WO2022224587A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
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- WO2022224587A1 WO2022224587A1 PCT/JP2022/008421 JP2022008421W WO2022224587A1 WO 2022224587 A1 WO2022224587 A1 WO 2022224587A1 JP 2022008421 W JP2022008421 W JP 2022008421W WO 2022224587 A1 WO2022224587 A1 WO 2022224587A1
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Definitions
- the present invention relates to technology of a vehicle control device that assists driving.
- a vehicle control device that controls the running of a vehicle has been known for some time.
- the vehicle control system has the functions of preceding vehicle tracking control, which follows the vehicle in front of the vehicle, and adaptive cruise control (ACC), which has the vehicle speed control function of driving at a preset vehicle speed.
- ACC adaptive cruise control
- Patent Document 1 when an adjacent vehicle or an interrupting vehicle cuts in between the host vehicle and the preceding vehicle, if the vehicle speed of the interrupting vehicle is higher than the vehicle speed of the host vehicle, for a predetermined time after the occurrence of the interrupt, A technique for suppressing a driver's sense of incongruity and anxiety by not permitting acceleration of the own vehicle has been disclosed (summary).
- Patent Document 2 when an adjacent vehicle or an intruding vehicle cuts in between the own vehicle and the preceding vehicle, the speeds of the own vehicle and the intruding vehicle are compared, and the speed of the intruding vehicle is large, and the inter-vehicle distance gradually increases.
- a technique has been disclosed that can perform follow-up control suitable for the running behavior of the cut-in vehicle by performing follow-up control that does not decelerate the own vehicle in a situation where the time is long (summary, FIG. 6).
- Patent Literatures 1 and 2 after being interrupted by an adjacent vehicle or a cut-in vehicle between the own vehicle and the preceding vehicle, the own vehicle is controlled based on the relative speed of the own vehicle and the cut-in vehicle.
- the vehicle ahead accelerates and the distance between the vehicle and the preceding vehicle becomes longer than the target distance between the vehicles, causing the vehicle to approach the target distance.
- an adjacent vehicle may cut in.
- the acceleration/deceleration of the own vehicle is controlled after cutting in, immediately after increasing the acceleration to follow the preceding vehicle, the adjacent vehicle cuts in and reduces the acceleration. As a result, sudden deceleration may occur, which may impair the ride comfort of the driver.
- the present invention has been made in consideration of the above problems, and aims to provide a vehicle control device capable of improving the ride comfort of the driver.
- a vehicle control device includes: automatically controlling the speed of the vehicle, A preceding vehicle relation value detection unit for detecting a preceding vehicle relation value, which is a relative relation value in the traveling direction between the preceding vehicle traveling in front of the own vehicle and the own vehicle in the own vehicle lane in which the own vehicle is traveling.
- a preceding vehicle relation value detection unit for detecting a preceding vehicle relation value, which is a relative relation value in the traveling direction between the preceding vehicle traveling in front of the own vehicle and the own vehicle in the own vehicle lane in which the own vehicle is traveling.
- an acceleration/deceleration control unit that controls the acceleration/deceleration of the own vehicle based on the preceding vehicle related value in the traveling direction
- Adjacent vehicle relationship value detection for detecting an adjacent vehicle relationship value, which is a relative relationship value in the traveling direction between the own vehicle and an adjacent vehicle traveling in an adjacent lane adjacent to the own vehicle lane in the same direction as the own vehicle.
- the Department and a lane change detection unit that detects a lane change to the own vehicle lane by the adjacent vehicle;
- the lane change detection unit determines, based on the adjacent vehicle related value in the direction of travel, the possibility of the adjacent vehicle interrupting directly ahead of the own vehicle,
- the acceleration/deceleration control unit corrects the acceleration/deceleration of the own vehicle based on the possibility of interruption determined based on the adjacent vehicle relation value in the traveling direction.
- FIG. 1 is a diagram showing a schematic configuration of a vehicle according to one embodiment of the present invention
- FIG. 1 is a functional block diagram of a vehicle control device and its peripherals according to an embodiment of the present invention
- FIGS. 5(A) to 5(D) are explanatory diagrams showing first to fourth states in which interruptability-related control according to one embodiment of the present invention is implemented.
- 4 is a flow chart of interruptability related control according to an embodiment of the present invention.
- FIG. 11 is a first timing chart when executing interruptability-related control according to one embodiment of the present invention
- FIG. 4 is a second timing chart when interruptability related control is executed according to an embodiment of the present invention
- FIGS. 9A to 9D are explanatory diagrams showing first to fourth states of the first scene in which the first interrupt-related control is performed according to one embodiment of the present invention.
- FIGS. 10(A) to 10(D) are explanatory diagrams showing first to fourth states of the second scene in which the first interrupt-related control is performed according to one embodiment of the present invention.
- 4 is a flowchart of first interrupt-related control according to one embodiment of the present invention
- FIG. 4 is a first timing chart when executing first interrupt-related control according to one embodiment of the present invention
- 4 is a flowchart of second interrupt-related control according to one embodiment of the present invention;
- FIG. 1 is a diagram showing a schematic configuration of a vehicle 100 according to one embodiment of the invention.
- a vehicle 100 (hereinafter also referred to as “own vehicle 100”) is a rear-wheel drive vehicle with a general configuration.
- a vehicle 100 includes an engine 101, an automatic transmission 102, a propeller shaft 103, a differential gear 104, a drive shaft 105, four wheels 106, an exhaust pipe 107, and a vehicle control device. 108 , various sensors 109 , a brake device 110 and an electric power steering 111 .
- the engine 101 is a driving power source, and is, for example, an in-cylinder injection gasoline engine.
- Brake device 110 includes a wheel speed sensor.
- the vehicle 100 is provided with devices including a vehicle control device 108 and various sensors 109, actuators, and equipment. These devices, actuators, and devices can exchange signals and data through in-vehicle LAN (Local Area Network) and CAN (Controller Area Network) communication.
- a vehicle control device 108 obtains information from the outside of the vehicle 100 from sensors 109, and transmits command values for realizing control such as automatic driving to the engine 101, the brake device 110, the electric power steering 111, and the like.
- a wheel speed sensor of brake device 110 generates a pulse waveform according to the rotation of wheel 106 and transmits it to vehicle control device 108 .
- the vehicle 100 is provided with imaging sensors 120, 121, 122 and distance sensors 123, 124.
- the imaging sensor 120 is arranged on the front side of the vehicle 100 and images the front of the vehicle 100 .
- the imaging sensor 121 is arranged on the rear side of the vehicle 100 and images the rear of the vehicle 100 .
- the imaging sensor 122 is arranged on the side of the vehicle 100 and images the side of the vehicle 100 .
- the imaging sensors 120, 121, and 122 are composed of a monocular camera or a stereo camera using a plurality of monocular cameras.
- the imaging sensors 120 , 121 , 122 can detect objects around the vehicle 100 and the road environment such as white lines.
- the distance sensor 123 is arranged on the front side of the vehicle 100 and detects the distance (long distance) to an object in front of the vehicle 100 .
- Distance sensor 123 may be, for example, a laser radar.
- the distance sensors 124 are arranged on the front left side, the front right side, the rear left side, and the rear right side of the vehicle 100 to detect the distance (short distance) to objects around the vehicle 100 .
- Distance sensor 124 may be, for example, an ultrasonic sensor.
- each sensor 120, 121, 122, 123, 124 can be appropriately changed according to the application, specifications, etc. of the vehicle 100.
- a lidar LiDAR
- the detection contents of each sensor 120 , 121 , 122 , 123 , 124 are supplied to vehicle control device 108 .
- Each sensor 120 , 121 , 122 , 123 , 124 may be positioned as part of a variety of sensors 109 .
- the vehicle 100 in FIG. 1 is an example of a vehicle to which the present invention can be applied, and the configuration of the vehicle 100 is not limited to this.
- a vehicle employing a continuously variable transmission (CVT) instead of the automatic transmission 102 may be used.
- the driving power source may be not only a gasoline engine but also a diesel engine, a natural gas engine, an electric motor, or the like.
- FIG. 2 is a functional block diagram of a vehicle control device 200 and its periphery according to an embodiment of the present invention.
- the vehicle control device 200 of FIG. 2 can be used as the vehicle control device 108 of the vehicle 100 of FIG. 1, for example.
- the vehicle control device 200 receives inputs from an imaging sensor 230 , a distance sensor 231 , an input switch section 232 , a wheel sensor 233 , a position detector 234 and a communication device 235 .
- the vehicle control device 200 also outputs to various actuators/ECUs 240 and a warning device 241 .
- the imaging sensor 230 includes, for example, the imaging sensors 120, 121, and 122 of FIG.
- the input from the imaging sensor 230 detects a white line or an object in front of the vehicle, distinguishes between the lane in which the vehicle is traveling and other lanes adjacent to the lane in which the vehicle is traveling, and the difference in object information detected by the left and right imaging sensors. , it is used to detect the distance or speed between the vehicle and the object.
- the imaging data of the imaging sensor 230 is input to the vehicle control device 200 . Also, the imaging sensor 230 can be used as a distance sensor 231, which will be described later.
- the distance sensor 231 includes, for example, the distance sensors 123, 124 or lidar in FIG.
- a distance sensor is used to detect the distance to an object by transmitting millimeter waves or radio waves around the vehicle and receiving the reflected waves.
- Distance data from distance sensor 231 is input to vehicle control device 200 .
- the imaging sensor 230 and the distance sensor 231 it is possible to detect the vicinity of the own vehicle and the distance of the own vehicle. It can also detect the direction indicators of adjacent vehicles, which will be described later, and is also used when receiving an interrupt request.
- the input switch unit 232 is, for example, a dedicated mechanical switch provided around the driver's seat. Also, the input switch unit 232 may be a GUI (Graphical User Interface) switch or the like. The input switch unit 232 receives an instruction to control the vehicle at a determined target vehicle speed to start constant-speed traveling or an instruction to stop constant-speed traveling by user operation.
- GUI Graphic User Interface
- the wheel sensor 233 includes a wheel speed sensor that is attached to each wheel of the vehicle and detects the rotational speed of the wheel, and a controller that integrates the detected values detected by the wheel speed sensors to generate a vehicle speed signal. Vehicle speed signal data from the wheel sensor 233 is input to the vehicle control device 200 .
- the position detector 234 is composed of a direction sensor that measures the direction in front of the vehicle and a GPS receiver for GPS (Global Positioning System) that measures the position of the vehicle based on radio waves from satellites.
- GPS Global Positioning System
- the communication device 235 is mounted outside or inside the own vehicle, and is used for inter-vehicle communication between an adjacent vehicle and the own vehicle, which will be described later, or road-to-vehicle communication in an interchange or construction section, and receives an interrupt request from an adjacent vehicle. It is the receiving device.
- the various actuators/ECUs 240 may be any well-known ones, such as an accelerator pedal for manipulating the driving force, a brake pedal for manipulating the braking force, a parking brake, a steering wheel for manipulating the traveling direction of the vehicle, and a steering for manipulating the traveling direction of the vehicle. It includes mechanical elements (actuators) such as shift levers and various electronic control units (ECUs) that control them.
- actuators such as shift levers and various electronic control units (ECUs) that control them.
- the warning device 241 detects an adjacent vehicle, the possibility of an adjacent vehicle interrupting, the detection of an adjacent vehicle interrupting, the calculation of the target acceleration of the own vehicle 100 determined by the behavior of the object, the deceleration of the target vehicle speed, and the suspension of vehicle control. etc. to the user.
- the warning device 241 uses the display 251 or the speaker 252 to report target vehicle speed deceleration and suspension of vehicle control.
- the vehicle control device 200 includes a vehicle position estimation unit 201, an external recognition information conversion unit 202, an inter-vehicle distance calculation unit 203, a relative speed calculation unit 204, a lane change detection unit 205, and a target acceleration calculation unit 206. and an operation control unit 207 .
- the vehicle position estimator 201 calculates and estimates the position where the vehicle travels with respect to the driving lane based on information output from the position detector 234, the wheel sensor 233, the distance sensor 231, or the imaging sensor 230, for example. .
- the external world recognition information conversion unit 202 converts information on the object and the surrounding environment detected by the distance sensor 231 and the imaging sensor 230 and the positional relationship of the own vehicle output from the own vehicle position estimation unit 201 into a coordinate system.
- the inter-vehicle distance calculation unit 203 calculates the distance between the object detected by various sensors and the own vehicle in the traveling direction and lateral direction. This calculates not only the distance to the vehicle ahead of the vehicle but also the distance in the direction of travel and the distance in the lateral direction to vehicles in adjacent lanes. The same applies to vehicles behind the own vehicle.
- the relative speed calculation unit 204 calculates the relative speed between the object detected by various sensors and the vehicle. This calculates the relative velocity in the direction of travel and the relative velocity in the lateral direction not only with respect to vehicles in front of the vehicle, but also with respect to vehicles in adjacent lanes. The same applies to vehicles behind the own vehicle.
- a lane change detection unit 205 detects the relative relationship between a vehicle in an adjacent lane, which is an object detected by various sensors, an inter-vehicle distance calculation unit 203, and a relative speed calculation unit 204, and the own vehicle, and determines whether the adjacent vehicle is in the own vehicle lane. Determine the possibility of changing lanes (or interrupting). The determination of the possibility of interruption is determined from the behavior of the adjacent vehicle. For example, if an adjacent vehicle traveling in an adjacent lane stops slightly in front of your vehicle (when the relative positions of the adjacent vehicle and your vehicle in the direction of travel are approximately constant), there is a possibility of an interruption ( or high). Such a determination can be made based on whether or not the relative position, relative velocity, relative distance, or relative acceleration between the adjacent vehicle and the own vehicle in the traveling direction is within a predetermined range.
- the target acceleration is corrected by the target acceleration calculation unit 206, which will be described later.
- correction of the target acceleration may include switching to vehicle speed control, or decreasing (decelerating) the target acceleration or limiting acceleration.
- Vehicle-to-vehicle distance control is control to control the acceleration and deceleration of the own vehicle so that the distance between the vehicle and the preceding vehicle matches the target vehicle-to-vehicle distance (or is maintained within the target vehicle-to-vehicle distance range).
- the vehicle speed control is control for controlling the acceleration/deceleration of the own vehicle so that the vehicle speed of the own vehicle matches the target vehicle speed (or is maintained within the target vehicle speed range), and is also called constant speed automatic operation.
- the value of the relative position, relative distance, relative speed, or relative acceleration in the traveling direction or lateral direction of the adjacent vehicle or the cut-in vehicle may be any value.
- the target acceleration of the host vehicle may be corrected by the target acceleration calculator 206 based on whether it is within the range.
- the operation control unit 207 calculates target values for controlling various actuators/ECUs 240 and outputs control instructions when performing the preceding vehicle following control or constant speed automatic driving.
- the operation control unit 207 has an accelerator control unit 211 that controls acceleration of the vehicle, a brake control unit 212 that controls braking of the vehicle, and a steering control unit 213 that controls steering of the vehicle.
- FIG. 3 a vehicle 300 (hereinafter also referred to as “own vehicle 300") equipped with the vehicle control device according to the present invention and a vehicle 301 (hereinafter also referred to as “preceding vehicle 301”) traveling in front of the own vehicle 300 are shown. ) and are running.
- the road on which the own vehicle 300 and the preceding vehicle 301 are traveling includes three lanes 310A, 310B, and 310C.
- the lane 310B in which the own vehicle 300 and the preceding vehicle 301 are traveling is also referred to as the own vehicle lane 310B.
- the lanes 310A and 310C adjacent to the host vehicle lane 310B are also referred to as adjacent lanes 310A and 310C.
- Adjacent lane 310A is defined by white lines 320A and 320B
- host vehicle lane 310B is defined by white lines 320B and 320C
- adjacent lane 310C is defined by white lines 320C and 320D.
- the number of lanes included in the road is not limited to 3, and may be 2 or 4 or more (the same applies to FIG. 4, etc.).
- the own vehicle 300 is executing adaptive cruise control (ACC). That is, when there is a preceding vehicle 301 , the own vehicle 300 executes the preceding vehicle follow-up control for the preceding vehicle 301 . Further, when the preceding vehicle 301 does not exist, or when a predetermined condition is satisfied even if the preceding vehicle 301 exists, the host vehicle 300 may perform constant speed travel control to travel at a vehicle speed arbitrarily set by the driver. .
- ACC adaptive cruise control
- FIG. 4 shows a vehicle 400 (hereinafter also referred to as "vehicle 400") equipped with the vehicle control device according to the present invention, and vehicles 401, 402, 403, and 404 (which are running in front of or beside the vehicle 400). ) are running.
- vehicle 400 hereinafter also referred to as "vehicle 400”
- vehicles 401, 402, 403, and 404 which are running in front of or beside the vehicle 400.
- the road on which the vehicle 400 and other vehicles 401-404 are traveling includes three lanes 410A, 410B, and 410C.
- the lane 410B in which the own vehicle 400 and the other vehicle 401 are traveling is also referred to as the own vehicle lane 410B.
- the lanes 410A and 410C adjacent to the host vehicle lane 410B are also referred to as adjacent lanes 410A and 410C.
- Adjacent lane 410A is defined by white lines 420A and 420B
- host vehicle lane 410B is defined by white lines 420B and 420C
- adjacent lane 410C is defined by white lines 420C and 420D.
- the other vehicle 401 traveling in front of the own vehicle 400 in the own vehicle lane 410B is also called the preceding vehicle 401
- the other vehicles 402 to 404 traveling in the adjacent lanes 410A and 410C are also called adjacent vehicles 402 to 404. .
- the own vehicle 400 is executing ACC. That is, when there is a preceding vehicle 401 , the host vehicle 400 executes preceding vehicle follow-up control for the preceding vehicle 401 . Further, when the preceding vehicle 401 does not exist, or when a predetermined condition is satisfied even if the preceding vehicle 401 exists, the host vehicle 400 may perform constant speed travel control in which the vehicle travels at a vehicle speed arbitrarily set by the driver. .
- the vehicle control device of own vehicle 400 uses monitoring area 430 during execution of ACC.
- a monitoring area 430 is a detection area for adjacent vehicles (for example, adjacent vehicles 402 to 404) and cut-in vehicles when ACC is executed.
- the range of the monitoring area 430 in the direction of travel (the range of the direction of travel) is set from the front end of the host vehicle 400 to the front end of the preceding vehicle 401 .
- the range of the monitoring area 430 in the horizontal direction is set between the outer white lines 420A and 420D of the adjacent lanes 410A and 410C.
- the traveling direction range and lateral range of the monitoring area 430 are not limited to the above.
- the traveling direction range may be from the rear end of the vehicle 400 to the front end of the preceding vehicle 401 or from the rear end of the vehicle 400 to the rear end of the preceding vehicle 401 .
- the rearmost position in the traveling direction range may be set to a position behind the rear end of the vehicle 400 . In that case, when the current various sensors cannot detect a vehicle (another vehicle) behind the rear end of the own vehicle 400, sensors are added to detect the own vehicle lane 410B or the adjacent lane 410A, 410C vehicles may be detected.
- the lateral range of the monitoring area 430 may be changed according to the number of adjacent lanes. That is, when adjacent lanes 410A and 410C are on both sides of the host vehicle lane 410B, the lateral range can be between the outer white lines 420A and 420D of the adjacent lanes 410A and 410C, respectively. In addition, when there is an adjacent lane on only one side of the vehicle lane 410B (for example, when there is only the adjacent lane 410A), the lateral range is between the outer white lines 420A and 420C of the adjacent lane 410A and the vehicle lane 410B. can be Of the white lines 420A to 420D, the parts that cannot be imaged by the front imaging sensor 120 (FIG. 1) (non-imageable parts) are the continuous behavior of the own vehicle 400 (advance direction, lateral direction, etc.) or the past and present front It may be detected or estimated based on a comparison of images.
- the acceleration/deceleration control of the host vehicle is capable of ACC including preceding vehicle following control (vehicle distance control) and constant speed automatic driving (vehicle speed control).
- the acceleration/deceleration control of the own vehicle is switched or corrected, for example, when an adjacent vehicle starts to interrupt the lane of the own vehicle during preceding vehicle follow-up control, or based on the possibility of interruption.
- the vehicle control device of the host vehicle determines that the adjacent vehicle has initiated an interruption (details will be described later with reference to FIGS. 9A to 14). .
- the vehicle control device of the host vehicle determines that there is (or is likely to be) an interruption. Such a determination can be made based on whether the relative relationship value (relative position, relative distance, relative speed or relative acceleration) between the adjacent vehicle and the own vehicle in the traveling direction is within a predetermined range (details are , which will be described later with reference to FIGS.
- the acceleration/deceleration control based on the lateral position of the adjacent vehicle existing in the monitoring area is also referred to as the first interrupt-related control.
- Acceleration/deceleration control based on an interrupt request from an adjacent vehicle is also referred to as second interrupt-related control.
- the acceleration/deceleration control based on the relative relationship value between the adjacent vehicle and the own vehicle in the direction of travel is also referred to as interruptability related control.
- the interruptability-related control may be able to prepare for an adjacent vehicle's interrupt at an earlier timing than the first and second interrupt-related controls.
- the interruptability-related control may not be possible to determine the interruption of the adjacent vehicle by the interruptability-related control. Therefore, by using both the interruptability-related control and the first and second interrupt-related controls, it becomes possible to more reliably determine the interrupt of the adjacent vehicle.
- interruptability-related control is acceleration/deceleration control (judgment of the interrupting vehicle and correction of the acceleration of the own vehicle) based on the relative relationship value between the own vehicle and the adjacent vehicle in the traveling direction.
- FIGS. 5(A) to 5(D) are explanatory diagrams showing the first to fourth states in which interruptability-related control according to one embodiment of the present invention is implemented.
- own vehicle 500 and other vehicles 501 and 502 are traveling in the same direction.
- the roads of FIGS. 5A-5D include lanes 510A, 510B.
- the lane 510B in which the host vehicle 500 and the other vehicle 501 are traveling is also referred to as the host vehicle lane 510B.
- the lane 510A adjacent to the host vehicle lane 510B is also referred to as the adjacent lane 510A.
- the adjacent lane 510A is defined by white lines 520A and 520B, and the host vehicle lane 510B is defined by white lines 520B and 520C.
- the other vehicle 501 running in front of the own vehicle 500 in the own vehicle lane 510B is also referred to as the preceding vehicle 501
- the other vehicle 402 traveling in the adjacent lane 510A is also referred to as the adjacent vehicle 502.
- the own vehicle 500 continues ACC.
- the own vehicle 500 is following the preceding vehicle 501 by inter-vehicle control.
- the vehicle control device of host vehicle 500 controls the acceleration/deceleration of host vehicle 500 so that inter-vehicle distance D1 between host vehicle 500 and preceding vehicle 501 maintains the target inter-vehicle distance.
- another vehicle 502 traveling in the adjacent lane 510A is approaching the vehicle 500 from behind.
- the vehicle control device of own vehicle 500 sets a monitoring area 530 . Further, when the white line 520B can be detected, the vehicle control device of the host vehicle 500 sets the white line threshold 540.
- FIG. The white line threshold 540 is a threshold (virtual white line) for determining whether or not the adjacent vehicle 502 has started to cut into the host vehicle lane 510B.
- White line threshold 540 is slanted with respect to white line 520B. That is, the white line threshold value 540 has a larger lateral offset value with respect to the white line 520B as it is closer to the host vehicle 500 side, and a smaller lateral offset value with respect to the white line 520B as it is closer to the preceding vehicle 501 side. In the examples of FIGS.
- the lateral offset value with respect to the white line 520B at the leading end of the preceding vehicle 501 is zero (however, it does not have to be zero).
- the position in the traveling direction at which the lateral offset value with respect to the white line 520B is zero may be another position (for example, a position a predetermined distance away from the leading end or the trailing end of the preceding vehicle 501).
- the slope or lateral offset value of white line threshold 540 may use a particular fixed value.
- the slope or lateral offset value of the white line threshold value 540 is the relative speed or relative acceleration between the vehicle 500 and the adjacent vehicle 502 in the direction of travel, or the inter-vehicle distance D1 or the target inter-vehicle distance between the vehicle 500 and the preceding vehicle 501 in the direction of travel. Alternatively, it may be calculated using a table or map using at least one of the relative distances.
- the vehicle control device of the own vehicle 500 determines the interruptability of adjacent vehicle 502 using the relative relation value (adjacent vehicle relation value) between own vehicle 500 and adjacent vehicle 502 in the traveling direction.
- the adjacent vehicle relation value for example, the relative speed [km/h] between the own vehicle 500 and the adjacent vehicle 502 in the traveling direction is used.
- the vehicle control device of the own vehicle 500 stops inter-vehicle distance control for the preceding vehicle 501 and shifts to vehicle speed control.
- the host vehicle 500 runs at the target speed, and the inter-vehicle distance D1 between the host vehicle 500 and the preceding vehicle 501 may deviate from the target inter-vehicle distance used in inter-vehicle control.
- the adjacent vehicle 502 does not exceed the white line threshold 540 in FIG. 5(B). Whether or not the adjacent vehicle 502 exceeds the white line threshold 540 is determined by comparing the relative positions of the right front corner of the adjacent vehicle 502 (one of the left front corner or right front corner of the adjacent vehicle 502 on the side of the white line 520B) and the white line threshold 540. by doing.
- the adjacent vehicle 502 crosses the white line threshold 540 and is heading toward the own vehicle lane 510B.
- the vehicle control device of the own vehicle 500 starts the lane change of the adjacent vehicle 502 to the own vehicle lane 510B (interruption between the own vehicle 500 and the preceding vehicle 501). I judge.
- the vehicle control device of host vehicle 500 sets adjacent vehicle 502 as a new preceding vehicle and starts inter-vehicle distance control for new preceding vehicle 502 . That is, the vehicle control device of host vehicle 500 controls the acceleration/deceleration of host vehicle 500 so that inter-vehicle distance D1 between host vehicle 500 and new preceding vehicle 502 maintains the target inter-vehicle distance.
- FIG. 5(D) shows a state in which the new preceding vehicle 502 (originally adjacent vehicle) has completed lane change to the own vehicle lane 510B (interrupting between own vehicle 500 and original preceding vehicle 501). be.
- FIG. 6 is a flowchart of interruptability-related control according to one embodiment of the present invention. Each step in FIG. 6 will be described below in association with FIGS. 5(A) to 5(D).
- the vehicle control device of the own vehicle 500 is performing the ACC inter-vehicle distance control (see FIG. 5A).
- the vehicle control device of host vehicle 500 determines whether or not another vehicle (neighboring vehicle) exists within adjacent lane 510A and within monitoring area 530. FIG. If there is an adjacent vehicle (S602: true (TRUE)), proceed to step S603. If there is no adjacent vehicle (S602: false (FALSE)), the determination of the interrupting vehicle and the acceleration correction of the own vehicle based on the determination are not performed.
- step S603 the vehicle control device of own vehicle 500 acquires the relative speed of own vehicle 500 and adjacent vehicle 502 in the direction of travel.
- the relative speed in the direction of travel is used in step S605 and the like, which will be described later, in order to determine the possibility that the adjacent vehicle 502 will cut into the host vehicle lane 510B.
- another relative relationship value (adjacent vehicle relationship value) between the own vehicle 500 and the adjacent vehicle 502 in the direction of travel ) may be used.
- an adjacent vehicle relation value for example, relative position or relative distance in the direction of travel or relative acceleration may be used.
- the target adjacent vehicle is not limited to one vehicle, and may be a plurality of adjacent vehicles.
- the relative speed may be negative when approaching the vehicle 500 and positive when moving away from the vehicle 500, or vice versa.
- the vehicle control device of the own vehicle 500 controls the relative position, the relative distance, the relative speed, and the relative acceleration between the own vehicle 500 and the preceding vehicle 501 in the direction of travel for vehicle-to-vehicle control for the preceding vehicle 501. have also obtained
- step S604 the vehicle control device of host vehicle 500 acquires the relative relationship value of adjacent vehicle 502 in the lateral direction.
- the relative relationship values in the lateral range here include the relative position, relative distance, relative speed and relative acceleration between the own vehicle 500 and the adjacent vehicle 502, and the relative position and relative distance between the white line 520B and the adjacent vehicle 502. .
- the target adjacent vehicle is not limited to one vehicle, and may be a plurality of adjacent vehicles.
- the vehicle control device of the own vehicle 500 controls the distance between the preceding vehicle 501 and the relative positions, relative distances, relative velocities, and relative accelerations of the own vehicle 500 and the preceding vehicle 501 in the lateral direction. have also obtained
- step S605 the vehicle control device of own vehicle 500 determines whether the relative positions of own vehicle 500 and adjacent vehicle 502 in the direction of travel are constant. Whether or not the relative position in the direction of travel is constant is determined by whether the relative speed of the host vehicle 500 and the adjacent vehicle 502 in the direction of travel is zero or within a predetermined range including zero, and continues for the first predetermined time. or not. Alternatively, whether or not the relative position in the traveling direction is constant is determined by whether or not the state in which the relative distance between the own vehicle 500 and the adjacent vehicle 502 in the traveling direction is within a predetermined range continues for the first predetermined time.
- whether or not the relative position in the direction of travel is constant is determined by whether the relative acceleration in the direction of travel between the own vehicle 500 and the adjacent vehicle 502 is zero or within a predetermined range including zero for the first predetermined time. You may judge by whether it continues or not.
- a specific fixed value can be used for the first predetermined time (first time threshold).
- the first predetermined time is at least one of the relative speed, the relative distance, or the relative acceleration between the own vehicle 500 and the adjacent vehicle 502 in the traveling direction, or the inter-vehicle distance D1 or the target inter-vehicle distance between the own vehicle 500 and the preceding vehicle 501 in the traveling direction.
- a table or map using more than one may be used for calculation.
- two or more indicators of the relative position in the direction of travel, the relative velocity, the relative distance, or the relative acceleration may be used. In that case, even if one of the indicators indicates a constant relative position in the direction of travel, if another value does not indicate a constant relative position in the direction of travel, the relative It may be determined that the position is not constant.
- step S606 If the relative positions of the host vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605: true), proceed to step S606. Otherwise (S605: false), the determination of the cut-in vehicle and the acceleration correction of the own vehicle 500 based on the determination are not performed.
- a flag such as an interruption possibility flag or a first predetermined time elapsed flag is used as a trigger for correcting the acceleration of the own vehicle 500.
- step S606 the vehicle control device of own vehicle 500 switches the running control of own vehicle 500 from inter-vehicle control to vehicle speed control.
- the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G].
- step S606 if the inter-vehicle distance D1 to the preceding vehicle 501 is greater than or equal to the target inter-vehicle distance, vehicle speed control may be selected, and if the inter-vehicle distance D1 is less than the target inter-vehicle distance, inter-vehicle control may be selected.
- the vehicle control device of host vehicle 500 determines whether or not adjacent vehicle 502 has exceeded white line threshold 540.
- the white line threshold 540 is a threshold obtained by offsetting the white line 520B by a predetermined fixed value.
- the white line threshold 540 is a threshold calculated from a table, map, or the like corresponding to the relative speed, inter-vehicle distance D1, relative acceleration, or target inter-vehicle distance between the host vehicle 500 and the preceding vehicle 501 in the direction of travel. A determination is made based on the relative position of the threshold value 540 .
- the neighboring vehicle 502 and the subject vehicle 500 can determine whether the adjacent vehicle 502 has exceeded the white line threshold value 540 (or whether the adjacent vehicle 502 has started to cut in). may be determined based on the relative value in the horizontal direction between As the relative relationship value in the lateral direction between the adjacent vehicle 502 and the host vehicle 500, the inter-vehicle distance D1 between the host vehicle 500 and the preceding vehicle 501, the relative vehicle speed, or the amount of change in the relative vehicle speed within a predetermined time, or the amount of change in the relative vehicle speed within a predetermined time. The amount of change in inter-vehicle distance D1 may also be used. If the adjacent vehicle 502 exceeds the white line threshold 540 (S607: true), the process proceeds to the next step S608. Otherwise (S607: false), the process proceeds to step S613.
- step S608 the vehicle control device of the own vehicle 500 switches the preceding vehicle (another vehicle in front of the own vehicle 500 in the own vehicle lane 510B) from the other vehicle 501 to the other vehicle 502. That is, when the adjacent vehicle 502 exceeds the white line threshold value 540, the host vehicle 500 recognizes the adjacent vehicle 502 as an interrupting vehicle or a new preceding vehicle instead of the preceding vehicle 501 that has been followed up to that point.
- step S609 the vehicle control device of own vehicle 500 switches the running control of own vehicle 500 from vehicle speed control to vehicle distance control.
- the new preceding vehicle 502 original adjacent vehicle
- the adjacent vehicle 502 cuts in and becomes the new preceding vehicle 502
- the inter-vehicle distance D1 between the own vehicle 500 and the new preceding vehicle 502 is shorter than the target inter-vehicle distance.
- step S610 the vehicle control device of host vehicle 500 determines whether the relative speed in the direction of travel between host vehicle 500 and new preceding vehicle 502 is 0 or in the vicinity thereof (within a predetermined range including 0). . If the relative velocity in the traveling direction is 0 or its vicinity (S610: true), the process proceeds to step S611. Otherwise (S610: false), the process proceeds to step S612.
- step S611 the vehicle control device of own vehicle 500 limits the deceleration (negative acceleration) of own vehicle 500.
- the inter-vehicle distance D1 between the own vehicle 500 and the new preceding vehicle 502 is shorter than the target inter-vehicle distance.
- the vehicle-to-vehicle distance D1 is gradually increased by limiting the deceleration.
- the acceleration/deceleration of the own vehicle 500 is calculated using a table or map using at least one of the relative speed, inter-vehicle distance, relative acceleration, and target inter-vehicle distance in the traveling direction of the own vehicle 500 and the new preceding vehicle 502. You may
- the vehicle control device of host vehicle 500 increases deceleration.
- the relative speed between the own vehicle 500 and the new preceding vehicle 502 is not near zero, the inter-vehicle distance D1 between the own vehicle 500 and the new preceding vehicle 502 rapidly shortens or lengthens. Therefore, in order to increase the inter-vehicle distance D1 to the target inter-vehicle distance at an early stage, a larger deceleration is allowed.
- step S611 and S612 when the inter-vehicle distance D1 between the own vehicle 500 and the new preceding vehicle 502 reaches the target inter-vehicle distance, the inter-vehicle distance control is continued so as to maintain that state.
- step S613 the vehicle control device of the host vehicle 500 determines whether or not the second predetermined time has elapsed since step S605: became true. If it has passed (S613: true), it is determined that the adjacent vehicle 502 has no possibility of interrupting, and the process proceeds to step S614. Otherwise (S613: false), the process returns to step S607.
- a specific fixed value can be used for the second predetermined time (second time threshold).
- the second predetermined time is at least one of the relative speed, the relative distance, or the relative acceleration between the vehicle 500 and the adjacent vehicle 502 in the direction of travel, or the inter-vehicle distance D1 or the target inter-vehicle distance between the vehicle 500 and the preceding vehicle 501 in the direction of travel.
- a table or map using more than one may be used for calculation.
- step S614 the vehicle control device of own vehicle 500 switches the running control of own vehicle 500 from vehicle speed control to vehicle distance control. At that time, the same preceding vehicle 501 as the object of the previous inter-vehicle distance control is made the object of the inter-vehicle distance control.
- FIG. 7 is a first timing chart when interruptability-related control according to one embodiment of the present invention is executed. 5(A) to 5(D) and FIG. 6 will be described below when explaining FIG. In the example of FIG. 7, at the ACC of the own vehicle 500, the preceding vehicle is switched from the other vehicle 501 to the other vehicle 502. In FIG.
- the vehicle distance control for the preceding vehicle 501 is performed (S601 in FIG. 6).
- the relative speed between the own vehicle 500 and the adjacent vehicle 502 in the direction of travel becomes zero (or is within a predetermined range including zero).
- the state where the relative velocity is zero continues.
- the time ⁇ t12 is the time when the continuous time (or the continuous time included within a predetermined range including zero) in which the relative velocity in the traveling direction is zero has passed the first predetermined time (S605 in FIG. 6: True). Therefore, the vehicle control device of host vehicle 500 switches the running control of host vehicle 500 from inter-vehicle control to vehicle speed control (S606 in FIG. 6). Therefore, even if preceding vehicle 501 accelerates after time ⁇ t12 and inter-vehicle distance D1 between host vehicle 500 and preceding vehicle 501 becomes larger than the target inter-vehicle distance, host vehicle 500 continues vehicle speed control to keep the vehicle speed constant. Instead of switching to vehicle speed control, the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G]. Regarding the acceleration/deceleration command values in FIG. 7, the one-dot chain line after time ⁇ t12 indicates the values when the vehicle distance control is continued without switching from the vehicle distance control to the vehicle speed control.
- the adjacent vehicle 502 starts to cut into the host vehicle lane 510B (that is, the adjacent vehicle 502 exceeds the white line threshold 540) (S607 in FIG. to the other vehicle 502 (S608 in FIG. 6). At this time, it may be managed by a replacement flag or the like. Further, after the preceding vehicle is replaced, the running control is switched from vehicle speed control to vehicle distance control (S609 in FIG. 6). Then, the acceleration/deceleration of the host vehicle 500 is controlled so that the inter-vehicle distance D1 between the host vehicle 500 and the new preceding vehicle 502 matches the target inter-vehicle distance (or is within the target inter-vehicle distance region).
- the vehicle control device of own vehicle 500 controls the acceleration (acceleration/deceleration command value) according to inter-vehicle distance D1 (or relative speed) between own vehicle 500 and new preceding vehicle 502. . If the relative speed in the traveling direction between the own vehicle 500 and the new preceding vehicle 502 is zero or near zero (or is within a predetermined range including zero) and the inter-vehicle distance D1 does not suddenly decrease, or if the inter-vehicle distance D1 is sufficiently large. If it can be secured (S610 in FIG. 6: true), the deceleration is limited to gradually bring the inter-vehicle distance D1 closer to the target inter-vehicle distance (S611 in FIG. 6).
- FIG. 8 is a second timing chart when interruptability-related control according to one embodiment of the present invention is executed. 8 will be described in association with FIGS. 5A to 5D and FIG. In the example of FIG. 8, in the ACC of host vehicle 500, switching of the preceding vehicle from other vehicle 501 to other vehicle 502 does not occur.
- the vehicle distance control for the preceding vehicle 501 is performed (S601 in FIG. 6).
- the relative speed between the own vehicle 500 and the adjacent vehicle 502 in the traveling direction becomes zero (or is within a predetermined range including zero).
- the state where the relative velocity is zero continues.
- the time ⁇ t22 is the time when the continuous time at which the relative velocity is zero (or the continuous time within a predetermined range including zero) has passed the first predetermined time (S605 in FIG. 6: True). Therefore, the vehicle control device of host vehicle 500 switches the running control of host vehicle 500 from inter-vehicle control to vehicle speed control (S606 in FIG. 6). Therefore, even if preceding vehicle 501 accelerates after time ⁇ t22 and inter-vehicle distance D1 between host vehicle 500 and preceding vehicle 501 becomes larger than the target inter-vehicle distance, host vehicle 500 continues vehicle speed control to keep the vehicle speed constant. Instead of switching to vehicle speed control, the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G].
- the vehicle control device of host vehicle 500 switches running control from vehicle speed control to vehicle distance control (S614 in FIG. 6).
- the preceding vehicle 501 is targeted as in the inter-vehicle distance control up to time ⁇ t22.
- the vehicle control device of host vehicle 500 accelerates or decelerates host vehicle 500 so that inter-vehicle distance D1 between host vehicle 500 and preceding vehicle 501 is the target inter-vehicle distance (or within the target inter-vehicle distance range). Control.
- a specific fixed value can be used for the second predetermined time.
- the second predetermined time is at least one of the relative speed, relative distance, or relative acceleration between the own vehicle 500 and the adjacent vehicle 502 in the traveling direction, or the inter-vehicle distance D1 or the target inter-vehicle distance between the own vehicle 500 and the preceding vehicle 501 in the advancing direction.
- a table or map using more than one may be used for calculation.
- Vehicle speed control for controlling the acceleration of the own vehicle 500 may be executed as follows.
- the first interrupt-related control is acceleration/deceleration control based on the lateral position of the adjacent vehicle.
- FIGS. 9(A) to 9(D) are explanatory diagrams showing the first to fourth states of the first scene in which the first interrupt-related control according to one embodiment of the present invention is implemented.
- the host vehicle 900 and other vehicles 901 and 902 are traveling in the same direction.
- the roads of FIGS. 9A-9D include lanes 910A, 910B.
- the lane 910B in which the host vehicle 900 and the other vehicle 901 are traveling is also referred to as the host vehicle lane 910B.
- the lane 910A adjacent to the host vehicle lane 910B is also referred to as the adjacent lane 910A.
- Adjacent lane 910A is defined by white lines 920A and 920B, and host vehicle lane 910B is defined by white lines 920B and 920C.
- the other vehicle 901 that is traveling in front of the vehicle 900 in the vehicle lane 910B is also referred to as the preceding vehicle 901
- the other vehicle 902 that is traveling in the adjacent lane 910A is also referred to as the adjacent vehicle 902.
- the own vehicle 900 continues ACC.
- the own vehicle 900 is following the preceding vehicle 901 by inter-vehicle control.
- the vehicle control device of host vehicle 900 controls the acceleration/deceleration of host vehicle 900 so that inter-vehicle distance D1 between host vehicle 900 and preceding vehicle 901 maintains the target inter-vehicle distance.
- Another vehicle 902 traveling on the adjacent lane 910A is approaching the vehicle 900 from behind.
- the vehicle control device of own vehicle 900 sets a monitoring area 930 .
- a monitoring area 930 is a detection area for an adjacent vehicle (for example, the adjacent vehicle 902) and an intruding vehicle when ACC is executed.
- the range of the monitoring area 930 in the direction of travel (the range of the direction of travel) is set from the front end of the own vehicle 900 to the front end of the preceding vehicle 901 .
- the range of the monitoring area 930 in the lateral direction (lateral range) is set between the white lines 920A and 920C outside the adjacent lane 910A and the own vehicle lane 910B.
- the traveling direction range and lateral range of the monitoring area 930 are not limited to the above.
- the traveling direction range may be from the rear end of the vehicle 900 to the front end of the preceding vehicle 901 or from the rear end of the vehicle 901 to the rear end of the preceding vehicle 901 .
- the rearmost position in the traveling direction range may be set to a position behind the rear end of the vehicle 900 .
- a sensor is added to detect the own vehicle lane 910B or the adjacent lane 910A behind the rear end of the own vehicle 900. Vehicles may be detected.
- the lateral extent of the monitoring area 930 may vary according to the number of adjacent lanes.
- the vehicle control device of the own vehicle 900 sets the first white line threshold 941 and the second white line threshold 942 .
- the first white line threshold 941 is a threshold (virtual white line) for determining whether or not there is a possibility (or high possibility) for the adjacent vehicle 902 to cut into the host vehicle lane 510B.
- the second white line threshold 942 is a threshold (virtual white line) for determining whether or not the adjacent vehicle 902 has started to cut into the host vehicle lane 910B.
- the first white line threshold 941 is inclined with respect to the white line 920B. That is, the first white line threshold value 941 has a larger lateral offset value with respect to the white line 920B as it is closer to the host vehicle 900 side, and a smaller lateral offset value with respect to the white line 920B as it is closer to the preceding vehicle 901 side.
- the lateral offset value with respect to the white line 920B at the leading end of the preceding vehicle 901 is zero (however, it may not be zero).
- the position in the traveling direction at which the lateral offset value with respect to the white line 920B is zero may be another position (for example, a position a predetermined distance away from the leading end or the trailing end of the preceding vehicle 901).
- a particular fixed value can be used for the slope or lateral offset value of the first white line threshold 941 .
- the slope or lateral offset value of the first white line threshold value 941 is the relative speed, relative distance, or relative acceleration between the vehicle 900 and the adjacent vehicle 902 in the direction of travel, or the inter-vehicle distance between the vehicle 900 and the preceding vehicle 901 in the direction of travel. It may be calculated using a table or map using at least one of D1 and the target inter-vehicle distance.
- the second white line threshold 942 is inclined with respect to the white line 920B between the white line 920B and the first white line threshold 941. That is, the second white line threshold value 942 has a larger lateral offset value with respect to the white line 920B as it is closer to the host vehicle 900 side, and a smaller lateral offset value with respect to the white line 920B as it is closer to the preceding vehicle 901 side.
- the lateral offset value with respect to the white line 920B at the leading end of the preceding vehicle 901 is zero (however, it may not be zero).
- the position in the traveling direction at which the lateral offset value with respect to the white line 920B is zero may be another position (for example, a position a predetermined distance away from the leading end or the trailing end of the preceding vehicle 901).
- a particular fixed value can be used for the slope or lateral offset value of the second white line threshold 942 .
- the slope or lateral offset value of the second white line threshold value 942 is the relative speed, relative distance, or relative acceleration between the vehicle 500 and the adjacent vehicle 502 in the direction of travel, or the inter-vehicle distance between the vehicle 900 and the preceding vehicle 901 in the direction of travel. It may be calculated using a table or map using at least one of D1 and the target inter-vehicle distance.
- the own vehicle 900 continues the vehicle distance control with respect to the preceding vehicle 901 .
- the other vehicle 902 has passed the own vehicle 900 and entered the monitoring area 930 . Therefore, the vehicle control device of the host vehicle 900 determines the interruptability of the adjacent vehicle 902 using the relative position or relative distance between the adjacent vehicle 902 and the first white line threshold value 941 in the lateral direction.
- the adjacent vehicle 902 exceeds the first white line threshold 941. Therefore, it is conceivable that the adjacent vehicle 902 may change lanes (interrupt) between the preceding vehicle 901 and the own vehicle 900 . Therefore, the vehicle control device of host vehicle 900 stops inter-vehicle distance control for preceding vehicle 901 and shifts to vehicle speed control. As a result, the host vehicle 900 runs at the target speed, and the inter-vehicle distance D1 between the host vehicle 900 and the preceding vehicle 901 may deviate from the target inter-vehicle distance.
- the vehicle control device of the own vehicle 900 900 is accelerated so that the inter-vehicle distance D1 coincides with the target inter-vehicle distance.
- the inter-vehicle distance control for the preceding vehicle 901 is stopped and the vehicle speed control is started, the own vehicle 900 continues to run at a constant speed even if the preceding vehicle 901 accelerates. This makes it possible to prepare for the interruption of the adjacent vehicle 902 .
- the adjacent vehicle 902 crosses the second white line threshold 942 and enters the host vehicle lane 910B.
- the vehicle control device of the host vehicle 900 causes the adjacent vehicle 902 to change lanes to the host vehicle lane 910B (interrupt between the host vehicle 900 and the preceding vehicle 901). Determine that it has started.
- the vehicle control device of host vehicle 900 sets adjacent vehicle 902 as a new preceding vehicle, and starts inter-vehicle distance control for new preceding vehicle 902 . That is, the vehicle control device of host vehicle 900 controls acceleration/deceleration of host vehicle 900 so that inter-vehicle distance D1 between host vehicle 900 and new preceding vehicle 902 maintains the target inter-vehicle distance.
- FIGS. 10(A) to 10(D) are explanatory diagrams showing the first to fourth states of the second scene in which the first interrupt-related control is performed according to one embodiment of the present invention.
- the host vehicle 1000 and other vehicles 1001 and 1002 are traveling in the same direction.
- the roads of FIGS. 10(A)-10(D) include lanes 1010A and 1010B.
- the lane 1010B in which the host vehicle 1000 and the other vehicle 1001 are traveling is also referred to as the host vehicle lane 1010B.
- the lane 1010A adjacent to the host vehicle lane 1010B is also referred to as an adjacent lane 1010A.
- Adjacent lane 1010A is defined by white lines 1020A and 1020B
- own vehicle lane 1010B is defined by white lines 1020B and 1020C.
- the other vehicle 1001 running in front of the own vehicle 1000 in the own vehicle lane 1010B is also referred to as the preceding vehicle 1001
- the other vehicle 1002 traveling in the adjacent lane 1010A is also referred to as the adjacent vehicle 1002.
- FIGS. 10(A) to 10(D) own vehicle 1000 continues ACC.
- FIGS. 10A to 10C are the same as FIGS. 9A to 9C. That is, in FIG. 10A, the own vehicle 1000 is following the preceding vehicle 1001 by inter-vehicle control. Another vehicle 1002 traveling in the adjacent lane 1010A is approaching the vehicle 1000 from behind.
- the vehicle control device of host vehicle 1000 sets monitoring region 1030 , first white line threshold 1041 and second white line threshold 1042 .
- the own vehicle 1000 continues the vehicle distance control with respect to the preceding vehicle 1001 .
- the other vehicle 1002 has passed the own vehicle 1000 and entered the monitoring area 1030 . Therefore, the vehicle control device of host vehicle 1000 uses the relative position or relative distance between adjacent vehicle 1002 and first white line threshold value 1041 in the lateral direction to determine the interruptability of adjacent vehicle 1002 .
- the adjacent vehicle 1002 exceeds the first white line threshold 1041. Therefore, it is conceivable that the adjacent vehicle 1002 may change lanes (interrupt) between the preceding vehicle 1001 and the own vehicle 1000 . Therefore, the vehicle control device of host vehicle 1000 stops inter-vehicle distance control for preceding vehicle 1001 and shifts to vehicle speed control. As a result, the host vehicle 1000 runs at the target speed, and the inter-vehicle distance D1 between the host vehicle 1000 and the preceding vehicle 1001 may deviate from the target inter-vehicle distance.
- the adjacent vehicle 1002 is away from the first white line threshold 1041. Therefore, it is considered that there is no (or a low possibility) that the adjacent vehicle 1002 will change lanes (interrupt) between the preceding vehicle 1001 and the own vehicle 1000 . Therefore, the vehicle control device of host vehicle 1000 suspends vehicle speed control and resumes inter-vehicle distance control for preceding vehicle 1001 .
- the vehicle control device of host vehicle 1000 may perform vehicle speed control to control the acceleration of host vehicle 1000 so as to run at a preset target vehicle speed or current vehicle speed.
- FIG. 11 is a flowchart of first interrupt-related control according to one embodiment of the present invention. Each step in FIG. 11 will be described below in association with FIGS. 9A to 9D (or FIGS. 10A to 10D).
- step S1101 the vehicle control device of the host vehicle 900 performs the ACC inter-vehicle distance control (see FIG. 9A).
- step S1102 the vehicle control device of host vehicle 900 determines whether or not white line 920B can be detected. If the white line 920B can be detected (S1102: true (TRUE)), the process proceeds to step S1103. Otherwise (S1102: false (FALSE)), the acceleration correction based on the interrupt determination of the present embodiment ends.
- S1102: false the white line 920B
- the lateral relative position, relative velocity, relative distance, or relative acceleration of the host vehicle 900 and the adjacent vehicle 902 is detected.
- the vehicle control device of the own vehicle 900 calculates the first white line threshold 941 and the second white line threshold 942.
- the first white line threshold 941 is a threshold (virtual white line) for determining whether or not there is a possibility (or high possibility) that the adjacent vehicle 502 will cut into the host vehicle lane 510B.
- the second white line threshold 942 is a threshold (virtual white line) for determining whether or not the adjacent vehicle 902 has started to cut into the host vehicle lane 910B.
- the first white line threshold 941 can be slanted with respect to the white line 920B (or have varying lateral offset values with respect to the white line 920B).
- the second white line threshold 942 can be slanted with respect to the white line 920B (or vary the lateral offset value with respect to the white line 920B) between the white line 920B and the first white line threshold 941 .
- step S ⁇ b>1104 the vehicle control device of host vehicle 900 determines whether or not adjacent vehicle 902 is detected within monitoring area 930 . If the adjacent vehicle 902 is detected (S1104: true), the process proceeds to step S1105. Otherwise (S1104: false), the acceleration correction based on the interrupt determination of the present embodiment ends.
- the monitoring area 930 is classified into a heading range and a lateral range. As described above, the traveling direction range and the lateral range of the monitoring area 930 can be set as appropriate.
- portions that cannot be imaged by the imaging sensor 120 (FIG. 1) in front because they are too close to the vehicle 900 (unimageable portions) represent the continuous behavior of the vehicle 900 or the past and present. It may be detected or estimated based on a comparison of forward images.
- step S1105 the vehicle control device of the own vehicle 900 acquires the relative position or relative distance in the lateral direction between the adjacent vehicle 902 and the white line 920B (and the first white line threshold 941 and the second white line threshold 942).
- step S1106 the vehicle control device of the own vehicle 900 determines whether or not the adjacent vehicle 902 has exceeded the first white line threshold value 941. If exceeded (S1106: true), the process proceeds to step S1107. In that case, the interrupt determination flag may be turned ON. Otherwise (S1106: false), the acceleration correction based on the interrupt determination of the present embodiment ends.
- step S1107 the vehicle control device of host vehicle 900 switches the travel control of host vehicle 900 from inter-vehicle control to vehicle speed control.
- the target vehicle speed used in vehicle speed control is set to the vehicle speed at the time of the switching or a lower vehicle speed.
- the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G].
- the inter-vehicle distance control is given priority over the vehicle speed control, and the inter-vehicle distance D1 with the preceding vehicle 901 becomes the target inter-vehicle distance.
- the host vehicle 900 may be decelerated.
- step S1107 if the inter-vehicle distance D1 to the preceding vehicle 901 is greater than or equal to the target inter-vehicle distance, vehicle speed control may be selected, and if the inter-vehicle distance D1 is less than the target inter-vehicle distance, inter-vehicle control may be selected. .
- step S1108 the vehicle control device of the own vehicle 900 determines whether or not the adjacent vehicle 902 has exceeded the second white line threshold value 942. If exceeded (S1108: true), the process proceeds to step S1109. In that case (or after step S1109 or S1110), the interrupt determination flag may be turned off.
- step S1109 the vehicle control device of own vehicle 900 switches the preceding vehicle (another vehicle in front of own vehicle 900 in own vehicle lane 910B) from other vehicle 901 to other vehicle 902. That is, when the adjacent vehicle 902 exceeds the second white line threshold value 942, the own vehicle 900 recognizes the adjacent vehicle 902 as an intruding vehicle or a new preceding vehicle instead of the preceding vehicle 901 that has been followed until then.
- step S1110 the vehicle control device of own vehicle 900 switches the running control of own vehicle 900 from vehicle speed control to vehicle distance control.
- the new preceding vehicle 902 original adjacent vehicle
- the adjacent vehicle 902 cuts in and becomes the new preceding vehicle 902
- the inter-vehicle distance D1 between the own vehicle 900 and the new preceding vehicle 902 is shorter than the target inter-vehicle distance.
- step S1111 the vehicle control device of host vehicle 900 determines whether or not adjacent vehicle 902 has left first white line threshold value 941 . If separated (step S1111: true), the process proceeds to step S1113. Otherwise (step S1111: false), the process proceeds to step S1112. Note that in step S1111, instead of the first white line threshold 941, a third white line threshold closer to the adjacent lane 910A than the first white line threshold 941 may be used in order to provide a hysteresis characteristic.
- step S1112 the vehicle control device of the host vehicle 900 determines whether or not the time since step S1106: became true has passed the third predetermined time. If it has passed (S1112: true), it is determined that there is no (or low) possibility of an interruption by the adjacent vehicle 902, and the process proceeds to step S1113. Otherwise (S1112: false), it is determined that there is (or is likely to be) an interruption by the adjacent vehicle 902, and the process returns to step S1108.
- a specific fixed value can be used for the third predetermined time (third time threshold).
- the third predetermined time is at least one of the relative speed, the relative distance, or the relative acceleration between the vehicle 900 and the adjacent vehicle 902 in the direction of travel, or the inter-vehicle distance D1 or the target inter-vehicle distance between the vehicle 500 and the preceding vehicle 501 in the direction of travel.
- a table or map using more than one may be used for calculation.
- step S1113 the vehicle control device of own vehicle 900 switches the running control of own vehicle 900 from vehicle speed control to vehicle distance control. At that time, the same preceding vehicle 901 as the object of the previous inter-vehicle distance control is made the object of the inter-vehicle distance control.
- the vehicle control device of the own vehicle 900 runs at the preset target vehicle speed or the current vehicle speed.
- Vehicle speed control for controlling the acceleration of the own vehicle 900 may be executed as follows.
- FIG. 12 is a first timing chart when executing the first interrupt-related control according to one embodiment of the present invention. 12 will be explained in association with FIGS. 9A to 9D and FIG. In the example of FIG. 12, at the ACC of the host vehicle 900, the preceding vehicle is switched from the other vehicle 901 to the other vehicle 902. In the example of FIG.
- the vehicle distance control for the preceding vehicle 901 is performed (S1101 in FIG. 11).
- the adjacent vehicle 902 exceeds the first white line threshold 941 (FIG. 9C, step S1106 in FIG. 11: true). Therefore, the vehicle control device of host vehicle 900 turns on the interrupt determination flag, and switches travel control of host vehicle 900 from vehicle distance control to vehicle speed control (S1107 in FIG. 11). Therefore, even if preceding vehicle 901 accelerates after time ⁇ t31 and inter-vehicle distance D1 between host vehicle 900 and preceding vehicle 901 becomes larger than the target inter-vehicle distance, host vehicle 900 continues vehicle speed control to keep the vehicle speed constant. Note that instead of switching to vehicle speed control, the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G].
- the adjacent vehicle 902 starts to cut into the host vehicle lane 910B (that is, because the adjacent vehicle 902 exceeds the second white line threshold value 942) (S1108 in FIG. 11: True),
- the vehicle 901 is switched to another vehicle 902 (S1109 in FIG. 11).
- it may be managed by a replacement flag or the like.
- the running control is switched from vehicle speed control to vehicle distance control (S1110 in FIG. 11).
- the acceleration/deceleration of the host vehicle 900 is controlled so that the inter-vehicle distance D1 between the host vehicle 900 and the new preceding vehicle 902 matches the target inter-vehicle distance (or is within the target inter-vehicle distance region).
- the adjacent vehicle 902 crosses the white line 920B (the lateral distance between the adjacent vehicle 902 and the white line 920B becomes zero or less).
- Acceleration/deceleration command values and vehicle speed in FIG. 12 are indicated by one-dot chain lines according to a comparative example.
- the acceleration of host vehicle 900 is corrected at time ⁇ t33 when adjacent vehicle 902 crosses white line 920B. Therefore, sudden deceleration occurs in order to lengthen the inter-vehicle distance D1, which has suddenly become short.
- the control is switched to the inter-vehicle distance control in which the adjacent vehicle 902 is the new preceding vehicle 902, and deceleration is started. Therefore, the own vehicle 900 does not need to suddenly decelerate, and the driver's ride comfort is not impaired.
- the acceleration command value of the own vehicle 900 becomes 0 or more.
- the vehicle control device of host vehicle 900 turns off the interrupt determination flag.
- the timing for turning off the interrupt determination flag may be time ⁇ t32 or ⁇ t33, for example.
- FIG. 13 is a second timing chart when executing the first interrupt-related control according to one embodiment of the present invention. 10(A) to 10(D) and FIG. 11 will be described below when explaining FIG. In the example of FIG. 13, in the ACC of host vehicle 1000, switching of the preceding vehicle from other vehicle 1001 to other vehicle 1002 does not occur.
- the vehicle distance control for the preceding vehicle 1001 is performed (S1101 in FIG. 11).
- the adjacent vehicle 1002 exceeds the first white line threshold 1041 (FIG. 10(C), step S1106 in FIG. 11: true). Therefore, the vehicle control device of host vehicle 1000 turns on the interrupt determination flag, and switches the running control of host vehicle 1000 from inter-vehicle control to vehicle speed control (S1107 in FIG. 11). Therefore, even if preceding vehicle 1001 accelerates after time ⁇ t41 and inter-vehicle distance D1 between own vehicle 1000 and preceding vehicle 1001 becomes larger than the target inter-vehicle distance, own vehicle 1000 continues vehicle speed control to keep the vehicle speed constant. Note that instead of switching to vehicle speed control, the acceleration may be made smaller than the current acceleration, or the acceleration may be set to 0 [G].
- the adjacent vehicle 1002 leaves the first white line threshold value 1041 (S1111 in FIG. 11: true).
- the vehicle control device of host vehicle 1000 switches the running control of host vehicle 1000 from vehicle speed control to vehicle distance control (S1113 in FIG. 11).
- the same preceding vehicle 1001 as the object of the previous inter-vehicle distance control is made the object of the inter-vehicle distance control.
- the interrupt determination flag is turned off.
- the vehicle control device of host vehicle 1000 increases the vehicle speed of host vehicle 1000 by increasing the acceleration command value so that inter-vehicle distance D1 matches the target inter-vehicle distance (or falls within the target inter-vehicle distance range). to enter) control.
- the vehicle control device of the vehicle 1000 controls the vehicle 1000 to run at the preset target vehicle speed or the current vehicle speed.
- a vehicle speed control for controlling the acceleration of the own vehicle 1000 may be executed at this time.
- the second interrupt-related control is acceleration/deceleration control based on an interrupt request from an adjacent vehicle.
- FIG. 14 is a flowchart of second interrupt-related control according to one embodiment of the present invention. Each step in FIG. 14 will be described below in association with FIGS. 9A to 9D.
- step S1401 the vehicle control device of host vehicle 900 is performing ACC inter-vehicle distance control (see FIG. 9A).
- Steps S1401 to S1405 in FIG. 14 are the same as steps S1101 to S1105 in FIG.
- the first white line threshold value 941 (FIG. 9A) is not used in the second interrupt-related control (FIG. 14). Therefore, in step S1403, only the second white line threshold value 942 should be calculated.
- step S1406 the vehicle control device of host vehicle 900 determines whether or not an interrupt request has been received from adjacent vehicle 902. If received (S1406: true), the process proceeds to step S1407. Otherwise (S1406: false), the acceleration correction based on the interrupt determination of the present embodiment ends.
- the interrupt request is a signal by inter-vehicle communication between the own vehicle 900 and the adjacent vehicle 902, or the blinking of the direction indicator of the adjacent vehicle 902 toward the own vehicle lane 910B, or an interchange or a merging section of a construction section.
- the interrupt request is output from the adjacent vehicle 902 at predetermined intervals until the interrupt is completed.
- the interrupt request is sent only once, and then another signal that conveys the progress of the interrupt (interrupting, interrupting completed, etc.) is sent from the adjacent vehicle 902 to the vehicle 900. may be sent to
- Steps S1407 to S1410 in FIG. 14 are the same as steps S1107 to S1110 in FIG.
- the vehicle control device of host vehicle 900 determines whether or not an interrupt request has been received from adjacent vehicle 902. As described above, in this embodiment, the interrupt request is output from the adjacent vehicle 902 at predetermined intervals until the interrupt is completed. Therefore, if the interrupt request has not been received, it can be determined that the adjacent vehicle 902 has canceled the interrupt. Therefore, if an interrupt request has not been received (S1411: true), the process proceeds to step S1413. Otherwise (S1411: false), the process proceeds to step S1412. Note that if an interrupt request is sent only once and then another signal indicating the progress of the interrupt (interrupting, interrupt completed, etc.) is sent, in step S1411, whether or not the signal indicating the interruption of the interrupt has been received is determined. It may be determined whether
- Steps S1412 and S1413 are the same as steps S1112 and S1113 in FIG.
- interruptability-related control (A-2-6. Further explanation of interruptability-related control) Interruptibility-related control has been described above with reference to FIGS. 5A-8. At that time, as a typical example, the case where the possibility of interrupting (or the interrupting vehicle) is determined based on the relative speed in the traveling direction before the adjacent vehicle 502 interrupts the host vehicle lane 510B, and the acceleration is corrected has been described. In the following, interruptability-related control, including other cases, will be described in more detail. 5(A) to 8 will be described below.
- the behavior of the preceding vehicle 501 and the adjacent vehicle 502 in the direction of travel is classified into three types: acceleration, deceleration, and constant speed. Therefore, combinations of behaviors of the preceding vehicle 501 and the adjacent vehicle 502 in the traveling direction are classified into nine patterns. Also, when the host vehicle 500 is performing inter-vehicle distance control with respect to the preceding vehicle 501, the behaviors of the host vehicle 500 and the preceding vehicle 501 in the traveling direction are basically the same.
- the interruption possibility determination control whether or not the relative position of the vehicle 500 and the adjacent vehicle 502 in the direction of travel is constant (for example, the relative speed of the vehicle 500 and the adjacent vehicle 502 in the direction of travel is zero or near (S605 in FIG. 6). Therefore, it is possible to classify into two patterns depending on whether or not the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant. For each of the 9 patterns of combinations of the behavior of the preceding vehicle 501 and the adjacent vehicle 502 in the direction of travel, there are 2 patterns in which the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant, and there are 18 patterns in total. (However, as will be described later, it is assumed that some patterns do not actually occur.). Each of these 18 patterns will be described below.
- Pattern 1 The preceding vehicle 501 accelerates, the adjacent vehicle 502 accelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from inter-vehicle distance control to vehicle speed control, and maintains inter-vehicle distance control with respect to preceding vehicle 501 (S601 in FIG. 6).
- the own vehicle 500 moves the inter-vehicle distance D1 closer to the target inter-vehicle distance. correct or increase the acceleration of
- Pattern 2 The preceding vehicle 501 accelerates, the adjacent vehicle 502 accelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true).
- host vehicle 500 switches from vehicle distance control to vehicle speed control (S606 in FIG. 6).
- the adjacent vehicle 502 can easily cut in between the preceding vehicle 501 and the host vehicle 500 .
- Pattern 3 The preceding vehicle 501 decelerates, the adjacent vehicle 502 accelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6).
- the own vehicle 500 moves the inter-vehicle distance D1 closer to the target inter-vehicle distance. correct or reduce the acceleration of
- Pattern 4 The preceding vehicle 501 decelerates, the adjacent vehicle accelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: True). However, when the preceding vehicle 501 decelerates, the own vehicle 501 also decelerates. Therefore, in reality, the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant, and pattern 4 actually occurs. Not expected.
- Pattern 5 The preceding vehicle 501 is at a constant speed, the adjacent vehicle 502 is accelerating, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6). In this state, vehicle 500 accelerates or decelerates so as to maintain vehicle-to-vehicle distance D1 at the target vehicle-to-vehicle distance.
- Pattern 6 The preceding vehicle 501 is at a constant speed, the adjacent vehicle 502 is accelerating, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true). However, when the preceding vehicle 501 is at a constant speed, the own vehicle 501 is also at a constant speed. Therefore, in practice, the relative positions of the own vehicle 500 (constant speed) and the adjacent vehicle 502 (acceleration) in the traveling direction are constant. , and it is assumed that pattern 6 does not actually occur.
- Pattern 7 The preceding vehicle 501 accelerates, the adjacent vehicle 502 decelerates, and the relative positions of the host vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from inter-vehicle distance control to vehicle speed control, and maintains inter-vehicle distance control with respect to preceding vehicle 501 (S601 in FIG. 6).
- host vehicle 500 corrects or increases the acceleration of host vehicle 500 so as to maintain inter-vehicle distance D1 at the target inter-vehicle distance.
- Pattern 8 The preceding vehicle 501 accelerates, the adjacent vehicle 502 decelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true). However, when the preceding vehicle 501 accelerates, the own vehicle 501 also accelerates. Therefore, in practice, the relative positions of the own vehicle 500 (acceleration) and the adjacent vehicle 502 (deceleration) in the traveling direction are not constant, and the pattern 8 is assumed not to occur in practice.
- Pattern 9 The preceding vehicle 501 decelerates, the adjacent vehicle 502 decelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6). In this state, host vehicle 500 reduces the acceleration of host vehicle 500 so as to maintain inter-vehicle distance D1 at the target inter-vehicle distance.
- Pattern 10 The preceding vehicle 501 decelerates, the adjacent vehicle 502 decelerates, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true).
- the vehicle 500 since the preceding vehicle 501 is decelerating, the vehicle 500 maintains the vehicle distance control without switching from the vehicle distance control to the vehicle speed control as described above. Then, the own vehicle 500 decelerates in accordance with the preceding vehicle 501 so that the inter-vehicle distance D1 between the own vehicle 500 and the preceding vehicle 501 becomes the target inter-vehicle distance.
- Pattern 11 The preceding vehicle 501 is at a constant speed, the adjacent vehicle 502 is decelerating, and the relative positions of the host vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6).
- vehicle 500 maintains or increases/decreases the acceleration of vehicle 500 so as to maintain vehicle-to-vehicle distance D1 at the target vehicle-to-vehicle distance.
- Pattern 12 The preceding vehicle 501 is at a constant speed, the adjacent vehicle 502 is decelerating, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true). However, when the preceding vehicle 501 is at a constant speed, the own vehicle 501 is also at a constant speed, so the relative positions of the own vehicle 500 (constant speed) and the adjacent vehicle 502 (deceleration) in the direction of travel are actually constant. , and it is assumed that pattern 12 does not actually occur.
- Pattern 13 The preceding vehicle 501 accelerates, the adjacent vehicle 502 runs at a constant speed, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6). In this state, host vehicle 500 corrects or increases the acceleration of host vehicle 500 so as to maintain inter-vehicle distance D1 at the target inter-vehicle distance.
- Pattern 14 The preceding vehicle 501 accelerates, the adjacent vehicle 502 runs at a constant speed, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: True). However, when the preceding vehicle 501 accelerates, the own vehicle 501 also accelerates. Therefore, in reality, the relative positions of the own vehicle 500 (acceleration) and the adjacent vehicle 502 (constant speed) in the traveling direction are not constant. It is assumed that pattern 14 does not actually occur.
- Pattern 15 The preceding vehicle 501 decelerates, the adjacent vehicle 502 runs at a constant speed, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6). In this state, host vehicle 500 corrects or reduces the acceleration of host vehicle 500 so as to maintain inter-vehicle distance D1 at the target inter-vehicle distance.
- Pattern 16 The preceding vehicle 501 decelerates, the adjacent vehicle 502 runs at a constant speed, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true). However, when the preceding vehicle 501 decelerates, the own vehicle 501 also decelerates. Therefore, in reality, the relative positions of the own vehicle 500 (deceleration) and the adjacent vehicle 502 (constant speed) in the traveling direction are not constant. It is assumed that pattern 16 does not actually occur.
- Pattern 17 The preceding vehicle 501 is traveling at a constant speed, the adjacent vehicle 502 is traveling at a constant speed, and the relative positions of the own vehicle 500 and the adjacent vehicle 502 in the traveling direction are not constant (S605 in FIG. 6: false).
- host vehicle 500 does not switch from vehicle distance control to vehicle speed control, but maintains vehicle distance control for preceding vehicle 501 (S601 in FIG. 6). In this state, vehicle 500 maintains or increases/decreases the acceleration of vehicle 500 so as to maintain vehicle-to-vehicle distance D1 at the target vehicle-to-vehicle distance.
- Pattern 18 The preceding vehicle 501 runs at a constant speed, the adjacent vehicle 502 runs at a constant speed, and the relative positions of the host vehicle 500 and the adjacent vehicle 502 in the direction of travel are constant (S605 in FIG. 6: true).
- host vehicle 500 switches from vehicle distance control to vehicle speed control (S606 in FIG. 6).
- the inter-vehicle distance D1 increases by lowering the vehicle speed of the host vehicle 500 relative to the preceding vehicle 501 . Therefore, the adjacent vehicle 502 can easily cut in between the preceding vehicle 501 and the host vehicle 500 .
- the target acceleration calculation unit 206 (acceleration/deceleration control unit) is determined based on the relative speed (adjacent vehicle relation value) between the host vehicle 500 and the adjacent vehicle 502 in the direction of travel. Based on the possibility of an interruption, the inter-vehicle distance control is switched to the vehicle speed control (S606 in FIG. 6). In other words, the target acceleration calculator 206 corrects the acceleration/deceleration of the host vehicle 500 based on the possibility of interruption.
- the acceleration/deceleration of the own vehicle 500 is controlled according to the possibility of an interruption by the adjacent vehicle 502 even if the adjacent vehicle 502 is proceeding straight on the adjacent lane 510A. This enables acceleration/deceleration control of the own vehicle 500 in accordance with the possibility of interruption.
- the interrupt is determined. Determine feasibility. Therefore, it is possible to determine the possibility of an interruption earlier, and it is possible to smoothly accelerate and decelerate the vehicle 500 .
- the host vehicle 500 when the host vehicle 500 is performing inter-vehicle distance control to keep the inter-vehicle distance D1 between the vehicle 500 and the preceding vehicle 501 constant, when the preceding vehicle 501 is accelerating, an adjacent vehicle between the preceding vehicle 501 and the own vehicle 500 is detected.
- 502 interrupts (FIG. 5(C)).
- the adjacent vehicle 502 cuts into the own vehicle lane 510B from the adjacent lane 510A (lane change) only by the lateral movement of the adjacent vehicle 502
- the start of the interruption (lane change) of the adjacent vehicle 502 is detected.
- the own vehicle 500 also accelerates as the preceding vehicle 501 accelerates.
- the host vehicle 500 decelerates. If the vehicle decelerates immediately after the acceleration, smooth acceleration and deceleration cannot be achieved, and there is a risk that the ride comfort of the driver, etc., will be deteriorated.
- the adjacent vehicle 502 even before the adjacent vehicle 502 starts moving in the lateral direction for an interruption (lane change), it is determined based on the relative speeds of the adjacent vehicle 502 and the own vehicle 500 in the direction of travel.
- the possibilities are used to control the acceleration and deceleration of the own vehicle 500 .
- the host vehicle 500 does not accelerate and remains at a constant speed. It is possible to run or slow down. As a result, smooth acceleration and deceleration are possible, and ride comfort can be improved.
- the adjacent vehicle 502 is within the monitored area 530 (in other words, it is in an interruptible position), and the relative velocity between the host vehicle 500 and the adjacent vehicle 502 is a first
- the target acceleration calculation unit 206 acceleration/deceleration control unit
- the target acceleration calculator 206 corrects the acceleration/deceleration of the vehicle 500 after the first predetermined time has elapsed. This makes it possible to easily determine the possibility of an interruption by the adjacent vehicle 502 from the relative speed of the adjacent vehicle 502 and the host vehicle 500 in the direction of travel. Further, since the acceleration/deceleration of the own vehicle 500 is corrected when the time indicating that the relative position is constant has passed the first predetermined time, the correction can be made at a more appropriate timing.
- the target acceleration calculation unit 206 controls the acceleration/deceleration of the own vehicle 500 so as to keep the inter-vehicle distance D1 from the preceding vehicle 501 within a certain range.
- the adjacent vehicle 502 is positioned within the monitoring area 530 (in other words, in a position immediately before the own vehicle 500 that can be interrupted).
- the vehicle speed control is switched to control the acceleration and deceleration of the vehicle 500 so that the speed of the vehicle 500 becomes the target vehicle speed (Fig. 6 S606). This makes it easier to prepare for an interruption by the adjacent vehicle 502 .
- the lane change detector 205 detects the lateral relative distance between the adjacent vehicle 502 and the white line 520B between the adjacent lane 510A and the host vehicle lane 510B.
- the interruption of the adjacent vehicle 502 is detected according to the position (S607 in FIG. 6). This makes it possible to easily determine whether the adjacent vehicle 502 has started interrupting (lane change).
- the lane change detector 205 (lane change detector) establishes a monitor area 530 (FIGS. 5A-5D) that monitors for possible interruptions. )).
- the range of monitoring area 530 in the traveling direction is set between preceding vehicle 501 and own vehicle 500 .
- the calculation load can be reduced by determining the possibility of interruption by focusing on the adjacent vehicle 502 having a relatively high possibility of interruption.
- the adjacent vehicle 502 does not actually interrupt. At this time, it becomes possible to cancel the vehicle speed control based on the relative speed in the traveling direction. Therefore, the acceleration/deceleration of the own vehicle 500 can be controlled by reflecting the situation of the adjacent vehicle 502 more appropriately.
- Two or more indicators of the relative speed, relative position, or relative distance of own vehicle 500 may be used. Even if there is an adjacent vehicle 502 within the monitored area 530 (the adjacent vehicle 502 is in an interruptible position) and one of the indicators indicates a constant relative position in the direction of travel, another If the value does not indicate a state in which the relative position in the traveling direction is constant, the target acceleration calculation unit 206 (acceleration/deceleration control unit) switches to vehicle speed control (adjusts the acceleration/deceleration of the own vehicle 500 based on the adjacent vehicle relation value). correction) can be limited. This makes it possible to correct the acceleration/deceleration of the own vehicle 500 more appropriately.
- the target acceleration calculation unit 206 may restrict switching to vehicle speed control (correction of the acceleration/deceleration of the own vehicle 500) based on the relative speed between the adjacent vehicle 502 and the own vehicle 500 in the traveling direction. . This makes it possible to correct the acceleration/deceleration of the own vehicle 500 more appropriately.
- the lane change detection unit 205 detects that the adjacent vehicle 502 has interrupted the own vehicle lane 510B (lane change), and the adjacent vehicle 502 has changed to a new lane.
- the target acceleration calculation unit 206 acceleration/deceleration control unit
- inter-vehicle distance control is executed to control the acceleration/deceleration of the host vehicle 500 so as to maintain the inter-vehicle distance D1 within a certain range (S609 in FIG. 6).
- the target acceleration calculation unit 206 controls the distance between the new preceding vehicle 502 (S609 in FIG. 6). If the relative speed in the traveling direction with respect to the vehicle 500 is within the first speed range including zero (S610 in FIG. 6: true), the inter-vehicle distance D1 is widened at the first deceleration (S611). If the new relative speed between the preceding vehicle 502 and the host vehicle 500 is not within the first speed range (S610: false), the second deceleration with a larger absolute value than the first deceleration is used to widen the inter-vehicle distance D1 (S612 ). Thus, vehicle distance control can be started according to the relative speed between the new preceding vehicle 502 (original adjacent vehicle) and the own vehicle 500 .
- the vehicle control device 200 includes an imaging sensor 230 (imaging unit) that acquires a front image of the own vehicle, and an external environment that detects a white line between an adjacent lane and the own vehicle lane based on the front image. and a recognition information conversion unit 202 (white line detection unit).
- the external world recognition information conversion unit 202 detects white lines in the vicinity of the vehicle that cannot be captured by the imaging sensor 230, based on continuous behavior of the vehicle or comparison between past and present forward images. As a result, it becomes possible to detect the white line portion in the vicinity of the own vehicle, which cannot be imaged by the imaging sensor 230 .
- lane change detector 205 determines the lateral relative position between first white line threshold 941 and adjacent vehicle 902 (in other words, adjacent lane 910A). and the lane 910B of the own vehicle), the possibility of an interruption by the adjacent vehicle 902 is determined (S1106 in FIG. 11).
- the possibility of an interruption by the adjacent vehicle 902 is determined (S1106 in FIG. 11).
- the relative position in the direction of travel between the adjacent vehicle 902 and the vehicle 900 is set to the first predetermined value. Even if the adjacent vehicle 902 starts interrupting before the time becomes constant), it is possible to determine the possibility of the adjacent vehicle 902 interrupting.
- the lane change detector 205 detects the lateral relative distance between the adjacent vehicle 902 and the white line 920B between the adjacent lane 910A and the host vehicle lane 910B.
- a first white line threshold 941 (first distance threshold) relating to distance is set (FIGS. 9A to 9D, S1103 in FIG. 11).
- the lane change detection unit 205 determines that there is a possibility of an interruption by the adjacent vehicle 902. to switch to vehicle speed control (correct the acceleration/deceleration of the own vehicle 900) (S1107 in FIG. 11).
- the lane change detection unit 205 sets a second white line threshold 942 (second distance threshold) smaller than the first white line threshold 941 with respect to the lateral relative distance between the white line 920B and the adjacent vehicle 902 (see FIG. 9 ( A) to FIG. 9(D), S1103 in FIG. 11). Furthermore, when the adjacent vehicle 902 exceeds the second white line threshold value 942 (FIG. 9D, S1108 in FIG. 11: true), the lane change detection unit 205 detects that the adjacent vehicle 902 has interrupted the host vehicle lane 910B. It is determined that the process has started, and the adjacent vehicle 902 is set as a new preceding vehicle (S1109 in FIG. 11). As a result, it is possible to smoothly switch the preceding vehicle in response to an interruption.
- second white line threshold 942 second distance threshold
- the lane change detector 205 detects the second white line threshold after the adjacent vehicle 902 exceeds the first white line threshold 941 (first distance threshold).
- 942 second distance threshold
- the vehicle speed control associated with exceeding the first white line threshold 941 Correction of the acceleration/deceleration of the own vehicle 900 based on the adjacent vehicle relation value
- the vehicle-to-vehicle distance control is resumed (S1113 in FIG. 11).
- the acceleration/deceleration of the own vehicle 900 can be controlled by reflecting the situation of the adjacent vehicle 902 more appropriately.
- the target acceleration calculation unit 206 acceleration/deceleration control unit
- S1407 in FIG. 14 This makes it possible to prepare for the initiation of an interruption by the adjacent vehicle 902 .
- the target acceleration calculation unit 206 (acceleration/deceleration control unit) switches to vehicle speed control ( acceleration/deceleration correction) is performed (S1407 in FIG. 14). This makes it possible to prepare for the initiation of an interruption by an adjacent vehicle.
- the monitoring area 530 is arranged in front of the own vehicle 500.
- the range of the monitoring area 530 is not limited to this.
- the monitoring area 530 may include the sides of the vehicle 500 as well. If the side of the vehicle 500 cannot be detected by the sensors described above, another sensor such as an imaging sensor, a laser radar, or a lidar may be added to widen the monitoring area 530 . As a result, the relative speed between the own vehicle 500 and the side vehicle (neighboring vehicle) can be acquired, and the acceleration of the own vehicle 500 may be corrected based on the relative speed of the side vehicle.
- the monitoring area 530 may include the area behind the own vehicle 500 as well. If the sensor described above cannot detect the rear of the vehicle 500, another sensor such as an imaging sensor, a laser radar, or a lidar may be added to widen the monitoring area 530. FIG. As a result, the relative speed between the vehicle 500 and the vehicle behind can be obtained, and the acceleration of the vehicle 500 may be corrected based on the relative speed of the vehicle behind.
- the following vehicle is not limited to the following vehicle in the host vehicle lane 510B, and may include the following vehicle in the adjacent lane 510A.
- the monitoring area 530 includes the sides and/or the rear of the vehicle 500
- the front part is set as the first monitoring area
- the side part as the second monitoring area
- the rear part as the third monitoring area.
- two or three of the first to third monitoring areas may overlap.
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Abstract
Description
自車の速度を自動で制御するものであって、
前記自車が走行中の自車レーンにおいて前記自車の直前を走行する先行車と前記自車との間の進行方向における相対関係値である先行車関係値を検出する先行車関係値検出部と、
前記進行方向における前記先行車関係値に基づいて前記自車の加減速度を制御する加減速度制御部と、
前記自車レーンに隣り合う隣接レーンを前記自車と同一方向に走行する隣接車と前記自車との間の前記進行方向における相対関係値である隣接車関係値を検出する隣接車関係値検出部と、
前記隣接車による前記自車レーンへのレーン変更を検出するレーン変更検出部と
を有し、
前記レーン変更検出部は、前記進行方向における前記隣接車関係値に基づいて、前記隣接車による前記自車の直前への割込みの可能性を判定し、
前記加減速度制御部は、前記進行方向における前記隣接車関係値に基づいて判定された前記割込みの可能性に基づいて前記自車の加減速度を補正する
ことを特徴とする。
本発明に関連する更なる特徴は、本明細書の記述、添付図面から明らかになるものである。また、上記した以外の、課題、構成及び効果は、以下の実施形態の説明により明らかにされる。
[A-1.構成]
(A-1-1.車両の構成)
図1は、本発明の一実施形態に係る車両100の概略構成を示す図である。車両100(以下「自車100」ともいう。)は、一般的な構成の後輪駆動車である。図1に示すように、車両100は、エンジン101と、自動変速機102と、プロペラシャフト103と、ディファレンシャルギア104と、ドライブシャフト105と、4つの車輪106と、エキゾーストパイプ107と、車両制御装置108と、各種センサ類109と、ブレーキ装置110と、電動パワーステアリング111とを備える。エンジン101は、走行用動力源であり、例えば、筒内噴射式ガソリンエンジンである。ブレーキ装置110は、車輪速センサを備える。
図2は、本発明の一実施形態に係る車両制御装置200及びその周辺の機能ブロック図である。図2の車両制御装置200は、例えば図1の車両100の車両制御装置108として利用可能である。図2に示すように、車両制御装置200は、撮像センサ230、距離センサ231、入力スイッチ部232、車輪センサ233、位置検出器234及び通信装置235からの入力を受ける。また、車両制御装置200は、各種アクチュエータ/ECU240、警告装置241に出力を行う。
(A-2-1.場面の説明)
次に図3を用いて、本発明の一実施形態に係る車両が走行している第1場面について説明する。図3では、本発明に係る車両制御装置を搭載した車両300(以下「自車300」ともいう。)と、自車300の直前を走行している車両301(以下「先行車301」ともいう。)とが走行している。
次に自車の加減速制御について説明する。上記のように、自車では、先行車追従制御(車間制御)及び定速自動運転(車速制御)を含むACCが可能である。本発明では、例えば先行車追従制御中に隣接車が自車レーンに割込みを開始した場合、又は割込みの可能性に基づいて自車の加減速制御を切り替える又は補正する。
次に図5~図8を用いて、割込み可能性関連制御について説明する。上記のように、割込み可能性関連制御は、進行方向における自車と隣接車との相対関係値に基づく加減速制御(割込み車の判定及び自車の加速度補正)である。
次に、図9(A)~図13を用いて、第1割込み関連制御について説明する。上記のように、第1割込み関連制御は、隣接車の横方向位置に基づく加減速制御である。
次に、図14を用いて、第2割込み関連制御について説明する。上記のように、第2割込み関連制御は、隣接車からの割込み要求に基づく加減速制御である。
割込み可能性関連制御に関し、上記では、図5(A)~図8を参照して説明した。その際、典型例として、隣接車502が自車レーン510Bに割込む前の進行方向の相対速度に基づき、割込み可能性(又は割込み車)を判定して、加速度を補正する場合を説明した。以下では、それ以外の場合も含めて割込み可能性関連制御についてさらに詳細に説明する。以下の説明に際して、図5(A)~図8と関連付けて説明する。
図5(A)~図8の実施形態に関し、目標加速度演算部206(加減速度制御部)は、進行方向における自車500と隣接車502の相対速度(隣接車関係値)に基づいて判定された割込みの可能性に基づいて車間制御を車速制御に切り替える(図6のS606)。換言すると、目標加速度演算部206は、当該割込みの可能性に基づいて自車500の加減速度を補正する。
図5(A)~図5(D)の実施形態において、監視領域530は、自車500の前方に配置した。しかしながら、監視領域530の範囲はこれに限らない。例えば、監視領域530は、自車500の側方も範囲に含めてもよい。自車500の側方を前述したセンサで検出できない場合、撮像センサ若しくはレーザレーダ又はライダ等の別のセンサを追加して監視領域530を広げてもよい。これにより、自車500と側方車(隣接車)の相対速度を取得することができ、側方車の相対速度に基づき自車500の加速度を補正してもよい。
Claims (16)
- 自車の速度を自動で制御する車両制御装置であって、
前記車両制御装置は、
前記自車が走行中の自車レーンにおいて前記自車の直前を走行する先行車と前記自車との間の進行方向における相対関係値である先行車関係値を検出する先行車関係値検出部と、
前記先行車関係値に基づいて前記自車の加減速度を制御する加減速度制御部と、
前記自車レーンに隣り合う隣接レーンを前記自車と同一方向に走行する隣接車と前記自車との間の前記進行方向における相対関係値である隣接車関係値を検出する隣接車関係値検出部と、
前記隣接車による前記自車レーンへの割込みを検出するレーン変更検出部と
を有し、
前記レーン変更検出部は、前記進行方向における前記隣接車関係値に基づいて、前記隣接車による前記自車の直前への割込みの可能性を判定し、
前記加減速度制御部は、前記進行方向における前記隣接車関係値に基づいて判定された前記割込みの可能性に基づいて前記自車の加減速度を補正する
ことを特徴とする車両制御装置。 - 前記隣接車関係値は、前記進行方向における前記隣接車と前記自車の相対速度若しくは相対距離若しくは相対加速度又は相対位置であり、
前記隣接車が割込み可能な位置にあり、且つ前記相対速度若しくは相対距離若しくは前記相対加速度又は前記相対位置が、前記相対位置が一定である状態を示す時間が第1時間閾値を経過したとき、前記加減速度制御部は、前記自車の加減速度を補正する
ことを特徴とする請求項1に記載の車両制御装置。 - 前記加減速度制御部は、前記先行車との距離を一定範囲内に保持するように前記自車の加減速を制御する車間制御を行っている際、前記隣接車が前記自車の直前に割込み可能な位置にあることを前記隣接車関係値が示す連続時間が第1時間閾値を超えたとき、前記自車の速度が目標車速と一致するように又は目標車速範囲内となるように前記自車の加減速を制御する車速制御に切り替える
ことを特徴とする請求項1に記載の車両制御装置。 - 前記レーン変更検出部は、前記隣接レーンと前記自車レーンの間の白線と前記隣接車との間の相対位置、又は、前記隣接車と前記自車との間の横方向相対位置によって前記隣接車の割込みを検出する
ことを特徴とする請求項1から請求項3のいずれか一項に記載の車両制御装置。 - 前記レーン変更検出部は、前記割込みの可能性を監視する監視領域を設定し、
前記進行方向における前記監視領域の範囲は、前記先行車と前記自車の間に設定される ことを特徴とする請求項1から請求項4のいずれか一項に記載の車両制御装置。 - 前記レーン変更検出部は、前記隣接レーンと前記自車レーンの間の白線と前記隣接車との間の横方向相対位置、又は、前記隣接車と前記自車との間の横方向相対位置によって前記隣接車による前記割込みの可能性を判定する
ことを特徴とする請求項1から請求項5のいずれか一項に記載の車両制御装置。 - 前記進行方向における前記隣接車関係値に基づく前記自車の加減速度の補正を開始した後、前記隣接車が前記自車の直前に割込み可能な位置にあることを前記隣接車関係値が示す連続時間が第2時間閾値を超えたとき、前記加減速度制御部は、前記自車の加減速度の補正を解除する
ことを特徴とする請求項1から請求項6のいずれか一項に記載の車両制御装置。 - 前記レーン変更検出部は、
前記隣接レーンと前記自車レーンの間の白線と前記隣接車との間の横方向相対距離、又は、前記隣接車と前記自車との間の横方向相対距離に関する第1距離閾値を設定し、
前記隣接車が前記第1距離閾値を超えたとき、前記隣接車の割込みの可能性があると判定して前記自車の加減速度を補正し、
さらに、前記レーン変更検出部は、
前記白線と前記隣接車との間の横方向相対距離又は前記隣接車と前記自車との間の横方向相対距離に関して前記第1距離閾値よりも小さい第2距離閾値を設定し、
前記隣接車が前記第2距離閾値を超えたとき、前記隣接車による前記自車レーンへの割込みが開始されたと判定して前記隣接車を新たな先行車として設定する
ことを特徴とする請求項1から請求項7のいずれか一項に記載の車両制御装置。 - 前記レーン変更検出部は、前記隣接車が前記第1距離閾値を超えた後、前記第2距離閾値を超える前に、前記第1距離閾値又は前記第1距離閾値以上の第3距離閾値から離れたとき、前記第1距離閾値を超えたことに伴う前記自車の加減速度の補正を解除する
ことを特徴とする請求項8に記載の車両制御装置。 - 前記車両制御装置は、
前記自車の前方画像を取得する撮像部と、
前記前方画像に基づいて、前記隣接レーンと前記自車レーンの間の白線を検出する白線検出部と
を備え、
前記白線検出部は、前記撮像部が撮像できない前記自車近傍における白線を、前記自車の連続的な挙動又は過去と現在の前方画像の比較に基づいて検出する
ことを特徴とする請求項1から請求項9のいずれか一項に記載の車両制御装置。 - 前記隣接車の方向指示器が前記自車レーンへのレーン変更を示す場合、前記加減速度制御部は、前記自車の加減速度を補正する
ことを特徴とする請求項1から請求項10のいずか一項に記載の車両制御装置。 - 車車間通信により前記隣接車から割込み要求を受信した場合、前記加減速度制御部は、前記自車の加減速度を補正する
ことを特徴とする請求項1から請求項11のいずれか一項に記載の車両制御装置。 - 前記隣接車関係値は、前記進行方向における前記隣接車と前記自車の相対速度、相対距離、相対加速度及び相対位置の少なくとも2つを含み、
前記隣接車が割込み可能な位置にあり、且つ前記相対速度、前記相対距離、前記相対加速度及び前記相対位置の1つが、前記相対位置が一定である状態を示す場合であっても、別の値が、前記相対位置が一定である状態を示さない場合、前記加減速度制御部は、前記隣接車関係値に基づく前記自車の加減速度の補正を制限する
ことを特徴とする請求項1から請求項12のいずれか一項に記載の車両制御装置。 - 前記先行車が減速している場合、前記加減速度制御部は、前記隣接車関係値に基づく前記自車の加減速度の補正を制限する
ことを特徴とする請求項1から請求項13のいずれか一項に記載の車両制御装置。 - 前記レーン変更検出部が前記隣接車による前記自車レーンへの割込みを検出して前記隣接車が新たな先行車として設定されたとき、前記加減速度制御部は、当該新たな先行車と前記自車との間の車間距離を一定範囲に維持するように前記自車の加減速を制御する車間制御を実行する
ことを特徴とする請求項1から請求項14のいずれか一項に記載の車両制御装置。 - 前記加減速度制御部は、前記新たな先行車に対する前記車間制御において、
前記新たな先行車と前記自車との相対速度がゼロを含む第1速度範囲内にある場合、第1減速度で前記車間距離を広げ、
前記新たな先行車と前記自車との相対速度が前記第1速度範囲内にない場合、前記第1減速度よりも絶対値が大きな第2減速度で前記車間距離を広げる
ことを特徴とする請求項15に記載の車両制御装置。
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CN116740984A (zh) * | 2023-05-23 | 2023-09-12 | 广州汽车集团股份有限公司 | 车辆加塞的处理方法、装置、电子设备及存储介质 |
CN116740984B (zh) * | 2023-05-23 | 2024-06-11 | 广州汽车集团股份有限公司 | 车辆加塞的处理方法、装置、电子设备及存储介质 |
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