indicating the determination result of the gesture of the driver D to the presenting device 15 by the lane change information presenting function, as shown in the left diagram of FIG. 6C. In addition, in step S116, along with the presentation of the third traveling control change information Td3, a gesture such as "Gesture could not be detected. If you accept the lane change to the right, raise your right hand." I do.

In the next step S117, the control device 19 detects a cancel gesture performed by the driver D to change the gesture detection / judgment result with respect to the third travel control change information Td3 by the lane change information presenting function. This cancellation gesture is detected by capturing an image of the upper body, head and face of the driver D by the in-vehicle camera 111 shown in FIG. 4 and analyzing the captured image by image recognition processing or the like, similarly to step S113. Performed by

When the cancel gesture of the driver D with respect to the third travel control change information Td3 is not detected in step S117, the control device 19 presents the third travel control change information Td3 by the consent confirmation function in the next step S118. The determination result is specified as a normal determination result. That is, when the determination result indicating that the driver D accepts the lane change is presented in the third traveling control change information Td3, the determination result becomes a normal determination result. In addition, when the determination result indicating that the lane change is stopped is presented in the third traveling control change information Td3, the determination result becomes a normal determination result.

Conversely, when the cancel gesture of the driver D with respect to the third traveling control change information Td3 is detected in step S117, in the next step S119, the control device 19 uses the consent confirmation function to perform the third traveling. A determination result opposite to the determination result presented in the control change information Td3 is specified as a normal determination result. That is, when the determination result indicating that the driver D accepts the lane change is presented in the third traveling control change information Td, the determination result indicating that the lane change is stopped is a normal determination result. In addition, when the third traveling control change information Td3 includes a determination result indicating that the lane change is to be stopped, the determination result indicating that the lane change is accepted is a normal determination result.

Next, returning to step S113 in FIG. 7D, the description will be made. When the gesture of the driver D with respect to the first travel control change information Td1 is not detected in step S113, the process proceeds to step S120. In step S120, the control device 19 determines whether a predetermined time has elapsed after the presentation of the first travel control change information Td1 by the lane change information presenting function. This determination of the predetermined time is performed to re-present the first travel control change information Td1 if there is no response from the driver D within the predetermined time after the presentation of the first travel control change information Td1. As the predetermined time, for example, a time set in advance may be used, or the predetermined time may be set according to the distance or time to the lane change point. If the predetermined time has not elapsed in step S120, the process returns to step S112, and the first travel control change information Td1 is presented again. If the predetermined time has elapsed in step S120, the process proceeds to the next step S121.

In step S121, the control device 19 determines whether or not the first travel control change information Td1 has been re-presented a predetermined number of times by the lane change information presenting function. The determination of the number of times of presentation is performed in order to stop the lane change control itself when there is no response from the driver D even if the first traveling control change information Td1 is re-presented a predetermined number of times. The number of re-presentations may be a preset number, or may be set according to the distance or time to the lane change point. If the number of re-presentations has not reached the predetermined number in step S121, the process returns to step S112 to re-present the first travel control change information Td1. If the number of re-presentations has reached the predetermined number in step S121, the process proceeds to step S122 to stop the lane change control.

Next, returning to step S114 in FIG. 7D, description will be made. In step S114, when the detected gesture of the driver D is not the consent gesture with the direction, the process proceeds to step S123. In step S123, the control device 19 determines whether or not the detected gesture is a cancel gesture using the lane change information presentation function. The control device 19 determines whether or not this is a cancel gesture by referring to the gesture table shown in FIG. 5 by the lane change information presenting function and comparing the result with the analysis result of the image captured by the in-vehicle camera 111. It is determined whether the analysis result corresponds to a plurality of types of cancel gestures. When the detected gesture is the cancel gesture, the process proceeds to step S116, and the presentation device 15 presents the third travel control change information Td3 shown in the right diagram of FIG. 6C. If the detected gesture is not a cancel gesture, the process proceeds to the next step S124.

場合 If the process has proceeded to step S124, it is determined that the detected gesture of the driver D is not an approval gesture and is not a cancel gesture. Therefore, in step S124, the control device 19 specifies the type of the consent gesture and presents the second travel control change information Td2 to the presentation device 15 using the lane change information presentation function, so that the driver D Encourage execution. In step S124, the second travel control change information Td2 is presented, and a message such as "Gesture could not be detected. Raise your right hand if you accept the lane change to the right." Output. After the end of step S124, the control device 19 returns to step S113 by the lane change information presentation function, and detects the gesture re-executed by the driver D.

As described above, in the subroutine of step S11 shown in FIG. 7D, it is determined whether or not the driver D has accepted the lane change, and after the determination is completed, the process proceeds to step S12 shown in FIG. 7B.

Returning to FIG. 7B, in step S12, when the driver D accepts the lane change from the lane L2 to the lane L3 in response to the acceptance request in step S11, the control device 19 proceeds to step S13. If the vehicle does not accept the lane change, the process returns to step S1 without executing the lane change control.

In step S13, the control device 19 obtains the lane change time limit Z by the lane change control function. In the present embodiment, as shown in FIG. 2, the time until the host vehicle approaches a point where it is difficult to change lanes in each traveling scene is stored as a time limit Z in the table. The control device 19 obtains the time limit Z in the traveling scene of the own vehicle by referring to the table shown in FIG. 2 by the lane change control function. For example, in the example shown in FIG. 2, in the “scene catching up with the preceding vehicle”, the time limit is stored as the arrival time to the preceding vehicle−α seconds. In this case, the control device 19 calculates the arrival time to the preceding vehicle by the traveling control function with reference to the table shown in FIG. 2 and acquires the calculated arrival time to the preceding vehicle−α seconds as the time limit Z. I do. Note that α is a predetermined number of seconds (for example, 5 seconds), and can be appropriately set for each traveling scene. For example, when the arrival time to the preceding vehicle is 30 seconds and α is 5 seconds, the time limit Z for changing lanes is 25 seconds.

In step S14, a process of starting lane change control is performed. In the start processing of the lane change control, the control device 19 sets a start timing L for starting the lane change control by the lane change control function. The method of setting the start timing L is not particularly limited, and can be set, for example, by the following methods (1) to (8). That is, (1) the unique timing is set as the start timing L of the lane change control. For example, a timing after a predetermined time (for example, 6 seconds) after the driver accepts the lane change is set as the start timing L of the lane change control. (2) The lane change control start timing L is set based on the necessity of lane change shown in FIG. Specifically, the necessity of the lane change in the traveling scene of the own vehicle is acquired from the table shown in FIG. 2, and when the necessity of the lane change is equal to or more than a predetermined value, the necessity of the lane change is less than the predetermined value. The start timing L of the lane change control is set to an earlier timing as compared with the case of. (3) The lane change control start timing L is set based on the lane change limit time Z shown in FIG. Specifically, a time limit Z for changing lanes in the traveling scene of the own vehicle is acquired from the table shown in FIG. 2, and when the time limit Z for changing lanes is less than the predetermined time _{Zth, the} time limit for changing lanes is obtained. The start timing L of the lane change control is set earlier than when Z is equal to or longer than the predetermined time _Zth . (4) The lane change control start timing L is set based on the required lane change time T1. Specifically, when the required time T1 of the lane change predicted in step S6 of FIG. 7A is shorter than the predetermined time _Tth , the time limit Z of the lane change is longer than the predetermined time _Tth . The start timing L of the lane change control is set to an earlier timing.

(5) The lane change control start timing L is set based on the lane change limit time Z and the required time T1. More specifically, a margin time Y is obtained from the required lane change time T1 and the lane change time limit Z (for example, the time limit Z-the required time T1 = the allowance time Y). _{When the} time is less than _th , the start timing L of the lane change control is set earlier than when the allowance time Y is equal to or longer than the predetermined time _Yth . (6) The start timing L of the lane change control is set based on the degree of attention (inclination) O, which is a degree at which the driver is interested in driving. For example, by detecting the driver's voice using an input device 16 such as a vehicle-mounted microphone or a hands-free device, it is determined whether or not the driver is making a conversation or hands-free phone call. In this case, the driver's attention level 0 is determined to be less than the threshold value _Oth, and the start timing L of the lane change control is set to a later timing than when the driver's attention level is equal to or greater than the threshold value _Oth .

(7) The start timing L of the lane change control is set based on the traffic congestion degree K. For example, based on the inter-vehicle distance to the preceding vehicle, the inter-vehicle distance to the rear vehicle, the number of surrounding vehicles, the congestion degree included in the VICS (registered trademark) information, the divergence between the legal speed and the actual vehicle speed of the own vehicle, The traffic congestion degree K is determined, and the shorter the inter-vehicle distance to the preceding vehicle, the shorter the inter-vehicle distance to the following vehicle, the greater the number of surrounding vehicles, the higher the degree of congestion included in the VICS information, or The greater the deviation between the speed and the actual vehicle speed of the host vehicle, the higher the traffic congestion K is determined. If the traffic congestion K is equal to or greater than a predetermined value _Kth , the traffic congestion K is increased to a predetermined value _Kth. The start timing L of the lane change control is set to an earlier timing as compared with the case where it is less than the threshold. (8) The start timing L of the lane change control is set based on the likelihood B of the lane change. For example, based on the presence / absence of a destination setting and the inter-vehicle distance to a preceding vehicle, a degree at which the host vehicle can be confident that the own vehicle changes lanes can be obtained as likelihood B. Specifically, when the destination is set and the vehicle needs to change lanes in order to reach the destination, it is determined that the likelihood B of the lane change is equal to or _larger than the threshold _Bth. I do. If the inter-vehicle distance from the preceding vehicle is less than the predetermined distance, the driver determines that the driver wants to change lanes, and determines that the likelihood B of the lane change is equal to or _larger than the threshold _Bth . Then, when the likelihood B of lane change to the threshold B _th or more, compared with the case the likelihood of lane change B is less than the threshold value B _th, sets the start timing L lane change control in early timing . As described above, the start timing L of the lane change control is set. Note that the above (1) to (8) are examples of a method of setting the start timing L, and are not limited to the above-described configuration. After setting the start timing L, the control device 19 may set a notice presentation timing P for presenting lane change information to start lane change before starting the lane change control.

When the set start timing L is reached, the control device 19 starts the lane change control by the lane change control function. Specifically, the control device 19 causes the drive control device 18 to operate the steering actuator so that the host vehicle moves to the target position of the lane change set in step S5 or step S10 in FIG. 7A by the lane change control function. The operation control is started. When the lane change control is started, the lane change information indicating that the lane change control is being executed may be provided to the presentation device 15.

In step S15 ~ S17 in FIG. 7C, similarly to the step S4, S6 ~ S7 in FIG. 7A, the current scope OS and the host vehicle _{V 0,} change lanes first time (from the lane L2 in FIG. 9 to the lane L3 Detection of the target range OS after the required time T2 for moving to the target position related to (lane change) is performed. Then, in step S18, the controller 19 uses the lane change control function to set a space corresponding to the request range RR acquired in step S8 in the target range OS of the adjacent lane L3 after the required time T2 predicted in step S17. It is determined whether or not there is. Then, the control device 19 sets the required range RR at the target position of the first lane change by the lane change control function, and sets the target range OS of the adjacent lane L3 after the required time T2 to include the required range RR. Determines that there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, and proceeds to step S20. On the other hand, when it is determined that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, the process proceeds to step S19. Note that the processing in step S19 and processing subsequent thereto will be described later with reference to FIG. 7E.

In step S20, the control device 19 determines whether or not the time limit Z acquired in step S13 has elapsed since the first lane change control was started in step S14 by the lane change control function. If the elapsed time S1 from the start of the first lane change control exceeds the time limit Z, that is, the target position of the first lane change even if the time limit Z has elapsed since the start of the lane change control If it cannot reach, the process proceeds to step S22. In step S22, the control device 19 performs the first stop processing of the lane change control by the lane change control function. Specifically, the control device 19 notifies the driver of information indicating that the lane change control is to be stopped by the lane change control function. For example, after informing the driver of the message "lane change is interrupted due to timeout" via the presentation device 15, the lane change control is terminated. In the stop processing of the lane change control, the traveling position of the host vehicle in the width direction may be kept at the position at the end of the lane change control or may be returned to the position at the start of the lane change control. When returning to the position at the start of the lane change control, for example, a message such as "Return to the original position due to timeout" may be notified to the driver.

On the other hand, if the elapsed time S1 from the start of the lane change control does not exceed the time limit Z in step S20, the process proceeds to step S21. In step S21, the control device 19 uses the lane change control function to determine whether or not the vehicle has reached the target position for the first lane change. If the host vehicle has reached the target position for the first lane change, the process proceeds to step S23. In step S23, since the first lane change control by the lane change control function has been completed, the lane change information indicating that the first lane change has been completed is presented to the presentation device 15. If it is determined in step S21 that the host vehicle has not reached the target position for the first lane change, the process returns to step S15, and lane change control is continued.

If it is determined in step S18 of FIG. 7C that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T2, the process proceeds to step S19. That is, at step S9 when the lane change control is started, there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3, but after the first lane change control is started, the target range of the adjacent lane L3 is changed. If there is no more space corresponding to the requested range RR in the OS, the process proceeds to step S19. In step S19, a lane mark (hereinafter, also referred to as a target lane mark) straddled by the own vehicle in the lane change and a positional relationship with the own vehicle in the width direction are detected.

For example, FIG. 12, the vehicle V ₀ is, (in the figure, from the left lane to the right lane) in the direction indicated by the arrow in FIG illustrate a scene at which the lane change. In this case, the control unit 19, the lane change control function, as shown in FIG. 12 (A), while no straddling the even target lane mark CL portion of the vehicle V _0, as shown in FIG. 12 (B) the state portion of the vehicle V ₀ is the center line VC of but straddling the target lane mark CL vehicle V ₀ is not straddling the target lane mark CL, as shown in FIG. 12 (C), the vehicle state, but the entire V ₀ does not straddle the target lane mark CL center line VC of the vehicle V ₀ is that across the target lane mark CL, as shown in FIG. 12 (D), the whole of the vehicle V ₀ is It is determined which of the states of straddling the target lane mark CL.

In step S51 shown in FIG. 7E, the control unit 19, the lane change control function, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V ₀ determined in step S19 in FIG. 7C, lane change A control process for stopping or continuing is performed. Specifically, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V _0, method of presenting information to the driver when to stop or continue the (a) lane change, (b) lane change the aborted or continued control after, determining the traveling position of the vehicle V ₀ which when discontinued or continued (c) lane change.

For example, as a method of presenting information to the driver when (a) stopping or continuing the lane change, (a1) presenting information for causing the driver to select an option of stopping or continuing the lane change without a time limit; When the driver selects one of the options, the control of the option selected by the driver is executed (suspension or continuation of the lane change). (A2) The driver selects the suspension or continuation of the lane change with a time limit. If the driver selects one of the alternatives within the time limit, the driver performs control of the option selected (stop or continue lane change), and the driver If none of the options is selected, the control of the predetermined option of stopping and continuing the lane change control (default (A3) Automatically cancel or continue the lane change, and indicate to the driver a method of canceling the automatically executed cancellation or continuation of the lane change, and (a4) Automatically change the lane The change or suspension of the change is executed, and the driver does not specify a method of canceling the automatically executed stop or continuation of the lane change.

(B) As control contents after stopping or continuing the lane change, (b1) stopping the lane change and also stopping the automatic cruise control, (b2) releasing only the lane change control and continuing the automatic cruise control, (B3) Until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3, the lane change control is suspended to be in a standby state, and the target range OS of the adjacent lane L3 corresponds to the required range RR. When the space is detected again, one of the three controls of restarting the lane change control is executed.

Further, (c) the own vehicle is returned to the position before the start of the lane change, and (c2) the own vehicle runs before the start of the lane change, as the running position of the own vehicle when the lane change control is stopped or continued. One of the three position adjustments of moving the own vehicle to a position near the target lane mark CL in the lane that was running and (c3) maintaining the current position is executed.

Then, the control unit 19, the lane change control function, based on the positional relationship in the width direction of the target lane mark CL and the vehicle V _0, of the information to the driver when to stop or continue the (a) lane change Control for stopping or continuing the lane change by appropriately combining the presentation method, (b) the control content after stopping or continuing the lane change, and (c) the running position of the own vehicle when the lane change is stopped or continued. Perform processing.

For example, as shown in FIG. 12 (A), when the vehicle V ₀ does not straddle the target lane mark CL is to stop the run, lane change the driver automatically to stop the (a4) lane change A configuration in which the method of canceling is not specified can be adopted. Further, in this case, the lane change control function may be configured to (b1) stop the automatic traveling control together with the stop of the lane change and (c1) return the vehicle to the position before the start of the lane change. Also, in such a case, the vehicle will return to its original position because the lane change space is almost exhausted, and the automatic driving control will be canceled when it returns to its original position. It is possible to notify the driver of the content of the control to stop the lane change to be performed. In this case, the process proceeds to step S23 in FIG. 7C, and the lane change control ends.

Further, as shown in FIG. 12 (B), when a portion of the vehicle V ₀ is straddling the target lane mark CL, but the center line VC of the vehicle V ₀ does not straddle the target lane mark CL is (A3) It is possible to adopt a configuration in which the suspension of the lane change is automatically executed, and the driver is clearly told how to cancel the suspension of the lane change. In this case also, the lane change control function, after moving the vehicle V ₀ at a position in the vicinity of the target lane mark CL of lanes that has been subject vehicle travels before the start (c2) lane change, (b2) It is possible to adopt a configuration in which only the lane change control is stopped and the automatic traveling control is continued. Also, in such a case, "the vehicle will return to the original lane because the lane change space is almost exhausted," and "when returning to the original position, the previous automatic driving control will be continued." In addition, it is possible to notify the driver of the content of the control for stopping the lane change to be performed. Also, a button for continuing the lane change can be displayed on the display along with the message "If you want to continue the lane change, press the following button." If the driver has pressed the button for continuing the lane change, the process proceeds to step S52 of FIG. 7E, while if the driver does not press the button for continuing the lane change, the process proceeds to FIG. 7C. Go to step S23.

Furthermore, as shown in FIG. 12 (C), when the entire vehicle V ₀ does not straddle the target lane mark CL is the center line VC of the vehicle V ₀ is that across the target lane mark CL is ( a4) It is possible to adopt a configuration in which the continuation of the lane change is automatically executed and the driver is not explicitly told how to cancel the continuation of the lane change. In this case, (c3) the traveling position of the own vehicle is maintained at the current position and the vehicle stands by. (B3) The lane change is interrupted until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3. However, when a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3, the lane change control may be restarted. For example, in this case, "I will wait at the current location because the lane change space is almost exhausted," or "Restart the lane change control if the lane change space is likely to be empty." It is possible to notify the driver of the control content of the lane change continuation. In this case, the process proceeds to step S52 in FIG. 7E.

Further, as shown in FIG. 12 (D), when the entire vehicle V ₀ is straddling the target lane mark CL is, (a4) to cancel the lane change is performed automatically, lane change control to the driver It is possible to adopt a configuration in which the method of canceling the suspension of the operation is not specified. In this case, (c3) the traveling position of the own vehicle may be maintained at the current position, and (b2) only the lane change control may be stopped to continue the automatic traveling control. In this case, the driver will be instructed to cancel the lane change in the future, such as "I will wait at the current location because the lane change space is almost exhausted." Can be informed. In this case, the process proceeds to step S23 in FIG. 7C, and the traveling control process ends.

The positional relationship in the width direction of the target lane mark CL and the vehicle V ₀ is not limited to four shown in FIG. 12 (A) ~ (D) , may be 5 or more, may be three or less . In addition, the combination of controls for each positional relationship is not limited to the above-described combination, and (a) a method of presenting information to the driver when stopping or continuing the lane change control; and (b) stopping or changing the lane change control. The control content after the continuation and (c) the traveling position of the own vehicle when the lane change is stopped or continued can be appropriately combined.

Next, the case where the continuation of the lane change is executed in step S51 of FIG. 7E will be described. When the continuation of the lane change is started in step S51, the process proceeds to step S52. In step S52, the control device 19 measures the elapsed time S2 after the lane change control enters the standby state in step S51 by the lane change control function. That is, in the present embodiment, when the lane change is continued in step S51, the lane change is interrupted and the lane change control is stopped until a space corresponding to the required range RR is detected again in the target range OS of the adjacent lane L3. It goes into a standby state. In step S52, the elapsed time S2 from when the waiting of the lane change control is started is measured.

In step S53, the control device 19 predicts the time T3 required for the vehicle to move from the current position to the target position for lane change by the lane change control function. Note that the required time T3 can be predicted by the same method as in step S6 of FIG. 7A.

In step S54, the control device 19 calculates the total time (S2 + T3) of the elapsed time S2 measured in step S52 and the required time T3 predicted in step S53 by the lane change control function in step S13 in FIG. 7B. It is determined whether or not the acquired time limit Z is exceeded. If the total time (S2 + T3) exceeds the time limit Z, the process proceeds to step S55, where the lane change control function cancels the standby state of the lane change control, and moves the host vehicle to the running position of the host vehicle before the start of the lane change. Moving. Thereafter, the process proceeds to step S23 in FIG. 7C, and the lane change control ends. On the other hand, if the total time (S2 + T3) does not exceed the time limit Z, the process proceeds to step S56.

In step S56, the control device 19 continues the standby state of the lane change control. In steps S57 to S58, as in steps S4 and S7 in FIG. 7A, the current target range and the target range after the required time T3 are determined. To detect. Then, in step S59, similarly to step S9 in FIG. 7A, it is determined whether or not there is a space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T3 predicted in step S58. . In step S59, the control device 19 sets the required range RR at the target position of the lane change, and when the target range OS of the adjacent lane L3 after the required time T3 includes the required range RR, the adjacent lane after the required time T3. It is determined that there is a space corresponding to the required range RR in the target range OS of L3, and the process proceeds to step S60. In step S60, since a space corresponding to the required range RR is detected in the target range OS of the adjacent lane L3, the control device 19 releases the lane change control standby state by the lane change control function and performs the lane change control. Resume. The process in this case returns to step S15 in FIG. 7C. On the other hand, if it is determined in step S59 that there is no space corresponding to the required range RR in the target range OS of the adjacent lane L3 after the required time T3, the process proceeds to step S61 and the standby state of the lane change control is continued. The process returns to step S52.

Next, after the lane change from the lane L2 shown in the left diagram of FIG. 3 to the lane L3 is executed, the lane change control from the lane L3 to the lane L2 shown in the right diagram of FIG. This will be described with reference to 7E. When the lane change shown in the left diagram of FIG. 3 is executed, the process returns to step S1 of FIG. 7A after executing the process of step S23 of FIG. 7C. Then, each processing of steps S1 to S10 is executed for the lane change control shown in the right diagram of FIG. Note that these processes are the same as the above-described lane change control processes shown in the left diagram of FIG. 3, and thus description thereof will be omitted.

In step S11 of FIG. 7B, the control device 19 performs an acceptance request and an acceptance confirmation process for the current (second) lane change control by the lane change control function. In step S11, the control device 19 determines in the processing of steps S1 to S9 that the lane change from the lane L3 to the lane L2 is possible, and the driver himself / herself before actually executing the lane change. In order to prompt the driver to confirm the safety, the driver is requested to answer whether or not to approve the execution of the lane change control. Note that step S11 is the same as the above-described processing of steps S111 to S124 in FIG. 7D, and a description thereof will be omitted.

Since the processing from step S13 in FIG. 7B to step S23 in FIG. 7C is the same as the above-described lane change control processing shown in the left diagram of FIG. 3, the description thereof will be omitted. Thus, the lane change from the lane L3 to the lane L2 shown in the right diagram of FIG. 3 is completed.

As described above, according to the travel control device 1 and a travel control method for a vehicle according to the present embodiment, before performing the automatic travel control for changing the traveling direction of the host vehicle V _0, the first traveling control change information Td1 Is presented to the driver D, a consent gesture by the driver D with respect to the first traveling control change information Td1 is detected, and the traveling direction indicated by the consent gesture and the traveling direction presented by the first traveling control change information Td1 are determined. If they match, it is determined that the change in the traveling direction has been accepted, and the automatic traveling control relating to the change in the traveling direction is executed. That is, it is possible to consent to the first traveling control change information Td1 only with the consent gesture indicating the traveling direction, and it is not necessary to perform a complicated consent operation as in the prior art. Can be eliminated. Further, by using a gesture indicating the traveling direction instead of a simple gesture, the driver D can maintain a certain level of consciousness or attention to a change in the traveling direction.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, a plurality of types of gestures are set as detectable consent gestures, and the driver D indicates an arbitrary consent gesture from the plurality of types of gestures. In this case, it is determined whether or not the change in the traveling direction has been accepted. Therefore, since the driver D can freely select and perform the consent gesture that is most easily performed, the trouble of the driver D involved in the consent operation can be eliminated.

Further, according to the travel control device 1 and the travel control method for the vehicle according to the present embodiment, the movement of the head of the driver D is detected as the consent gesture, and the travel direction indicated by the movement of the head and the first It is determined whether or not the traveling direction indicated by the traveling control change information Td1 matches. Therefore, the driver D can accept the first traveling control change information Td1 only by a simple movement of the head without releasing his / her hand from the steering wheel or the like, thereby eliminating the troublesomeness of the driver D accompanying the accepting operation. can do.

In addition, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, the direction of the line of sight of the driver D is detected as the consent gesture, and the travel direction indicated by the line of sight and the first travel control change It is determined whether or not the traveling direction presented in the information Td1 matches. Therefore, the driver D can give approval to the first travel control change information Td1 only by a simple movement of the line of sight without releasing the hand from the steering wheel or the like, so that the trouble of the driver D accompanying the giving operation is eliminated. be able to.

Further, according to the travel control device 1 and the travel control method for the vehicle according to the present embodiment, as the consent gesture, the movement of at least one of the hand or the arm of the driver D is detected and indicated by the movement of at least one of the hand or the arm. It is determined whether or not the traveling direction that has been set matches the traveling direction presented in the first traveling control change information Td1. Therefore, the driver D can give consent to the first travel control change information Td1 only by a simple movement of the hand or arm, so that the trouble of the driver D accompanying the consent operation can be eliminated.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, when the travel direction cannot be identified from the detected gesture, the second travel control for indicating the type of the consent gesture to be performed to the driver D is performed. The change information Td2 is presented so as to prompt re-execution of the consent gesture. Therefore, even if the consent gesture of the driver D is difficult to detect and judge, and is likely to be erroneously detected, by presenting the type of the consent gesture to be performed, it is possible to detect and judge the gesture of the driver D with high probability. it can. Therefore, it is not necessary for the driver D to re-execute the gesture many times, so that the trouble of the driver D accompanying the approval operation can be eliminated.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, when it is determined that the driver D has accepted the change in the travel direction, the third travel control change information Td3 indicating the determination result is presented. When a cancel gesture by the driver with respect to the third travel control change information Td3 is detected, the determination result is canceled. Therefore, even if the gesture of the driver D is erroneously detected and an erroneous determination regarding consent is made based on the erroneous detection, the erroneous determination can be canceled and the true intention of the driver D can be reflected in the automatic driving control.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, it is determined whether the tightness of the change in the traveling direction is equal to or greater than a preset threshold, and the tightness is equal to or greater than the threshold. In this case, the determination level of the traveling direction of the consent gesture is set lower than when the tightness is less than the threshold. Therefore, when the degree of change in the driving direction is high, the determination level is lowered so that the determination gesture can be determined even with a somewhat unclear consent gesture, so that it is possible to detect and determine the consent gesture of the driver D with a high probability. it can. In addition, the driver D can focus on monitoring the vehicle without giving extra attention to accurately performing the gesture.

Further, in the above embodiment, when the gesture cannot be detected / determined by the traveling control change information presenting function, the control device 19 designates the type of the gesture to be executed and presents it in the third traveling control change information Td3. However, this function may be used to direct the driver D's attention to the designated direction. For example, on a road with many other vehicles and pedestrians and a high degree of traffic congestion, when the monitoring load of the surrounding situation by the travel control device 1 is high and the reliability or confidence of the monitoring is lower than a predetermined value. Can present the direction that the driver D wants to monitor by the travel control change information, and can increase the monitoring level of the driver D in the designated direction. According to this, the safety of the automatic cruise control is further enhanced.

Also, in order to further enhance the driver D's attention when changing driving control and the ability to monitor surrounding conditions, for example, a direction different from the lane changing direction, such as a direction opposite to the lane changing direction or a vertical direction. May be presented in the traveling control change information such that a gesture with directionality or a gesture without directionality is performed. When the driver D makes a gesture in response to the presentation of the travel control change information, it is determined that the change in the travel control has been accepted, thereby increasing the driver D's awareness or attention to the travel control change. It is possible to further raise and maintain.

DESCRIPTION OF SYMBOLS 1 ... Travel control device 11 ... Sensor 111 ... In-vehicle camera 12 ... Own vehicle position detection device 13 ... Map database 14 ... In-vehicle equipment 15 ... Presentation device 16 ... Input device 17 ... Communication device 18 ... Drive control device 19 ... Control device V0 ... Own vehicle V1 ... Other vehicles L1, L2, L3 ... Lane RS ... Road shoulder OS ... Target range RR ... Required range RA ... Range in which own vehicle cannot run RL ... Lane change prohibition mark CL ... Target lane mark VC ... Center line of own vehicle Td1: first travel control change information Td2: second travel control change information Td3: third travel control change information

Claims

In a vehicle travel control method for performing automatic travel control for automatically changing the travel direction of the vehicle,
Before executing the automatic driving control, first driving control change information indicating the driving direction to be changed is presented to the driver,
In response to the presentation of the first traveling control change information, a first gesture indicating a traveling direction by the driver is detected,
It is determined whether the traveling direction indicated by the first gesture and the traveling direction presented in the first traveling control change information match,
When the traveling direction indicated by the first gesture and the traveling direction presented in the first traveling control change information match, it is determined that the change in the traveling direction has been accepted, and the automatic traveling control is executed. Vehicle running control method.
A plurality of types of gestures are set as the detectable first gesture,
The method according to claim 1, wherein when the driver indicates an arbitrary first gesture for the first traveling control change information from the plurality of types of gestures, the driver determines whether or not the change in the traveling direction has been accepted. The traveling control method of the vehicle according to the above.
Detecting the movement of the driver's head as the first gesture,
The vehicle travel control method according to claim 2, wherein it is determined whether or not the travel direction indicated by the movement of the head and the travel direction presented in the first travel control change information match.
Detecting the direction of the driver's line of sight as the first gesture;
The vehicle travel control method according to claim 2 or 3, wherein it is determined whether or not the travel direction indicated by the direction of the line of sight matches the travel direction presented in the first travel control change information.
Detecting the movement of at least one of the driver's hand and arm as the first gesture,
The method according to any one of claims 2 to 4, wherein it is determined whether or not the traveling direction indicated by the movement of at least one of the hand and the arm matches the traveling direction presented in the first traveling control change information. A travel control method for a vehicle according to claim 1.
6. The driver according to claim 2, wherein when the traveling direction cannot be identified from the detected first gesture, second traveling control change information for indicating a type of the first gesture to be performed is presented to the driver. Vehicle running control method.
When it is determined that the driver has accepted the change in the traveling direction, third driving control change information indicating a determination result is presented,
Detecting a second gesture by the driver with respect to the third travel control change information;
The travel control method for a vehicle according to any one of claims 1 to 5, wherein the determination result is canceled when the second gesture is detected.
Determine whether the tightness of the change of the traveling direction is equal to or greater than a preset threshold,
8. The method according to claim 1, wherein when the tightness is equal to or more than the threshold, the determination level in the traveling direction of the first gesture is lower than a determination level when the tightness is less than the threshold. A travel control method for a vehicle according to claim 1.
In a traveling control device for a vehicle that executes automatic traveling control for automatically changing the traveling direction of the vehicle,
The travel control device,
Before executing the automatic driving control, first driving control change information indicating the driving direction to be changed is presented to the driver,
In response to the presentation of the first traveling control change information, a first gesture indicating a traveling direction by the driver is detected,
It is determined whether the traveling direction indicated by the first gesture and the traveling direction presented in the first traveling control change information match,
When the traveling direction indicated by the first gesture and the traveling direction presented in the first traveling control change information match, it is determined that the change in the traveling direction has been accepted, and the automatic traveling control is executed. Control device of the vehicle to be driven.