WO2020201795A1 - Procédé de commande de véhicule et dispositif de commande de véhicule - Google Patents

Procédé de commande de véhicule et dispositif de commande de véhicule Download PDF

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Publication number
WO2020201795A1
WO2020201795A1 PCT/IB2019/000394 IB2019000394W WO2020201795A1 WO 2020201795 A1 WO2020201795 A1 WO 2020201795A1 IB 2019000394 W IB2019000394 W IB 2019000394W WO 2020201795 A1 WO2020201795 A1 WO 2020201795A1
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WIPO (PCT)
Prior art keywords
vehicle
speed
state
control
lane
Prior art date
Application number
PCT/IB2019/000394
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English (en)
Japanese (ja)
Inventor
青木元伸
平松真知子
近藤崇之
佐久間壮
Original Assignee
日産自動車株式会社
ルノー エス． ア． エス．
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日産自動車株式会社, ルノー エス． ア． エス． filed Critical 日産自動車株式会社
Priority to PCT/IB2019/000394 priority Critical patent/WO2020201795A1/fr
Publication of WO2020201795A1 publication Critical patent/WO2020201795A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle control method and a vehicle control device.
  • a vehicle control system that executes lane change control for changing a lane from a traveling lane to an adjacent lane is known (Patent Document 1).
  • This vehicle control system has a vehicle speed acquisition unit that acquires the vehicle speed of the own vehicle, a lane change time setting unit that sets the lane change time, which is the time required for lane change by lane change control, according to the vehicle speed, and a lane change time.
  • a lane change control unit that executes lane change control based on the vehicle is provided, the second predetermined value is set to a value larger than the first predetermined value, and the lane change time setting unit sets the lane change time setting unit when the vehicle speed is smaller than the first predetermined value. The smaller the vehicle speed, the longer the lane change time is set, and when the vehicle speed is greater than the second predetermined value, the higher the vehicle speed, the longer the lane change time is set.
  • the lane change time is changed according to the vehicle speed of the own vehicle while the other vehicle is approaching the lane change destination of the own vehicle while maintaining a high speed, and steering control for changing the lane is performed.
  • the intention to change lanes is displayed to other vehicles. That is, in the prior art, there is a problem that vehicle control for displaying the intention to change lanes to another vehicle, such as steering of the own vehicle, is executed regardless of the running state of the other vehicle.
  • the problem to be solved by the present invention is a lane control method and a lane control device for preventing vehicle control for displaying an intention to change lanes to another vehicle from being executed regardless of the traveling state of the other vehicle. I will provide a.
  • the present invention acquires peripheral information of the own vehicle, and is located on the second lane adjacent to the first lane in which the own vehicle travels based on the peripheral information of the own vehicle, and is located on the second lane adjacent to the first lane in which the own vehicle travels.
  • the approach position is specified, the vehicle speeds of the rear vehicle and the rear vehicle located behind the approach position on the second lane are detected, and the vehicle speed of the rear vehicle is higher than the vehicle speed of the own vehicle from the first state.
  • the vehicle speed is equal to or less than the vehicle speed of the own vehicle, or whether the vehicle speed of the rear vehicle changes to the second state in which the vehicle speed becomes lower than the vehicle speed of the own vehicle after a predetermined time, and the state of the rear vehicle changes from the first state to the second state.
  • the own vehicle executing vehicle control for indicating the intention to change lanes to the rear vehicle.
  • FIG. 1 is a configuration diagram showing an example of a vehicle system including a vehicle control device according to the present embodiment.
  • FIG. 2 is a flowchart of a lane change process executed by the vehicle control device according to the present embodiment.
  • FIG. 3 is an example of traveling of the own vehicle when the process shown in FIG. 3 is executed.
  • FIG. 4 is a flowchart of the lane change process executed by the vehicle control device according to the second embodiment.
  • FIG. 5 is an example of traveling of the own vehicle when the process shown in FIG. 4 is executed.
  • FIG. 6 is a flowchart of a lane change process executed by the vehicle control device according to the third embodiment.
  • FIG. 7 is an example of traveling of the own vehicle when the process shown in FIG. 6 is executed.
  • FIG. 1 is a configuration diagram showing an example of a vehicle system including a vehicle control device according to the present embodiment.
  • FIG. 2 is a flowchart of a lane change process executed by the vehicle control device according to the present embodiment.
  • FIG. 8 is a flowchart of a lane change process executed by the vehicle control device according to the fourth embodiment.
  • FIG. 9 is an example of traveling of the own vehicle when the process shown in FIG. 8 is executed.
  • FIG. 10 is a flowchart of a lane change process executed by the vehicle control device according to the fifth embodiment.
  • FIG. 11 is an example of traveling of the own vehicle when the process shown in FIG. 10 is executed.
  • FIG. 1 is a configuration diagram showing an example of a vehicle system 200 including a vehicle control device 100 according to an embodiment of the present invention.
  • the vehicle system 200 of this embodiment is mounted on a vehicle.
  • the vehicle system 200 is a system for a vehicle to automatically change lanes.
  • the vehicle system 200 includes a surrounding environment sensor group 10, a vehicle sensor group 20, a navigation system 30, a map database 40, an HMI 50, an actuator control device 60, and a vehicle. It includes a control actuator group 70, a winker 80, and a vehicle control device 100. These devices or systems are connected by a CAN (Control Area Network) or other in-vehicle LAN in order to exchange information with each other.
  • CAN Control Area Network
  • the surrounding environment sensor group 10 is a sensor group that detects the state (external state) around the own vehicle, and is provided in the own vehicle. As shown in FIG. 1, examples of the ambient environment sensor group 10 include, but are not limited to, a radar 11 and an imaging device 12.
  • the radar 11 detects an object existing around the own vehicle.
  • Examples of the radar 11 include, but are not limited to, a millimeter wave radar, a laser radar, an ultrasonic radar, a laser range finder, and the like.
  • the radar 11 detects an object by transmitting radio waves to the periphery of the own vehicle and receiving radio waves reflected by the object, for example. Specifically, the radar 11 detects the direction in which the object exists and the distance to the object. Further, the radar 11 detects the relative speed (including the moving direction) of the object with respect to the own vehicle based on the time change of the direction in which the object exists and the distance to the object.
  • the detection result detected by the radar 11 is output to the vehicle control device 100.
  • the radar 11 targets all directions when the own vehicle is centered.
  • the radar 11 is provided in front, side, and rear of the own vehicle, and is a front radar that detects an object existing in front of the own vehicle and a side radar that detects an object existing in the side of the own vehicle. , And a rear radar that detects an object behind the vehicle.
  • the number and type of radars 11 included in the own vehicle are not particularly limited.
  • the imaging device 12 images an object existing around the own vehicle.
  • Examples of the image pickup device 12 include, but are not limited to, a camera including a CCD or CMOS image pickup device.
  • the captured image captured by the imaging device 12 is output to the vehicle control device 100.
  • the imaging device 12 targets all directions when the vehicle is centered.
  • the image pickup device 12 is provided on each of the front, side, and rear of the own vehicle, and is a front camera that captures an object existing in front of the own vehicle and a side that captures an object existing on the side of the own vehicle. It consists of a camera and a rear camera that detects an object behind the vehicle.
  • the number and type of image pickup devices 12 included in the own vehicle are not particularly limited.
  • Examples of objects detected by the surrounding environment sensor group 10 include bicycles, motorcycles, automobiles (hereinafter, also referred to as other vehicles), road obstacles, traffic signals, road markings (including lane boundaries), and pedestrian crossings. ..
  • the radar 11 determines the direction in which the other vehicle exists and the distance to the other vehicle based on the position of the own vehicle. Detects the relative speed of another vehicle with respect to the vehicle.
  • the image pickup device 12 captures an image in which the vehicle type of the other vehicle, the size of the other vehicle, and the shape of the other vehicle can be specified.
  • the radar 11 separates the lane in which the own vehicle is traveling from the lane located on the side of this lane.
  • the lane boundary line is detected, and the distance from the own vehicle to the lane boundary line is detected.
  • the image pickup device 12 captures an image in which the type of the lane boundary line can be specified.
  • the radar 11 detects the distance from the own vehicle to the lane boundary for each lane boundary.
  • the lane in which the own vehicle is traveling is also referred to as the own lane
  • the lane located on the side of the own lane is also referred to as an adjacent lane.
  • the vehicle sensor group 20 is a sensor group that detects the state (internal state) of the own vehicle. As shown in FIG. 1, examples of the vehicle sensor group 20 include, but are not limited to, a vehicle speed sensor 21, an acceleration sensor 22, a gyro sensor 23, a steering angle sensor 24, an accelerator sensor 25, and a brake sensor 26.
  • the vehicle speed sensor 21 measures the rotational speed of a drive system such as a drive shaft, and detects the traveling speed of the own vehicle based on the measurement result.
  • the vehicle speed sensor 21 is provided on, for example, a wheel of the own vehicle or a drive shaft that rotates integrally with the wheel.
  • the acceleration sensor 22 detects the acceleration of the own vehicle.
  • the acceleration sensor 22 includes a front-rear acceleration sensor that detects the acceleration in the front-rear direction of the own vehicle and a lateral acceleration sensor that detects the lateral acceleration of the own vehicle.
  • the gyro sensor 23 detects the speed at which the own vehicle rotates, that is, the amount of movement (angular velocity) of the angle of the own vehicle per unit time.
  • the steering angle sensor 24 detects the steering angle of the steering wheel.
  • the steering angle sensor 24 is provided, for example, on the steering shaft of the own vehicle.
  • the accelerator sensor 25 detects the amount of depression of the accelerator pedal (position of the accelerator pedal).
  • the accelerator sensor 25 is provided, for example, on the shaft portion of the accelerator pedal.
  • the brake sensor 26 detects the amount of depression of the brake pedal (position of the brake pedal).
  • the brake sensor 26 is provided, for example, on the shaft portion of the brake pedal.
  • the detection result detected by the vehicle sensor group 20 is output to the vehicle control device 100.
  • the detection results include, for example, the vehicle speed of the own vehicle, acceleration (including front-rear acceleration and lateral acceleration), angular velocity, accelerator pedal depression amount, and brake pedal depression amount.
  • the navigation system 30 is a system that guides the occupants (including the driver) of the own vehicle by indicating the route from the current position of the own vehicle to the destination based on the information of the current position of the own vehicle.
  • Map information is input to the navigation system 30 from the map database 40, and destination information is input from the occupants of the own vehicle via the HMI 50.
  • the navigation system 30 generates a travel route of the own vehicle based on these input information.
  • the navigation system 30 outputs the information on the traveling route of the own vehicle to the vehicle control device 100, and presents the information on the traveling route of the own vehicle to the occupants of the own vehicle via the HMI 50. As a result, the occupant is presented with a travel route from the current position to the destination.
  • the navigation system 30 includes a GPS 31, a communication device 32, and a navigation controller 33.
  • GPS31 acquires position information indicating the current position of its own vehicle (Global Positioning System, GPS).
  • GPS Global Positioning System
  • the GPS 31 acquires the position information of its own vehicle by receiving radio waves transmitted from a plurality of satellite communications by a receiver. Further, the GPS 31 can detect a change in the position information of the own vehicle by periodically receiving radio waves transmitted from a plurality of satellite communications.
  • the communication device 32 acquires the surrounding conditions of the own vehicle from the outside.
  • the communication device 32 is, for example, a device capable of communicating with a server or system provided outside the own vehicle.
  • the communication device 32 may communicate with a communication device mounted on another vehicle.
  • the communication device 32 uses an information transmission device (beacon) provided on the road, FM multiplex broadcasting, or the like to provide road traffic information from a vehicle information and communication system (Vehicle Information and Communication System, VICS (registered trademark), the same applies hereinafter).
  • vehicle information and communication system Vehicle Information and Communication System, VICS (registered trademark), the same applies hereinafter.
  • the road traffic information includes, for example, traffic congestion information for each lane, accident information, broken vehicle information, construction information, speed regulation information, lane regulation information, and the like. It should be noted that the road traffic information does not necessarily include each of the above information, and it is sufficient that at least one of the above information is included.
  • the communication device 32 when the communication device 32 has a function capable of communicating with a communication device mounted on another vehicle, the vehicle speed information of the other vehicle and the position information of the other vehicle are acquired. Such communication between the own vehicle and another vehicle is called vehicle-to-vehicle communication.
  • the communication device 32 may acquire information such as the vehicle speed of another vehicle as peripheral information of the own vehicle by inter-vehicle communication.
  • the communication device 32 may acquire information including the position, vehicle speed, and traveling direction of another vehicle from VICS as peripheral information of the own vehicle.
  • the navigation controller 33 is a computer that generates a traveling route from the current position of the own vehicle to the destination.
  • the navigation controller 33 has a ROM (Read Only Memory) that stores a program for generating a travel route, a CPU (Central Processing Unit) that executes a program stored in the ROM, and an accessible storage device. It is composed of a functioning RAM (Random Access Memory).
  • Information on the current position of the own vehicle is input to the navigation controller 33 from GPS 31, road traffic information is input from the communication device 32, map information is input from the map database 40, and information on the destination of the own vehicle is input from the HMI 50. Entered. For example, it is assumed that the occupant of the own vehicle sets the destination of the own vehicle via the HMI 50. Based on the position information of the own vehicle, the destination information of the own vehicle, the map information, and the road traffic information, the navigation controller 33 sets the route from the current position to the destination in lane units. Generated as a traveling route. The navigation controller 33 outputs the generated travel route information to the vehicle control device 100 and presents it to the occupants of the own vehicle via the HMI 50.
  • the traveling route of the own vehicle may be any route as long as the own vehicle can reach the destination from the current position, and other conditions are not limited.
  • the navigation controller 33 may generate a travel route of the own vehicle according to the conditions set by the occupant. For example, when the occupant is set to preferentially use the toll road to arrive at the destination, the navigation controller 33 may generate a travel route using the toll road based on the map information. .. Further, for example, the navigation controller 33 may generate a traveling route of the own vehicle based on the road traffic information. For example, when a traffic jam occurs in the middle of the shortest route to the destination, the navigation controller 33 searches for a detour route, and the travel route is the route having the shortest required time among the plurality of searched detour routes. May be generated as.
  • Map information includes road information and traffic rule information.
  • Road information and traffic rule information are defined by nodes and links (also called road links) connecting the nodes. Links are identified at the lane level.
  • Road information is information about roads on which vehicles can travel.
  • Each road link includes, for example, road type, road width, road shape, road curvature, whether or not to go straight, priority of progress, whether or not to pass (whether or not to enter an adjacent lane), whether or not to change lanes, etc.
  • Information about roads is linked, but the information linked to road links is not limited to these.
  • each road link is associated with, for example, information on the installation position of a traffic light, the position of an intersection, the approach direction of an intersection, the type of an intersection, and other information about the intersection.
  • Traffic rule information is a rule regarding traffic that a vehicle should comply with when driving.
  • Traffic rules include, but are not limited to, for example, pausing on the route, parking / stopping prohibition, slowing down, speed limit, legal speed, and lane change prohibition.
  • Information on traffic rules in the section defined by the road link is associated with each road link. For example, information on lane change prohibition is associated with a road link in a lane change prohibited section.
  • the traffic rule information may be linked not only to a road link but also to, for example, a node or a specific point (latitude, route) on a map.
  • the traffic rule information may include not only information on traffic rules but also information on traffic lights.
  • the road link at the intersection where the traffic light is installed may be associated with the color information currently displayed by the traffic light and / or the information of the cycle in which the display of the traffic light is switched.
  • Information about a traffic light is, for example, acquired from VICS by a communication device 32, or from an information transmitting device (for example, an optical beacon) provided on a road. The information displayed on the traffic light changes over time. Therefore, the traffic rule information is updated at predetermined intervals.
  • the map information stored in the map database 40 may be high-precision map information suitable for automatic driving.
  • the high-precision map information is acquired, for example, by communicating with a server or system provided outside the own vehicle. Further, the high-precision map information is based on the information acquired in real time by using the surrounding environment sensor group 10 (for example, the information of the object detected by the radar 11 and the image of the surroundings of the own vehicle captured by the imaging device 12). It may be generated at any time.
  • the automatic driving means a driving mode other than the driving mode in which the driving subject is composed only of the driver.
  • the driving subject includes a controller (not shown) that supports the driving operation together with the driver, or a controller (not shown) that executes the driving operation on behalf of the driver, the automatic driving is performed.
  • the driving subject includes a controller (not shown) that supports the driving operation together with the driver, or a controller (not shown) that executes the driving operation on behalf of the driver, the automatic driving is performed.
  • the driving subject includes a controller (not shown) that supports the driving operation together with the driver, or a controller (not shown) that executes the driving operation on behalf of the driver
  • the configuration in which the vehicle system 200 includes the map database 40 will be described as an example, but it may be provided outside the vehicle system 200.
  • the map information may be stored in advance in a portable storage device (for example, an external HDD or a flash memory).
  • the storage device functions as the map database 40 by electrically connecting the vehicle control device 100 and the storage device that stores the map information.
  • the HMI 50 is an interface for outputting and inputting information between the occupant of the own vehicle and the vehicle system 200 (Human Machine Interface, HMI).
  • HMI Human Machine Interface
  • Examples of the HMI 50 include, but are not limited to, a display for displaying character or image information and a speaker for outputting sound such as music or voice.
  • the destination information is output from the HMI 50 to the navigation system 30.
  • the navigation system 30 can acquire information on the destination of the own vehicle.
  • the travel route information is output from the navigation system 30 to the HMI 50.
  • the HMI 50 outputs the travel route information from the display and / or the speaker.
  • Information on the travel route to the destination includes, for example, route guidance and the time required to reach the destination, but is not limited thereto.
  • the lane change execution command is output from the HMI 50 to the vehicle control device 100.
  • the vehicle control device 100 can start the control process for changing lanes.
  • the vehicle control device 100 sets a target trajectory for changing lanes
  • the information of the target trajectory is output from the vehicle control device 100 to the HMI 50.
  • the HMI 50 outputs the information of the target locus from the display and / or the speaker.
  • the occupants of the own vehicle are presented with information on the target trajectory for changing lanes.
  • Information on the target trajectory for changing lanes includes, for example, an approach position specified on an adjacent lane and a target trajectory for changing lanes, but is not limited thereto. The target trajectory and approach position will be described later.
  • the actuator control device 60 controls the running of the own vehicle.
  • the actuator control device 60 includes a steering control mechanism, an accelerator control mechanism, a brake control mechanism, an engine control mechanism, and the like.
  • a control signal is input to the actuator control device 60 from the vehicle control device 100, which will be described later.
  • the actuator control device 60 realizes automatic driving of the own vehicle by controlling the vehicle control actuator group 70 in response to a control signal from the vehicle control device 100. For example, when a control signal for moving the own vehicle from the own lane to an adjacent lane is input to the actuator control device 60, the actuator control device 60 responds to the control signal with a steering angle required for the movement of the own vehicle. Calculate the accelerator depression amount or brake depression amount according to the moving speed.
  • the actuator control device 60 outputs various calculated parameters to the vehicle control actuator group 70.
  • control of each mechanism may be performed completely automatically, or may be performed in a manner of supporting the driving operation of the driver.
  • the control of each mechanism can be interrupted or stopped by the intervention operation of the driver.
  • the traveling control method by the actuator control device 60 is not limited to the above control method, and other well-known methods can also be used.
  • the vehicle control actuator group 70 is various actuators for driving the own vehicle. As shown in FIG. 1, examples of the vehicle control actuator group 70 include, but are not limited to, a steering actuator 71, an accelerator opening actuator 72, and a brake control actuator 73.
  • the steering actuator 71 controls the steering direction and steering amount of the steering of the own vehicle according to the signal input from the actuator control device 60.
  • the accelerator opening actuator 72 controls the accelerator opening of the own vehicle in response to a signal input from the actuator control device 60.
  • the brake control actuator 73 controls the braking operation of the brake device of the own vehicle in response to the signal input from the actuator control device 60.
  • the winker 80 has a blinking lamp inside, and when the driver of the own vehicle operates a direction indicator switch (not shown), it blinks in orange.
  • the blinker 80 is a device for indicating the direction to the surroundings when the own vehicle turns left or right or changes lanes.
  • the blinkers 80 are integrally provided on the left and right sides of the front end and the rear end of the own vehicle, for example.
  • a control signal is input to the blinker 80 from the vehicle control device 100.
  • the control signal is a signal for operating the blinker, and includes a signal for blinking the blinking blinker 80 (also referred to as a blinking signal) and a signal for extinguishing the blinking blinker 80 (also referred to as an extinguishing signal). ..
  • a blinking signal for blinking the left blinker is input to the blinker 80
  • the blinker 80 turns on the left blinker.
  • a turn-off signal for turning off the left turn signal is input to the winker 80
  • the winker 80 turns off the left turn signal.
  • the blinker 80 is controlled by the vehicle control device 100 in addition to the driver of the own vehicle.
  • the vehicle control device 100 of the present embodiment is composed of a computer provided with hardware and software, and has a ROM (Read Only Memory) for storing a program and a CPU (Central Processing Unit) for executing the program stored in the ROM. It is composed of a RAM (Random Access Memory) that functions as an accessible storage device.
  • MPU Micro Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field Program
  • the control device 101 shown in FIG. 1 corresponds to a CPU (processor).
  • the storage device 110 shown in FIG. 1 corresponds to a ROM and a RAM.
  • the configuration in which the program executed by the control device 101 is stored in the storage device 110 in advance will be described as an example, but the place where the program is stored is not limited to the storage device 110.
  • the program may be stored on a computer-readable and portable computer-readable recording medium (eg, disk media, flash memory, etc.).
  • the control device 101 executes the program downloaded from the computer-readable recording medium.
  • the vehicle control device 100 may be configured to include only an operating circuit and download a program from the outside.
  • the control device 101 includes an information acquisition unit 102, a lane change location identification unit 103, a lane change preparation unit 104, and a lane change control unit 105 as functional blocks. These blocks realize each function described later by the software established in the ROM.
  • the functions of the control device 101 are divided into four functional blocks, and then the functions of the respective functional blocks are described.
  • the functions of the control device 10 need to be divided into four blocks. Instead, it may be divided into three or less functional blocks or five or more functional blocks.
  • the function of the control device 10 is not limited to the function of the functional block described below, and also has, for example, a control function of the navigation system.
  • the function of the information acquisition unit 102 will be described.
  • the information acquisition unit 102 acquires various information from each of the surrounding environment sensor group 10, the vehicle sensor group 20, the navigation system 30, the map database 40, and the HMI 50.
  • the information acquisition unit 102 acquires peripheral information of the own vehicle (also referred to as external information of the own vehicle) detected by the surrounding environment sensor group 10.
  • the peripheral information of the own vehicle includes the detection result detected by the radar 11 and the captured image captured by the imaging device 12.
  • the information acquisition unit 102 acquires information indicating the state of the own vehicle (also referred to as internal information of the own vehicle) detected by the vehicle sensor group 20.
  • the internal information of the own vehicle includes the vehicle speed, acceleration, angular velocity, the amount of depression of the accelerator pedal, and the amount of depression of the brake pedal of the own vehicle.
  • the information acquisition unit 102 acquires the current position of the own vehicle, the traveling route of the own vehicle, and the road traffic information from the navigation system 30.
  • the information acquisition unit 102 acquires map information (including road information and traffic rule information) from the map database 40.
  • the lane change location identification unit 103 acquires the current position of the own vehicle and the travel route of the own vehicle from the navigation system 30, and identifies the lane change location based on the current position and the travel route of the own vehicle.
  • the lane change location indicates a location where it is necessary to move the vehicle from the own lane to the adjacent lane when traveling on the traveling route.
  • the lane change location specifying unit 103 refers to the travel route of the own vehicle and identifies a location where the lane is changed in the travel route.
  • the lane change location identification unit 103 specifies a point at which the traveling direction is switched, such as an intersection, or a point at which the course is changed in a direction different from the traveling direction of the vehicle, such as an interchange, as a target point from the traveling route of the own vehicle.
  • the lane change location specifying unit 103 identifies a location where the vehicle needs to move from the own lane to an adjacent lane in order to change the traveling direction of the own vehicle at the target point as a lane change location.
  • the lane change location specifying unit 103 specifies an intersection that requires a right turn as a target point.
  • the lane change location specifying unit 103 specifies a predetermined distance from an intersection (target point) to be turned right and a position in front of the intersection (target point) on the traveling route as a lane change location.
  • the lane change location is set, for example, on the traveling route at a location several hundred meters before the target point.
  • the lane change location does not necessarily have to be set by a point, and may be set in a predetermined section.
  • the lane change location includes a predetermined section in front of the branch point provided on the expressway and a predetermined section in front of the destination of the own vehicle.
  • the branch points provided on the expressway include branch points to various directions and branch points between the main line and the exit.
  • the length of the section is not particularly limited.
  • the own vehicle when the lane change location is specified by the lane change location identification unit 103 and the own vehicle reaches the lane change location, or when the lane change execution command is input by the occupant, the own vehicle automatically operates.
  • the lane change process for changing lanes is executed by the function described below.
  • the lane change preparation unit 104 executes preparation control for changing the lane of the own vehicle when the current position of the own vehicle reaches the lane change location.
  • Preparation control includes vehicle control for specifying the approach position and expressing intention.
  • the manifestation of intention is to indicate the intention to change lanes to other vehicles traveling behind the own vehicle.
  • the lane change preparation unit 104 is located on an adjacent lane adjacent to the own lane in which the own vehicle is traveling, and specifies an approach position indicating the position of the approach destination of the own vehicle, based on the peripheral information of the own vehicle.
  • the lane change preparation unit 104 has a predetermined distance or more in the adjacent lane along the traveling direction of the vehicle based on the result detected by the radar 11 and the captured image captured by the imaging device 12. Specify the location as the approach position.
  • the approach position is represented by a position relative to the current position of the own vehicle, and may be appropriately changed according to the surrounding state of the own vehicle.
  • the lane change preparation unit 104 specifies the approach position, among the other vehicles located before and after the approach position, the other vehicle in front is specified as the front vehicle, and the other vehicle in the rear is specified as the rear vehicle. In other words, the lane change preparation unit 104 selects the front vehicle located in front of the approach position and the rear vehicle located behind the approach position among the plurality of other vehicles located in the adjacent lanes. Identify. In addition, the lane change preparation unit 104 identifies other vehicles located in front of and behind the own vehicle. For example, the lane change preparation unit 104 is based on the detection result detected by the radar 11 and the image captured by the imaging device 12, among a plurality of other vehicles located in front of the lane adjacent to the approach position.
  • the other vehicle located closest to the vehicle is identified as the vehicle in front. Further, the lane change preparation unit 104 identifies the other vehicle located closest to the approach position as the rear vehicle among the plurality of other vehicles located behind the adjacent lane with respect to the approach position. If no other vehicle is traveling in front of the approach position, the lane change preparation unit 104 may specify only the rear vehicle.
  • the lane change preparation unit 104 controls the vehicle to indicate the intention to change lanes according to the traveling state of the vehicle behind in order to convey the intention of changing lanes to the rear vehicle traveling on the adjacent lane (hereinafter referred to as , Also called manifestation control). Further, the lane change preparation unit 104 determines the timing of executing the manifestation of intention control according to the state change of the vehicle speed of the other vehicle.
  • the vehicle change preparation unit 104 detects the vehicle speed of the vehicle behind on the adjacent lane based on the peripheral information of the own vehicle.
  • the vehicle change preparation unit 104 determines whether the vehicle speed of the specified rear vehicle is higher than the vehicle speed of the own vehicle (hereinafter, also referred to as the first state).
  • the vehicle speed of the specified rear vehicle is higher than the vehicle speed of the own vehicle (hereinafter, also referred to as the first state).
  • the driver of the rear vehicle reacts to the movement of the target vehicle located in front. Therefore, it may be misleading if the target vehicle changes lanes immediately.
  • it is specified from the vehicle speed of the vehicle behind that the situation is likely to cause a misunderstanding.
  • the vehicle change preparation unit 104 determines whether the vehicle speed of the rear vehicle is equal to or lower than the vehicle speed of the own vehicle (hereinafter, also referred to as the second state). judge. That is, the vehicle change preparation unit 104 determines whether or not the first state has changed to the second state.
  • the vehicle speed of the rear vehicle becomes lower than the vehicle speed of the own vehicle from a state higher than the vehicle speed of the own vehicle, the driver of the rear vehicle even if the own vehicle steers to move from the own lane to the adjacent lane. Is unlikely to be misleading that the target vehicle will change lanes immediately. Therefore, in the present embodiment, in order to perform steering control for changing lanes, the running state of another vehicle is detected by determining whether or not the state of the rear vehicle has changed from the first state to the second state. are doing.
  • the vehicle change preparation unit 104 When it is determined that the state of the rear vehicle has changed from the first state to the second state, the vehicle change preparation unit 104 performs steering control for changing lanes and / or starts operation of the blinker 80.
  • Steering control for changing lanes is to control the steering actuator to bring the position of the own vehicle in the vehicle width direction closer to the adjacent lane side than the current position.
  • the manifestation of intention control is executed after the vehicle speed of the rear vehicle becomes equal to or lower than the vehicle speed of the own vehicle.
  • the lane change control unit 105 executes lane change control when there is sufficient space before and after the approach position to properly change lanes.
  • the lane change control unit 105 executes the following control as lane change control.
  • the lane change control unit 105 operates the blinker 80 and starts blinking of the blinker 80.
  • the lane change control unit 105 generates a target trajectory for the own vehicle to change lanes, starting from the current position of the own vehicle and ending at the approach position within the range behind the lane change.
  • the lane change control unit 105 sets the vehicle speed and steering angle when the own vehicle travels along the target trajectory.
  • the travel control unit 108 outputs a control signal according to the set vehicle speed and steering angle to the actuator control device 60.
  • the lane change control unit 105 ends the blinking of the blinker 80 and ends the lane change control.
  • the manifestation of intention control includes the operation control of the blinker 80, the control for blinking the blinker 80 is omitted from the lane change control.
  • FIG. 2 shows a flowchart of a control process executed by the vehicle control device according to the present embodiment.
  • FIG. 3 shows an example of a traveling scene of the own vehicle, which changes in the order of (a) to (b). Note that FIG. 3 shows the relative positional relationship of each running vehicle.
  • the other vehicle Y is located in front of the own vehicle X on the own lane, and the own vehicle X and the other vehicle Y are traveling at the same speed (steady state). Then, the rear vehicle A is located behind the own vehicle X on the adjacent lane, and is approaching the own vehicle A from the rear.
  • the following control flow is executed in the driving scene shown in FIG. Each of the following control flows may be performed completely automatically, or may be performed in a manner of assisting the driving operation of the driver.
  • step S1 the control device 101 acquires external information (peripheral information) of the own vehicle from the surrounding environment sensor group 10.
  • the control device 101 acquires internal information of the own vehicle.
  • the control device 101 acquires the external information and the internal information of the own vehicle at a predetermined cycle while executing the control process after step S2.
  • the traveling state is represented by the position of the vehicle, the vehicle speed of the vehicle, and the like.
  • step S2 the control device 101 identifies the lane change location based on the traveling route of the own vehicle.
  • the control device 101 identifies the lane change location (point S) based on the traveling route of the own vehicle.
  • step S3 the control device 101 compares the current position of the own vehicle with the lane change location, and determines whether or not the own vehicle has reached the lane change location. If the current position of the own vehicle has not reached the lane change location, the control device 101 repeatedly executes the control process of step S3. When the current position of the own vehicle reaches the lane change location, the control device 101 executes the control process after step S4.
  • step S4 the control device 101 identifies the approach position of the own vehicle on the adjacent lane from the peripheral information of the own vehicle. Further, the control device 101 identifies another vehicle located behind the approach position as a rear vehicle. The control device 101 detects the vehicle speed of the specified rear vehicle based on the peripheral information acquired periodically. In the example of FIG. 3, the control device 101 identifies the approach position (point P) and the rear vehicle A, and calculates the vehicle speed ( VA ) of the rear vehicle A.
  • step S5 the control device 101 determines whether or not the vehicle speed ( VA ) of the rear vehicle A is higher than the vehicle speed (V x ) of the own vehicle. That is, the control device 101 determines whether or not the state of the rear vehicle A is the first state.
  • the control device 101 executes the control process of step S12.
  • step S6 the control device 101 determines whether or not the vehicle speed ( VA ) of the rear vehicle A is equal to or less than the vehicle speed (V x ) of the own vehicle. That is, the control device 101 determines whether or not the state of the rear vehicle A is the second state.
  • the control device 101 determines whether or not the first predetermined time has elapsed.
  • the first predetermined time is a preset time
  • the vehicle speed ( VA ) of the rear vehicle A is equal to or less than the vehicle speed (V x ) of the own vehicle from a speed higher than the vehicle speed (V x ) of the own vehicle. It shows the maximum time that can be waited until the speed changes.
  • the control device 101 may lengthen the first predetermined time as the distance between the own vehicle X and the rear vehicle A becomes longer.
  • control device 101 executes the control in step S5.
  • the control device 101 ends the control flow shown in FIG.
  • step S8 When the vehicle speed ( VA ) of the rear vehicle A is equal to or less than the vehicle speed (V x ) of the own vehicle, the control device 101 executes the control flow of step S8. That is, the control device 101 determines whether or not the traveling state of the own vehicle X and the rear vehicle A changes from the first state to the second state by executing the control flow of step S5 and step S6. In other words, the control device 101 determines whether or not the rear vehicle A is approaching the own vehicle X based on the relative positional relationship between the rear vehicle A and the own vehicle X. Then, when it is determined that the state has changed from the first state to the second state, the control device 101 executes the control flow from step S8 onward.
  • step S8 the control device 101 executes manifestation of intention control in order to indicate to the rear vehicle A the intention to change the lane of the own vehicle A.
  • the vehicle speed ( VA ) of the rear vehicle A is equal to or less than the vehicle speed (V x ) of the own vehicle, so that the position of the own vehicle X is moved closer to the adjacent lane side.
  • the manifestation of intention control is being executed.
  • step S9 the control device 101 determines whether or not the rear vehicle A has accelerated. If it is determined that the rear vehicle A has accelerated, the control device 101 stops the manifestation of intention control in step S10. That is, when the vehicle A accelerates after executing the manifestation of intention control, the driver of the rear vehicle may react to the movement of the vehicle by the manifestation of intention control and / or the blinking of the blinker by the manifestation of intention control. .. Therefore, in the present embodiment, when the vehicle A accelerates after executing the manifestation of intention control, the manifestation of intention control is stopped. Then, the control device 101 ends the control flow shown in FIG.
  • step S11 the control device 101 determines whether or not the second predetermined time has elapsed.
  • the second predetermined time is a preset time and indicates a time for continuing the manifestation of intention control. If the second predetermined time has not elapsed, the control device 101 executes the control in step S8. When the second predetermined time has elapsed, in step S12, the control device 101 executes lane change control by the lane change control unit 105.
  • the own vehicle executes manifestation of intention control, which is vehicle control for indicating the intention of changing lanes to the rear vehicle. ..
  • intention control is vehicle control for indicating the intention of changing lanes to the rear vehicle.
  • the manifestation of intention control is a control for bringing the position of the own vehicle in the vehicle width direction closer to the adjacent lane side than the current position, and / or a control for operating the blinker of the own vehicle.
  • the manifestation of intention control is stopped.
  • the target vehicle immediately changes lanes in response to the movement of the vehicle by the manifestation of intention control and / or the blinking of the blinker by the manifestation of intention control.
  • the control device 101 determines whether or not the state of the rear vehicle A is the second state, but the vehicle speed of the rear vehicle is equal to or less than the vehicle speed of the own vehicle after a predetermined time.
  • the control device 101 may determine whether or not it is the second state after setting the state to be the second state. Specifically, the control device 101 detects the vehicle speed of the rear vehicle A in time series from the peripheral information of the own vehicle, and calculates the deceleration of the rear vehicle A from the specified time series vehicle speed change amount. Then, it is determined whether or not the calculated deceleration is higher than the predetermined deceleration threshold.
  • the vehicle speed of the rear vehicle A When the vehicle speed of the rear vehicle A is higher than the vehicle speed of the own vehicle X and the deceleration of the rear vehicle A is higher than the deceleration threshold value, the vehicle speed of the rear vehicle becomes lower than the vehicle speed of the own vehicle after a predetermined time. Since it can be predicted, the control device 101 determines that the condition of the second state is satisfied.
  • the own vehicle executes manifestation of intention control on the rear vehicle.
  • vehicle control that indicates the intention to change lanes to other vehicles from being executed regardless of the traveling state of the other vehicle.
  • the state of the rear vehicle being in the second state is not limited to the case where the brake is operated in the rear vehicle, but also includes the case where the vehicle speed is adjusted by the accelerator off in the rear vehicle. That is, when the rear vehicle shifts to the deceleration operation when the accelerator is off, the vehicle speed of the rear vehicle decreases, so that the rear vehicle can be in the second state after the first state. Then, in the present embodiment, when it is determined that the state of the rear vehicle has changed from the first state to the second state, the control device 101 executes intention display control for the rear vehicle and lanes. Execute change control. As a result, even if the lane change of the own vehicle is started, the driver of the rear vehicle does not have to change the pedal from the accelerator pedal to the brake pedal, so that unnecessary pedal operation can be avoided.
  • the accelerator when the rear vehicle A is sufficiently separated from the own vehicle X (for example, even if the driver of the rear vehicle A reacts to the lane change of the own vehicle, the accelerator is used. If the vehicle can be sufficiently decelerated only by turning it off), the lane change control may be performed without executing the manifestation of intention control.
  • Second Embodiment The vehicle system 200 according to another embodiment of the present invention will be described.
  • the control of a part of the control device 101 is different from that of the first embodiment.
  • the configuration of the vehicle system 200 is the same as that of the first embodiment, and the description thereof is incorporated.
  • different parts of the function and control process of the control device 101 will be mainly described, but the function and control process of the control device 101 described in the first embodiment may be appropriately incorporated.
  • FIG. 4 shows a flowchart of a control process executed by the vehicle control device according to the present embodiment.
  • FIG. 5 shows an example of a traveling scene of the own vehicle, which changes in the order of (a) to (b). Note that FIG. 5 shows the relative positional relationship of each running vehicle.
  • the other vehicle Y is located in front of the own vehicle X on the own lane
  • the other vehicle B front vehicle B
  • the other vehicle Y and the vehicle B in front are traveling at the same speed (steady traveling state).
  • the rear vehicle A is located behind the own vehicle X on the adjacent lane and is approaching the own vehicle X from the rear.
  • the following control flow is executed in the driving scene shown in FIG. Each of the following control flows may be performed completely automatically, or may be performed in a manner of assisting the driving operation of the driver.
  • step S24 the control device 101 identifies the vehicle in front B in addition to the other vehicles A and Y traveling around the own vehicle X. Further, the control device 101 detects the vehicle speed of the vehicle B in front based on the peripheral information of the own vehicle.
  • step S25 the control device 101 sets the vehicle speed of the own vehicle so as to correspond to the vehicle speed of the other vehicle Y located in front of the own vehicle X on the same lane as the own vehicle X and the vehicle speed of the own vehicle X.
  • Control Specifically, the control device 101 adjusts the vehicle speed of the own vehicle X so that the vehicle speed X of the own vehicle becomes the same as the vehicle speed of the other vehicle Y.
  • the control device 101 In order to make the vehicle speed of the own vehicle X correspond to the vehicle speed of the other vehicle Y, it is not always necessary to match the vehicle speeds, and the control device 101 so that the vehicle speed difference between the own vehicle X and the other vehicle Y is equal to or less than a predetermined value.
  • the vehicle speed of the own vehicle X may correspond to the vehicle speed of the other vehicle Y.
  • the control flow of steps S26 to S33 is the same as the control flow of steps S5 to S12. That is, when the front vehicle B and the other vehicle Y are performing steady running at a position in front of the own vehicle X, the own vehicle X is kept running at a predetermined distance from the other vehicle Y. The vehicle speed of the own vehicle X is controlled to a corresponding vehicle speed corresponding to the vehicle speed of another vehicle. Then, after the front vehicle B, the own vehicle X, and the other vehicle Y are in the steady running state, the control process after step S26 is executed. Then, as shown in FIG.
  • the control device 101 changes the position of the own vehicle X to the adjacent lane.
  • the manifestation of intention control is executed by bringing it closer to the side.
  • the front vehicle located in front of the approach position is specified on the adjacent lane, and the vehicle speed of the own vehicle is determined in a state where the own vehicle is located behind the front vehicle on the own lane.
  • the vehicle control for displaying the intention to change lanes to the other vehicle from being executed regardless of the traveling state of the other vehicle.
  • step S30 it is determined whether or not the rear vehicle A has accelerated, but it may be determined whether or not the front vehicle B has accelerated instead of the rear vehicle A. Then, when the vehicle B ahead accelerates, the control device 101 stops the manifestation of intention control in step S21. That is, when the front vehicle B accelerates after executing the manifestation of intention control, the rear vehicle A may accelerate so as to follow the acceleration of the front vehicle B. Then, the driver of the rear vehicle A may react to the movement of the vehicle by the manifestation of intention control and / or the blinking of the blinker by the manifestation of intention control. Therefore, in the present embodiment, when the vehicle B ahead accelerates after executing the manifestation of intention control, the manifestation of intention control is stopped. Then, the control device 101 ends the control flow shown in FIG.
  • the manifestation of intention control is stopped.
  • the target vehicle immediately changes lanes in response to the movement of the vehicle by the manifestation of intention control and / or the blinking of the blinker by the manifestation of intention control.
  • a step may be added in which the control device 101 determines whether or not the inter-vehicle distance between the rear vehicle A and the front vehicle B is widened. .. Then, when the inter-vehicle distance between the rear vehicle A and the front vehicle B is widened, the control device 101 executes lane change control. When the inter-vehicle distance between the rear vehicle A and the front vehicle B is not widened, the control device 101 executes the control flow in step S29. As a result, it is possible to prevent vehicle control that indicates the intention to change lanes to other vehicles from being executed regardless of the traveling state of the other vehicle.
  • the vehicle system 200 according to another embodiment of the present invention will be described.
  • the control of a part of the control device 101 is different from that of the second embodiment.
  • the configuration of the vehicle system 200 is the same as that of the first and second embodiments, and the description thereof is incorporated. Further, in the following description, different parts of the functions and control processes of the control device 101 will be mainly described, but the functions and control processes of the control device 101 described in the first or second embodiment will be appropriately incorporated. May be good.
  • FIG. 6 shows a flowchart of a control process executed by the vehicle control device according to the present embodiment.
  • FIG. 7 shows an example of the traveling scene of the own vehicle, which changes in the order of (a) to (b). Note that FIG. 7 shows the relative positional relationship of each running vehicle.
  • the other vehicle Y is stopped in front of the own vehicle X on the own lane, and the other vehicle B (front vehicle B) is stopped in front of the own vehicle X on the adjacent lane. ing. Then, the rear vehicle A is located behind the own vehicle X on the adjacent lane, and is approaching the own vehicle A from the rear.
  • the following control flow is executed in the driving scene shown in FIG. 7. Each of the following control flows may be performed completely automatically, or may be performed in a manner of assisting the driving operation of the driver. In the following description of the control flow, the control flow will be described in comparison with the control flow according to the second embodiment.
  • control flow of steps S41 to S44 is the same as the control flow of steps S21 to S24 according to the second embodiment.
  • step S45 the control device 101 leaves a predetermined distance from the other vehicle Y on the same lane as the own vehicle X, and stops in the vicinity of the approach position P.
  • step S46 the control device 101 determines whether or not the vehicle speed ( VA ) of the rear vehicle A is higher than the vehicle speed (V x ) of the own vehicle. That is, the control device 101 determines whether or not the state of the rear vehicle A is the first state.
  • the control device 101 executes the control process of step S53.
  • step S47 the control device 101 determines whether or not the vehicle speed ( VA ) of the rear vehicle A is zero (whether or not the rear vehicle A is stopped). That is, in the present embodiment, the state in which the rear vehicle A is stopped behind the own vehicle X is determined as the second state.
  • the control flow of steps S48 to S53 is the same as the control flow of steps S28 to S33 according to the second embodiment.
  • the control device 101 sets the own vehicle X when the rear vehicle A is stopped behind the own vehicle on the adjacent lane.
  • the manifestation of intention control is executed by moving the position of the vehicle closer to the adjacent lane.
  • the state in which the rear vehicle is stopped behind the own vehicle is determined as the second state. Therefore, in the present embodiment, it is possible to prevent the vehicle control for displaying the intention to change lanes to the other vehicle from being executed regardless of the traveling state of the other vehicle.
  • the control device 101 determines whether or not the rear vehicle A is stopped, but may determine whether or not the rear vehicle A is in a slow-moving state. ..
  • the vehicle behind is slowing down, the original vehicle speed is low even if the vehicle steers to move from the vehicle lane to the adjacent lane. Therefore, in the present embodiment, when the own vehicle is stopped, the state in which the rear vehicle is slowing behind the own vehicle is determined as the second state. Thereby, in the present embodiment, it is possible to prevent the vehicle control for displaying the intention to change lanes to the other vehicle from being executed regardless of the traveling state of the other vehicle.
  • the slow-moving state is a state in which the rear vehicle A can be stopped immediately, for example, a state in which the vehicle is traveling at a speed of several km / h or less. If the definition of slow-moving is defined by the laws or regulations of each country, the state defined by the law or regulations may be defined as the slow-moving state.
  • the vehicle system 200 according to another embodiment of the present invention will be described.
  • the control of a part of the control device 101 is different from that of the first embodiment.
  • the configuration of the vehicle system 200 is the same as that of the first embodiment, and the description thereof is incorporated.
  • different parts of the functions and control processes of the control device 101 will be mainly described, but the functions and control processes of the control device 101 described in the first to third embodiments will be appropriately incorporated. May be good.
  • FIG. 8 shows a flowchart of a control process executed by the vehicle control device according to the present embodiment.
  • FIG. 9 shows an example of the traveling scene of the own vehicle, which changes in the order of (a) to (b).
  • V H and VL each indicate legal speeds determined for each road, and the legal speed ( VL ) is lower than the legal speed (V H ).
  • FIG. 9 shows the relative positional relationship of each running vehicle.
  • the own vehicle X is traveling on the road at the legal speed ( VL ), and the rear vehicle A is traveling on the road at the legal speed (V H ).
  • the vehicle speed of the own vehicle changes from speed (V H ) to speed ( VL ) according to the legal speed.
  • the inter-vehicle distance between the own vehicle X and the rear vehicle A becomes narrower due to the change in the speed of the own vehicle.
  • the following control flow is executed in the driving scene shown in FIG.
  • Each of the following control flows may be performed completely automatically, or may be performed in a manner of assisting the driving operation of the driver. In the following description of the control flow, the control flow will be described in comparison with the control flow according to the second embodiment.
  • step S65 the control device 101 controls the vehicle speed (V X ) of the own vehicle so as to match the legal speed ( VL ) in accordance with the decrease in the legal speed.
  • the vehicle speed (V X ) of the own vehicle X does not necessarily have to match the legal speed ( VL ), and the control device 101 sets the vehicle speed (V X ) of the own vehicle X to the legal speed ( VL ) or less.
  • the vehicle speed of the own vehicle X may be adjusted so as to be.
  • step S66 The control flow in step S66 is the same as the control flow in step S26.
  • step S67 the control device 101 determines whether or not the vehicle speed ( VA ) of the vehicle behind is equal to or less than the legal speed ( VL ). That is, the control device 101 determines that the state in which the rear vehicle A becomes the legal speed ( VL ) or less behind the own vehicle X as the second state.
  • the rear vehicle A of the control device 101 is the own vehicle X.
  • a state in which the speed becomes lower than the adjusted speed of the own vehicle in the rear may be determined as the second state.
  • the control flow of steps S68 to S73 is the same as the control flow of steps S28 to S33 according to the second embodiment.
  • the vehicle speed of the own vehicle X decreases from the legal speed (V H ) to a speed equal to or lower than the legal speed ( VL ), and the rear vehicle A is behind the own vehicle X on the adjacent lane.
  • the control device 101 controls the intention display by moving the position of the own vehicle X closer to the adjacent lane side. Is running.
  • the vehicle speed of the own vehicle is set.
  • the second state is a state in which the vehicle is controlled below the second legal speed ( VL ), the rear vehicle is located behind the own vehicle in the adjacent lane, and the vehicle speed of the rear vehicle is below the second legal speed ( VL ). judge.
  • the vehicle system 200 according to another embodiment of the present invention will be described.
  • the control of a part of the control device 101 is different from that of the first embodiment.
  • the configuration of the vehicle system 200 is the same as that of the first embodiment, and the description thereof is incorporated.
  • different parts of the functions and control processes of the control device 101 will be mainly described, but the functions and control processes of the control device 101 described in the first to fourth embodiments will be appropriately incorporated. May be good.
  • FIG. 10 shows a flowchart of a control process executed by the vehicle control device according to the present embodiment.
  • FIG. 11 shows an example of a traveling scene of the own vehicle, which changes in the order of (a) to (b).
  • V H denotes the legal speed that is determined for the road
  • V S represents the upper limit speed determined in accordance with the curvature of the curve.
  • Upper limit speed (V S) the vehicle is an upper bound of the vehicle speed suitable for the running of the curve, the upper limit speed the greater the curvature is low.
  • FIG. 11 shows the relative positional relationship of each running vehicle.
  • the vehicle X is enters the straight road to the curvature of the road, running at the vehicle speed (V S).
  • the rear vehicle A is in a state before entering the curved road and is traveling on the road at the legal speed ( VH ).
  • Speed of the vehicle X is in accordance with the change in the road shape of the traveling changes from the speed (V H) to the speed (V S). Then, the inter-vehicle distance between the own vehicle X and the rear vehicle A becomes narrower due to the change in the speed of the own vehicle.
  • the following control flow is executed in the driving scene shown in FIG. Each of the following control flows may be performed completely automatically, or may be performed in a manner of assisting the driving operation of the driver. In the following description of the control flow, the control flow will be described in comparison with the control flow according to the second embodiment.
  • step S85 the control device 101, in order to travel the curve, controls the vehicle speed (V X) of the vehicle to match the upper limit speed (V S).
  • V S the vehicle speed of the X speed
  • the control unit 101 a vehicle speed (V X) of the vehicle X below the upper limit speed (V S)
  • the vehicle speed of the own vehicle X may be adjusted so as to be.
  • step S86 The control flow in step S86 is the same as the control flow in step S26.
  • step S87 the control unit 101, the rear vehicle speed (V A) is equal to or upper limit speed (V S) or less. That is, the control unit 101, a state in which the rear vehicle A is equal to or less than the upper limit speed (V S) at the rear of the vehicle X, it is determined as a second state.
  • the control flow of the step S85 the when the vehicle X of the vehicle speed (V X) to adjust the upper limit speed (V S) or less, at step S87, the control unit 101 behind the vehicle A is the vehicle X A state in which the speed is lower than the adjusted speed of the own vehicle in the rear may be determined as the second state.
  • the control flow of steps S88 to S93 is the same as the control flow of steps S28 to S33 according to the second embodiment.
  • the vehicle speed is legal speed of the vehicle X (V H), and lowered to the upper limit speed (V S) following speed
  • rear vehicle A is behind the vehicle X in an adjacent lane when located in the vehicle speed of the following vehicle a is when it is the upper limit speed (V S) the following speed control device 101, gesture control in bringing the position of the vehicle X in the adjacent lane side Is running.
  • the speed of the vehicle is controlled to or below a predetermined speed determined in accordance with the curvature of the host vehicle lane (corresponding to the upper limit speed V s), the rear vehicle is positioned behind the vehicle, the rear vehicle The state in which the vehicle speed is equal to or lower than the predetermined speed is determined as the second state.
  • the vehicle control device according to the present invention will be described by taking the vehicle control device 100 as an example, but the present invention is not limited thereto.
  • the first lane according to the present invention will be described by taking the own lane as an example, but the present invention is not limited thereto.
  • the second lane according to the present invention will be described by taking an adjacent lane as an example, but the present invention is not limited thereto.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé de commande de véhicule qui doit être exécuté par un processeur (101) afin de permettre à un véhicule de faire un changement de voie. Le procédé de commande de véhicule comprend les étapes consistant à : acquérir des informations d'environnement d'un véhicule hôte ; spécifier, sur la base des informations d'environnement du véhicule hôte, une position d'intrusion qui est située sur une seconde voie adjacente à une première voie sur laquelle le véhicule hôte se déplace et qui indique la position d'une destination d'intrusion du véhicule hôte ; spécifier, sur la seconde voie, un véhicule arrière situé à l'arrière de la position d'intrusion ; détecter la vitesse de véhicule du véhicule arrière ; déterminer si l'état du véhicule arrière change d'un premier état dans lequel la vitesse de véhicule du véhicule arrière est supérieure à la vitesse de véhicule du véhicule hôte à un second état dans lequel la vitesse de véhicule du véhicule arrière n'est pas supérieure à la vitesse de véhicule du véhicule hôte ou dans lequel la vitesse de véhicule du véhicule arrière devient inférieure à la vitesse de véhicule du véhicule hôte après une période de temps prédéterminée ; et, dans un cas où il est déterminé que l'état du véhicule arrière a changé du premier état au second état, exécuter une commande de véhicule pour le véhicule hôte pour indiquer l'intention de faire un changement de voie, à destination du véhicule arrière.
PCT/IB2019/000394 2019-03-29 2019-03-29 Procédé de commande de véhicule et dispositif de commande de véhicule WO2020201795A1 (fr)

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Publication number Priority date Publication date Assignee Title
WO2017018480A1 (fr) * 2015-07-30 2017-02-02 クラリオン株式会社 Dispositif de commande d'éclairage pour indicateur de direction
WO2017159509A1 (fr) * 2016-03-15 2017-09-21 本田技研工業株式会社 Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
JP2018203120A (ja) * 2017-06-06 2018-12-27 トヨタ自動車株式会社 操舵支援装置
JP2019018788A (ja) * 2017-07-20 2019-02-07 株式会社Ｓｏｋｅｎ 車両制御装置及び車両制御方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017018480A1 (fr) * 2015-07-30 2017-02-02 クラリオン株式会社 Dispositif de commande d'éclairage pour indicateur de direction
WO2017159509A1 (fr) * 2016-03-15 2017-09-21 本田技研工業株式会社 Système de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
JP2018203120A (ja) * 2017-06-06 2018-12-27 トヨタ自動車株式会社 操舵支援装置
JP2019018788A (ja) * 2017-07-20 2019-02-07 株式会社Ｓｏｋｅｎ 車両制御装置及び車両制御方法

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