Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/18—Propelling the vehicle
  • B60W30/18009—Propelling the vehicle related to particular drive situations
  • B60W30/18163—Lane change; Overtaking manoeuvres
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
  • B60W30/14—Adaptive cruise control
  • B60W30/143—Speed control
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/082—Selecting or switching between different modes of propelling
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
  • B60W50/08—Interaction between the driver and the control system
  • B60W50/10—Interpretation of driver requests or demands
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/001—Planning or execution of driving tasks
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
  • B60W60/005—Handover processes
  • B60W60/0053—Handover processes from vehicle to occupant
• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2510/00—Input parameters relating to a particular sub-units
  • B60W2510/20—Steering systems
  • B60W2510/202—Steering torque
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/18—Steering angle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
  • B60W2540/00—Input parameters relating to occupants
  • B60W2540/20—Direction indicator values

Definitions

• the present invention relates to a vehicle driving support method and a driving support device.
• the problem to be solved by the present invention is to provide a vehicle driving support method and a driving support device that can appropriately cancel autonomous lane change control depending on the driving scene.
• the present invention sets a predetermined discontinuation condition for the first autonomous lane change control, which is executed regardless of the driver's expressed intention, to a predetermined discontinued condition for the second autonomous lane change control, which is executed based on the driver's expressed intention.
• autonomous lane change control can be appropriately canceled depending on the driving scene.
• FIG. 1 is a block diagram showing a driving support system including a driving support device of the present invention.
• FIG. 2 is a plan view showing an example of a driving scene in which driving support is performed by the driving support system shown in FIG. 1;
• FIG. 2 is a plan view (part 1) showing another example of a driving scene in which driving support is performed by the driving support system shown in FIG. 1;
• FIG. 2 is a plan view showing another example of a driving scene in which driving support is performed by the driving support system shown in FIG. 1 (part 2).
• FIG. 3 is a plan view showing another example of a driving scene in which driving support is performed by the driving support system shown in FIG. 1 .
• FIG. 2 is a block diagram showing state transitions of autonomous driving control in the driving support device of FIG. 1.
• FIG. 2 is a flowchart (Part 1) illustrating an example of a processing procedure in the driving support system of FIG. 1.
• FIG. 2 is a flowchart showing an example of a processing procedure in the driving support
• FIG. 1 is a block diagram showing a driving support system 10 according to the present invention.
• the driving support system 10 is an in-vehicle system that uses autonomous driving control to drive the vehicle to a destination set by the occupants of the vehicle (including the driver).
• Autonomous driving control refers to autonomously controlling the driving behavior of a vehicle using a driving support device (described later), and the driving behavior includes acceleration, deceleration, starting, stopping, and turning to the right or left. This includes all driving movements, such as steering, changing lanes, and pulling alongside.
• autonomously controlling the driving operation means that the driving support device controls the driving operation using a device of the vehicle.
• the driving support device controls these driving operations within a predetermined range, and driving operations that are not controlled by the driving support device are manually operated by the driver.
• the control for changing lanes from the own lane in which the vehicle is traveling to a lane other than the own lane (for example, an adjacent lane) during autonomous driving by autonomous driving control is particularly referred to as "autonomous lane change control”. Lanes other than the above are also referred to as other lanes.
• the above-mentioned vehicles include not only private vehicles but also vehicles allocated through ride-hailing services.
• a ride-hailing service refers to assigning and dispatching a vehicle to a user to transport the user from a pick-up point to a drop-off point, such as dispatching manned and unmanned taxis, and vehicles used for pick-up and drop-off services at airports, stations, hotels, etc. This includes the dispatch of vehicles used for car rental and ride-sharing services.
• the host vehicle will also be simply referred to as a vehicle.
• the driving support system 10 includes an imaging device 11, a distance measuring device 12, a vehicle state detection device 13, map information 14, a vehicle position detection device 15, a navigation device 16, a vehicle control device 17, and a display.
• a device 18 and a driving support device 19 are provided.
• the devices constituting the driving support system 10 are connected via a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.
• CAN Controller Area Network
• the imaging device 11 is a device that recognizes objects around the vehicle using images, and is, for example, a camera equipped with an imaging device such as a CCD, an ultrasonic camera, an infrared camera, or the like.
• a plurality of imaging devices 11 can be provided in one vehicle, and can be arranged, for example, in the front grille of the vehicle, below the left and right door mirrors, and near the rear bumper. This can reduce blind spots when recognizing objects around the vehicle.
• the distance measuring device 12 is a device for calculating the relative distance and relative speed between a vehicle and an object, and includes, for example, a laser radar, a millimeter wave radar (LRF, etc.), a LiDAR (light detection and ranging) unit, a super A radar device such as a sonic radar or a sonar.
• a plurality of distance measuring devices 12 can be provided in one vehicle, and can be arranged, for example, at the front, right side, left side, and rear of the vehicle. Thereby, the relative distance and relative speed of the vehicle to surrounding objects can be calculated accurately.
• Objects detected by the imaging device 11 and distance measuring device 12 include road lane boundaries, center lines, road signs, median strips, guardrails, curbs, expressway side walls, road signs, traffic lights, crosswalks, and construction work. These include the scene, accident scene, and traffic restrictions.
• the objects also include obstacles that may affect the running of the vehicle, such as cars other than the own vehicle (other vehicles), motorcycles, bicycles, and pedestrians.
• the detection results of the imaging device 11 and the distance measuring device 12 are acquired by the driving support device 19 at predetermined time intervals as necessary.
• the detection results of the imaging device 11 and the distance measuring device 12 can be integrated or synthesized (so-called sensor fusion) in the driving support device 19, thereby complementing missing information about the detected object.
• the self-position information which is the position where the vehicle is traveling, acquired by the own-vehicle position detection device 15, and the relative position (distance and direction) of the vehicle and the object
• the driving support device 19 uses the position information of the object. can be calculated.
• the calculated object position information is integrated with multiple pieces of information such as the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14 in the driving support device 19, and is combined with driving environment information around the vehicle. Become. Further, using the detection results of the imaging device 11 and the distance measuring device 12 and the map information 14, it is also possible to recognize objects around the vehicle and predict their movements.
• the own vehicle state detection device 13 is a device for detecting the running state of the vehicle, and includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor (eg, a gyro sensor), a steering angle sensor, an inertial measurement unit, and the like. There are no particular limitations on these devices, and known devices can be used. Further, the arrangement and number of these devices can be set as appropriate within a range that can appropriately detect the driving state of the vehicle. The detection results of each device are acquired by the driving support device 19 at predetermined time intervals as necessary.
• the map information 14 is information used for generating driving routes, controlling driving operations, etc., and includes road information, facility information, and their attribute information.
• Road information and road attribute information include road width, road radius of curvature, road shoulder structures, road traffic regulations (speed limit, lane change availability), road merging and branching points, increase in number of lanes, etc. Contains information such as the location of the decrease.
• the map information 14 is high-definition map information that can grasp the movement trajectory for each lane, and includes two-dimensional position information and/or three-dimensional position information at each map coordinate, road/lane boundary information at each map coordinate, and road attribute information. , lane up/down information, lane identification information, connection destination lane information, etc. Note that a high-definition map is also referred to as an HD (High-Definition) map.
• HD High-Definition
• the road/lane boundary information in the high-definition map information is information that indicates the boundary between the road on which the vehicle travels and other areas.
• a road on which a vehicle travels is a road on which a vehicle travels, and the form of the road is not particularly limited.
• the map information 14 is stored in a readable state in a recording medium provided in a driving support device 19, an in-vehicle device, or a server on a network.
• the driving support device 19 acquires the map information 14 as necessary.
• the own vehicle position detection device 15 is a positioning system for detecting the current position of the vehicle, and is not particularly limited, and a known device can be used.
• the own vehicle position detection device 15 calculates the current position of the vehicle from, for example, radio waves received from a GPS (Global Positioning System) satellite.
• GPS Global Positioning System
• the own vehicle position detection device 15 estimates the current position of the vehicle from the vehicle speed information and acceleration information acquired from the vehicle speed sensor, acceleration sensor, and gyro sensor that are the own vehicle state detection device 13, and uses the estimated current position as map information. 14, the current position of the vehicle may be calculated.
• the navigation device 16 is a device that refers to the map information 14 and calculates a driving route from the current position of the vehicle detected by the own vehicle position detection device 15 to a destination set by the occupant (including the driver). be.
• the navigation device 16 uses the road information, facility information, etc. of the map information 14 to search for a travel route for the vehicle to reach the destination from the current location.
• the travel route includes at least information about the road on which the vehicle travels, the travel lane, and the travel direction of the vehicle, and is displayed, for example, in a linear format. There may be multiple travel routes depending on the search conditions.
• the travel route calculated by the navigation device 16 is output to the driving support device 19.
• the vehicle control device 17 is an in-vehicle computer such as an electronic control unit (ECU), and electronically controls in-vehicle equipment that governs the running of the vehicle.
• the vehicle control device 17 includes a speed control device 171 that controls the traveling speed of the vehicle, and a steering control device 172 that controls the steering operation of the vehicle.
• the speed control device 171 and the steering control device 172 autonomously control the operations of these drive devices and steering devices according to control signals input from the driving support device 19. This allows the vehicle to autonomously travel along the set travel route.
• Information necessary for autonomous control by the speed control device 171 and the steering control device 172, such as the traveling speed, acceleration, steering angle, and attitude of the vehicle, is acquired from the own vehicle state detection device 13.
• the drive devices controlled by the speed control device 171 include an electric motor and/or an internal combustion engine that are driving sources, a power transmission device including a drive shaft and an automatic transmission that transmit the output from these driving sources to the drive wheels, Examples include a drive device that controls a power transmission device.
• the braking device controlled by the speed control device 171 is, for example, a braking device that brakes wheels.
• a control signal corresponding to a set traveling speed is input to the speed control device 171 from the driving support device 19.
• the speed control device 171 generates a signal to control these drive devices based on the control signal input from the driving support device 19, and transmits the signal to the drive device to autonomously control the traveling speed of the vehicle. control.
• the steering device controlled by the steering control device 172 is a steering device that controls the steered wheels according to the rotation angle of the steering wheel, and includes, for example, a steering actuator such as a motor attached to a column shaft of the steering wheel.
• the steering control device 172 controls the steering so that the vehicle travels while maintaining a predetermined lateral position (position in the left-right direction of the vehicle) with respect to the set travel route based on the control signal input from the driving support device 19.
• This control includes the detection results of the imaging device 11 and the distance measuring device 12, the driving state of the vehicle obtained by the own vehicle state detection device 13, the map information 14, and the information of the current position of the vehicle obtained by the own vehicle position detection device 15. Use at least one of these.
• the display device 18 is a device for providing necessary information to the occupants of the vehicle, and is, for example, a projector such as a liquid crystal display provided on an instrument panel or a head-up display (HUD).
• the display device 18 may include an input device for a vehicle occupant to input instructions to the driving support device 19. Examples of the input device include a touch panel that receives input using a user's finger or a stylus pen, a microphone that obtains a user's voice instructions, and a switch attached to a vehicle steering wheel. Further, the display device 18 may include a speaker as an output device.
• the driving support device 19 is a device that controls the driving of the vehicle by controlling and cooperating with the devices that make up the driving support system 10, and drives the vehicle to a set destination.
• the destination is set, for example, by a vehicle occupant.
• the driving support device 19 is, for example, a computer, and includes a CPU (Central Processing Unit) 191 that is a processor, a ROM (Read Only Memory) 192 in which a program is stored, and a RAM (Random Access Memory) that functions as an accessible storage device. ) 193.
• the CPU 191 is an operating circuit that executes a program stored in the ROM 192 and realizes the functions of the driving support device 19.
• the driving support device 19 has a driving support function that allows the vehicle to travel to a set destination using autonomous driving control.
• the driving support device 19 has, as driving support functions, a route generation function that generates a driving route, an environment recognition function that recognizes the driving environment around the vehicle, and a driving trajectory that generates a driving trajectory and causes the vehicle to travel along the driving trajectory. It also has a driving control function.
• the travel control function includes a vehicle speed control function that autonomously controls the travel speed of the vehicle, and a steering control function that autonomously controls the steering of the vehicle.
• the driving support device 19 has a determination function that determines whether the driver's steering operation satisfies a predetermined termination condition.
• the programs stored in the ROM 192 include programs for realizing the functions described above, and these functions are realized by the CPU 191 executing the programs stored in the ROM 192.
• FIG. 1 shows extracted functional blocks for realizing each function for convenience.
• the support unit 20 has a driving support function that allows the vehicle to travel to a set destination using autonomous driving control.
• FIG. 2 is a plan view showing an example of a driving scene in which the driving support device 19 autonomously controls the driving of the vehicle using the driving support function of the support unit 20.
• a road with two lanes on each side extends in the vertical direction of the drawing, and a vehicle travels on the road from the bottom to the top of the drawing.
• the lane on the left side of the driving direction is designated as lane L1
• the lane on the right side of the traveling direction is designated as lane L2.
• the driving support device 19 uses the driving support function of the support unit 20 to generate a travel route toward the destination X, and causes the vehicle V to travel along the generated travel route using autonomous travel control.
• This autonomous driving control is mainly controlled by the functions of the generation section 21, the recognition section 22, the control section 23, and the determination section 24.
• the generation unit 21 has a route generation function that generates a travel route for the vehicle to travel from the current location to the destination.
• the generation unit 21 also has a function of setting a lane for the vehicle to travel along the travel route.
• the driving support device 19 uses the navigation device 16 to generate a travel route for the vehicle to travel from the current position to the destination under autonomous travel control using the route generation function of the generation unit 21 .
• the driving support device 19 also sets a lane for driving along the generated travel route.
• the driving support device 19 acquires information about the generated driving route and the set lanes from the navigation device 16 as necessary.
• a route to travel from position P1 to destination X is searched. If there are multiple routes searched, the route with the shortest travel time or travel distance is selected.
• the recognition unit 22 has an environment recognition function that recognizes the driving environment around the vehicle.
• the driving support device 19 uses the imaging device 11 and the distance measuring device 12 to recognize the driving environment around the vehicle using the environment recognition function of the recognition unit 22 .
• the driving environment is information used to determine whether the vehicle can maintain its current driving state or whether it is necessary to change the driving state.
• the type and position of objects, the presence of obstacles, etc. includes information such as its type and location, road conditions such as road surface conditions, and weather.
• the driving support device 19 performs appropriate processing such as pattern matching and sensor fusion on the detection results of the imaging device 11 and the distance measuring device 12 to recognize the driving environment.
• the driving support device 19 acquires image data from cameras installed on traffic lights, utility poles, road signs, etc., and detects obstacles that exist in a range that cannot be detected by the vehicle's imaging device 11. may be recognized. Further, the driving support device 19 may be connected to a server that provides traffic information such as the occurrence of traffic congestion, the occurrence of accidents, and road closure sections, and may recognize obstacles from the information acquired from the server. Furthermore, the driving support device 19 may recognize obstacles that are present in a range that cannot be detected by the imaging device 11 of the vehicle, using vehicle-to-vehicle communication with other vehicles traveling around the vehicle.
• the driving support device 19 determines that the driving environment is such that no obstacles are detected around the vehicle V and there are no objects that obstruct the travel of the vehicle V. recognize.
• the control unit 23 has a travel control function that generates a travel trajectory for causing the vehicle V to travel along the generated travel route, and controls the travel operation of the vehicle V to follow the generated travel trajectory.
• the driving support device 19 uses the driving control function of the control unit 23 to generate a driving trajectory for driving the vehicle V along the driving route, and controls the vehicle control device 17 (especially , a speed control device 171, and a steering control device 172) to autonomously control the driving operation of the vehicle.
• the vehicle control device 17 especially , a speed control device 171, and a steering control device 172
• To generate the travel trajectory in addition to information such as the shape of the road, width, and curvature of the road included in the map information 14, the total length and width of the vehicle V's body, the minimum turning radius of the vehicle V, etc. are taken into consideration. .
• the control unit 23 has a vehicle speed control function that autonomously controls the traveling speed of the vehicle V, and a steering control function that autonomously controls the steering of the vehicle V.
• the vehicle speed control function is mainly realized by the speed control unit 231, and the steering
• the control function is mainly realized by the steering control section 232.
• the autonomous control of the traveling speed by the speed control section 231 is also simply referred to as autonomous speed control
• the autonomous control of steering by the steering control section 232 is also simply referred to as autonomous steering control.
• the driving support device 19 uses the vehicle speed control function of the speed control unit 231 to perform inter-vehicle distance control to maintain an inter-vehicle distance according to the vehicle speed, with the vehicle speed set by the driver as the upper limit. At the same time, the vehicle V is made to follow the preceding vehicle. On the other hand, if the vehicle in front is not detected, the vehicle will drive at a constant speed set by the driver. The former is called distance control, and the latter is also called constant speed control.
• the driving support device 19 has a vehicle speed control function that uses the imaging device 11 to detect the speed limit of the road on which the vehicle is traveling from a road sign, or obtains the speed limit from the map information 14 and determines the speed limit. The vehicle speed may be set automatically.
• the driver To activate the vehicle speed control function by the speed control unit 231, the driver first operates a switch provided on the steering wheel and inputs a desired vehicle speed. For example, if you press the switch while vehicle V is traveling at 70 km/h, the current vehicle speed will be set as is, but if the desired vehicle speed is other than that, operate the switch to increase or decrease the set speed. . Further, the driver selects one desired inter-vehicle distance from a plurality of settings, such as short distance, medium distance, and long distance, by operating a switch (for example, an inter-vehicle distance adjustment switch).
• a switch for example, an inter-vehicle distance adjustment switch.
• the constant speed control is executed when a preceding vehicle is not detected in front of the own lane in which the vehicle V is traveling, by the forward radar of the distance measuring device 12 or the like.
• the speed control device 171 controls the operation of drive mechanisms such as the engine and brakes while feeding back vehicle speed data from a vehicle speed sensor, which is the own vehicle state detection device 13, so as to maintain a set vehicle speed.
• the inter-vehicle distance control is executed when a preceding vehicle is detected in front of the own lane in which the vehicle V is traveling, by the forward radar of the distance measuring device 12 or the like.
• the operation of the drive mechanism is controlled by the speed control device 171 while feeding back inter-vehicle distance data detected by the forward radar so as to maintain the set inter-vehicle distance with the set vehicle speed as the upper limit.
• the driving support device 19 stops the vehicle V following the preceding vehicle. Further, if the preceding vehicle starts, for example, within 30 seconds after the vehicle V stops, the driving support device 19 causes the vehicle V to start and restarts the follow-up driving by controlling the vehicle distance. If vehicle V has been stopped for more than 30 seconds, it will not start automatically even if the preceding vehicle starts, and after the preceding vehicle has started, operate the switch on the steering wheel or press the accelerator pedal. Then, following distance control starts again.
• the driving support device 19 controls the operation of the steering actuator in the steering control device 172 using the steering control function of the steering control unit 232, and performs autonomous steering control.
• Autonomous steering control includes lane keep control and autonomous lane change control.
• the driving support device 19 controls the steering actuator with the steering control device 172 so that the vehicle V runs near the center of the lane by lane keep control, and supports the driver's steering operation. Further, the driving support device 19 performs lane changes during autonomous driving using autonomous lane change control. That is, the autonomous lane change control by the driving support device 19 is mainly realized by the steering control function of the steering control section 232.
• the autonomous lane change control of the steering control unit 232 starts flashing the direction indicator, and if the preset lane change start conditions are met, the lane change is performed as a series of lane change processes by the autonomous driving control. Start the operation (hereinafter also referred to as LCP). Furthermore, when a button is operated to approve the start of autonomous lane change control, such as when a switch provided on a steering wheel is operated, the direction indicator may be blinked and LCP may be started.
• the driving support device 19 determines whether the lane change start condition is satisfied based on the driving information acquired by the environment recognition function of the recognition unit 22.
• Examples of lane change start conditions include, but are not particularly limited to, all of the following conditions being satisfied. ⁇ Lane keep mode in hands-on mode. ⁇ Hands-on evaluation is currently underway. - Traveling at a speed of 60 km/h or more. ⁇ There is a lane in the direction of the lane change. ⁇ There is space in the lane where you can change lanes. - The lane marker type allows lane changes. - The radius of curvature of the road is 250m or more. - Within 1 second after the driver operates the direction indicator lever.
• the lane keep mode of the hands-on mode refers to a mode in which the driving support device 19 is executing autonomous speed control by the speed control unit 231 and lane keep control by the steering control unit 232, and, as will be described in detail later, A state in which it is detected that the driver is holding the steering wheel.
• the hands-on determination refers to a state in which the driver continues to hold the steering wheel.
• a lane L2 exists on the right side of the straight lane L1, and there is a space in the lane L2 for the vehicle V to enter. Therefore, the driving support device 19 is in the lane keep mode of the hands-on mode, the hands-on determination is in progress, the vehicle V is traveling at 60 km/h or more, the lane can be changed from lane L1 to lane L2, and the position P2 If the lane change start condition is within 1 second after operating the direction indicator lever, the lane change start condition is met.
• the driving support device 19 starts LCP by autonomous lane change control.
• This LCP includes a lateral movement of the vehicle V to an adjacent lane (that is, lane L2) and a lane change maneuver (hereinafter referred to as LCM) to actually move to lane L2.
• LCM lane change maneuver
• the driving support device 19 generates a travel trajectory T1 shown in FIG. 2, and changes lanes from lane L1 to lane L2 by following travel trajectory T1 and driving from position P2 to position P6. conduct.
• the driving support device 19 starts lateral movement to lane L2 at position P3, and starts LCM at position P4. At position P5, the driving support device 19 turns off the direction indicator and completes the LCM.
• LCP is completed at position P6, and lane keep control is started.
• the driving support device 19 presents information to the driver on the display device 18 indicating that a lane change is being performed using autonomous lane change control, and urges the driver to pay attention to the surroundings.
• the control unit 23 has a function of executing overtaking control that combines lane keeping control and autonomous lane change control.
• Overtaking control is autonomous lane change control in a driving scene where the vehicle is overtaking a preceding vehicle.
• FIG. 3A is a plan view showing an example of a driving scene in which the driving support device 19 executes overtaking control.
• the driving scene shown in FIG. 3A is the same as the driving scene shown in FIG. 2, except that there is another vehicle Y traveling in position Py of lane L1.
• the driving support device 19 displays the display device 18 when there is another vehicle Y slower than the vehicle V in front of the lane L1 and a predetermined overtaking proposal condition is satisfied. to present overtaking information to the driver.
• the overtaking information is information for suggesting to the driver that the driver overtake another vehicle Y, which is the preceding vehicle.
• the driving support device 19 operates when the driver accepts the presentation of overtaking information by operating a switch provided on the steering wheel (equivalent to inputting consent), and when preset overtaking start conditions are met. Then, the above-mentioned LCP is started.
• the consent input includes the driver operating the direction indicator lever to the right or left.
• the driving support device 19 determines whether the overtaking proposal condition and the overtaking start condition are satisfied.
• the overtaking support control may include a function of starting an LCP for overtaking a preceding vehicle when the driver operates a direction indicator lever even when no overtaking information is presented.
• Examples of overtaking proposal conditions include, but are not limited to, all of the following conditions being met.
• ⁇ Lane keep mode is hands-off mode.
• Traveling at a speed of 60 km/h or more. There is a lane in the direction of the lane change. ⁇ There is space in the lane to which you can change lanes after 5 seconds.
• the lane marker type allows lane changes.
• the radius of curvature of the road is 250m or more.
• the speed of your vehicle is 5 km/h or more slower than the set speed.
• - The speed of the preceding vehicle is 10 km/h or more slower than the set speed.
• the inter-vehicle distance between the own vehicle and the preceding vehicle is less than a preset threshold based on the speed difference between the own vehicle and the preceding vehicle.
• the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition.
• the lane keep mode of the hands-off mode refers to a mode in which autonomous speed control and lane keep control are in progress and does not require the driver to hold the steering wheel, although the details will be described later.
• the condition that the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition is applied depending on the type of lane to which the lane is to be changed. For example, when changing lanes from the left lane to the right lane on a multi-lane road with left-hand traffic, the speed of the own vehicle in the left lane is approximately 5 km/h faster than the speed of the preceding vehicle in the right lane. The condition is that it be faster.
• the speed difference between your vehicle and the preceding vehicle in the left lane must be within approximately 5 km/h. is the condition. Note that the conditions regarding the relative speed difference between the own vehicle and the preceding vehicle are reversed on roads where traffic is on the right.
• the driving support device 19 When the driver agrees to the presentation of overtaking information and satisfies predetermined overtaking start conditions, the driving support device 19 causes the turn signal to blink under overtaking control and starts LCP.
• overtaking start conditions include, but are not limited to, all of the following conditions being satisfied.
• - Your vehicle's speed is 5 km/h or more slower than the set speed (when changing lanes from left-hand traffic to the right lane).
• the speed of the preceding vehicle is more than 10 km/h slower than the set speed (when driving on the left and changing lanes to the right lane).
• the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition.
• the condition that the speed of the preceding vehicle is 10 km/h or more slower than the set speed can be changed by the driver's settings, and the changed set speed becomes the overtaking start condition.
• the changeable speed for example, in addition to 10 km/h, 15 km/h and 20 km/h can be selected.
• the condition that the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition is the same as the overtaking proposal condition described above.
• a lane L2 exists on the right side of the straight lane L1, and there is a space in the lane L2 for the vehicle V to enter, and this space will still exist five seconds later. Therefore, it is the lane keep mode of the hands-off mode, the vehicle V is traveling at 60 km/h or more, it is possible to change lanes from lane L1 to lane L2, and the vehicle speed is 5 km/h or more slower than the set speed. , the vehicle speed of other vehicle Y is slower than the set speed by 10 km/h or more, and the inter-vehicle distance between vehicle V and other vehicle Y is less than a preset threshold based on the speed difference between vehicle V and other vehicle Y. If the overtaking proposal condition is satisfied. When the overtaking proposal condition is satisfied, the driving support device 19 presents overtaking information using the display device 18 while the vehicle V is traveling at the position P1.
• the driving support device 19 determines whether the overtaking start conditions are met.
• the overtaking proposal conditions are met, so hands-on judgment is in progress, and if the lane change assist switch on the steering wheel is operated within 10 seconds, the overtaking start conditions are met. .
• LCP is started by overtaking control, and lateral movement to the adjacent lane and LCM are executed.
• the driving support device 19 generates a travel trajectory T2 shown in FIG. 3A, and changes lanes from lane L1 to lane L2 by following travel trajectory T2 and driving from position P3 to position P7. conduct.
• the driving support device 19 starts blinking the direction indicator at position P3, starts lateral movement to lane L2 at position P4, and starts LCM at position P5.
• the driving support device 19 turns off the direction indicator and completes the LCM.
• LCP is completed at position P7, and lane keep control is started.
• Vehicle V travels in lane L2 and overtakes another vehicle Y under lane keep control.
• the driving support device 19 uses the display device 18 to suggest to the driver to return to the original lane L1. If the driver accepts this proposal by operating a switch on the steering wheel, and the overtaking start conditions are met, the driving support device 19 performs overtaking control as shown in FIG. 3B. LCP is started to return vehicle V to the original lane L1.
• the driving support device 19 presents overtaking information using the display device 18 when the vehicle V is traveling at position P7. Then, if the driver inputs consent to execute overtaking control while the vehicle V is traveling at position P8, the driving support device 19 generates a traveling trajectory T3 shown in FIG. 3B and follows the traveling trajectory T3. The vehicle then travels from position P9 to position P13, and changes lanes from lane L2 to original lane L1. The driving support device 19 starts blinking the direction indicator at position P9, starts lateral movement to lane L1 at position P10, and starts LCM at position P11. At position P12, the driving support device 19 turns off the direction indicator and completes the LCM. Then, LCP is completed at position P13, and lane keep control is started.
• the control unit 23 has a function of executing route driving control that combines lane keeping control and autonomous lane change control.
• the driving support device 19 causes the vehicle V to travel along a set travel route by route travel control.
• the driving support device 19 is configured to determine whether there is a travel direction change point such as a branch point, a confluence point, an exit, or a toll booth on the set travel route, and the distance to the travel direction change point is within a predetermined distance, and if the travel direction change point is within a predetermined distance.
• route travel proposal conditions are met, route travel information is presented by route travel control.
• the driving support device 19 uses the display device 18 to suggest a lane change to a travel direction change point as route travel information.
• the driving support device 19 starts LCP when the lane change proposal is accepted by operating a switch provided on the steering wheel and when predetermined route travel start conditions are met.
• the operation of the switch may be an operation of a direction indicating lever by the driver.
• the driving support device 19 determines whether the route travel proposal condition and the route travel start condition are satisfied based on the information (driving environment) acquired by the environment recognition function of the recognition unit 22.
• the navigation device 16 will not be able to use the normal route guidance for guiding the driving route. Navigation is performed. Further, the route driving control may include a function of starting an LCP for driving along the driving route when the driver operates a direction indicator lever even if a lane change is not suggested by the route driving information. .
• FIG. 4 is a plan view showing an example of a driving scene in which the driving support device 19 controls the route traveling.
• a road with three lanes on each side extends in the vertical direction of the drawing, and the vehicle travels on the road from the bottom to the top of the drawing.
• the lane on the right side of the traveling direction is designated as lane L1
• the center lane is designated as lane L2
• the lane on the left side of the traveling direction is designated as lane L3
• the branch line heading toward destination X is designated as lane L4.
• the first predetermined distance (also referred to as the lane change proposal section) is preset according to the number of lane changes required to move to the lane where the driving direction change point exists. For example, as shown in FIG. 4, if it is necessary to change lanes twice from lane L1 to lane L2 and then to lane L3, as shown in the example, the driver must change lanes approximately 2.5 km to 1.0 km before branching point Z. The section becomes the first predetermined distance (lane change proposal section).
• Examples of route travel proposal conditions include, but are not limited to, all of the following conditions being met.
• a destination is set on the navigation device 16.
• ⁇ Lane keep mode is hands-off mode.
• the lane marker type allows lane changes.
• the radius of curvature of the road is 250m or more.
• route driving information is presented in order to notify the driver of the need to change lanes along the driving route.
• a destination X is set, a lane L2 exists on the left side (lane change side) of a straight lane L1, and there are no obstacles in the lane L2. Therefore, if the lane keep mode is the hands-off mode, the vehicle V travels at a speed of 60 km/h or more, and the boundary line between the lane L1 and the lane L2 allows a lane change, the route travel proposal conditions are satisfied. In the driving scene shown in FIG. 4, if the route driving proposal conditions are met, route driving information is presented to the driver using the display device 18 while driving at position P1.
• the driving support device 19 turns on the direction indicator by route travel control when the driver inputs consent to change lanes to head to the branch point at position P1 and the route travel start conditions are met. and start LCP.
• route travel start conditions include, but are not limited to, all of the following conditions being met.
• ⁇ Lane keep mode in hands-on mode. ⁇ Currently undergoing a hands-on evaluation. - Traveling at a speed of 60 km/h or more. ⁇ There is a lane in the direction of the lane change. ⁇ There is space in the lane to which you can change lanes. - The lane marker type allows lane changes. ⁇ You are driving in a proposed lane change section. - The radius of curvature of the road is 250m or more.
• the route driving proposal conditions are satisfied, the lane keeping mode is in the hands-on mode, and hands-on judgment is in progress, and if the road shown in Figure 4 is the lane change proposal section, the route driving starts. Satisfy the conditions.
• the driving support device 19 starts LCP by route travel control, and executes lateral movement to lane L2 and LCM.
• the driving support device 19 generates, for example, a traveling trajectory T4 shown in FIG. 4, and autonomously controls the traveling operation of the vehicle V to follow the traveling trajectory T4.
• the driving support device 19 turns off the direction indicator and starts lane keep control at position P3 in lane L2. Note that while the driving support device 19 is executing the LCP, the driving support device 19 presents the driver with information indicating that a lane change is being performed by route driving control on the display device 18, and urges the driver to pay attention to the surroundings.
• the driving support device 19 while executing lane keep control in the lane L2, moves within a second predetermined distance to the branch point Z (for example, approximately 2.3 km to 700 meters before the branch point). And when the route travel start condition is satisfied, the route travel support control turns on the direction indicator, starts the second LCP, and changes the lane from lane L2 to lane L3.
• the driving support device 19 generates a traveling trajectory T5 shown in FIG. 4, and causes the vehicle V to travel so as to follow the traveling trajectory T5 from position P4 to position P5.
• the driving support device 19 turns off the direction indicator and starts lane keep control at position P5 in lane L3.
• the driving support device 19 determines that the branch point Z is within a third predetermined distance (for example, about 800 m to 150 m before the branch point), and the route travel start condition is When the following conditions are met, the direction indicators are turned on by route driving control.
• the driving support device 19 generates a travel trajectory T6 that causes the vehicle to enter the lane L4 through route travel control.
• autonomous steering control is started to enter lane L4, which is a branch line, and the vehicle travels from position P6 to position P7 following the travel trajectory T6, and then from lane L3 to lane L4. enter.
• the driving support device 19 turns off the direction indicator and starts lane keep control at position P7 in lane L4.
• FIG. 5 is a block diagram showing state transitions of each function established in the driving support device 19.
• the system shown in FIG. 5 means an autonomous driving control system realized by the driving support device 19.
• the main switch is a switch that turns on/off the power of a system that implements the vehicle speed control function and the steering control function of the driving support device 19, and is provided, for example, on the steering wheel.
• the resume/accelerate switch is used to stop (turn OFF) autonomous speed control, then resume autonomous speed control at the set speed before turning it off, increase the set speed, or stop the vehicle while following the vehicle in front.
• This is a switch for restarting the vehicle using the support device 19.
• the set/coast switch is a switch that starts autonomous speed control at the speed at which the vehicle is traveling or reduces the set speed. These switches are provided, for example, on the steering wheel.
• condition (1) in FIG. 5 is satisfied while autonomous speed control is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode.
• This condition (1) includes, for example, that the driver is holding the steering wheel while the lane markers on both sides of the vehicle V are being detected.
• Hands-on mode refers to a mode in which autonomous steering control by the autonomous steering control function does not operate unless the driver holds the steering wheel
• hands-off mode refers to a mode in which autonomous steering control does not operate even if the driver takes his hands off the steering wheel. This refers to the mode in which autonomous steering control based on functions is activated. Note that the driver's holding of the steering wheel is detected by the touch sensor of the own vehicle state detection device 13.
• condition (2) in FIG. 5 If condition (2) in FIG. 5 is satisfied while the lane keep mode of the autonomous steering control/hands-on mode is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-off mode.
• This condition (2) includes, for example, that the own vehicle V is traveling on a motorway with a high-precision map and that the GPS signal is valid.
• condition (3) in FIG. 5 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode.
• This condition (3) includes, for example, that the traveling speed exceeds the speed limit.
• condition (4) in FIG. 5 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, the autonomous steering control is stopped and a transition is made to autonomous speed control.
• This condition (4) includes, for example, that the driver is operating the steering wheel.
• condition (5) in FIG. 5 includes, for example, that the driver operated the brake.
• condition (6) in FIG. 5 is satisfied while the autonomous steering control/hands-on mode is being executed, the autonomous steering control is stopped and a transition is made to autonomous speed control.
• This condition (6) includes, for example, that the driver has operated a direction indicator lever.
• condition (7) in FIG. 5 is satisfied while the autonomous steering control/hands-on mode is being executed, the autonomous steering control and autonomous speed control are stopped and a transition is made to the standby state.
• This condition (7) includes, for example, that the driver operated the brake.
• condition (8) in FIG. 5 is satisfied while autonomous speed control is being executed, a transition is made to the standby state.
• This condition (8) includes, for example, that the driver operated a cancel switch that turns off autonomous speed control.
• condition (9) in FIG. 5 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, a transition is made to the lane change mode of the autonomous steering control/hands-on mode.
• This condition (9) includes, for example, that the driver operated the lane change support switch in response to a lane change suggestion from the driving support system 10, and that the driver operated the direction indicator lever to execute autonomous lane change control. In addition, the driver indicated his intention to accept the lane change suggested by the system by holding the steering wheel.
• the lane change support switch is a switch for instructing (accepting) the start of a lane change when the driving support device 19 confirms with the driver that the lane change has started.
• the lane change assist switch is provided, for example, on the steering wheel.
• condition (10) in FIG. 5 is satisfied while executing the lane change mode of the autonomous steering control/hands-on mode, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode.
• This condition (10) includes, for example, that the traveling speed exceeds the speed limit before starting LCP.
• condition (11) in Figure 5 After transitioning to the lane keep mode of the autonomous steering control/hands-off mode, if condition (11) in Figure 5 is satisfied while executing the lane keep mode of the autonomous steering control/hands-off mode, the autonomous steering control/hands-off mode changes. Transition to lane change mode.
• This condition (11) includes, for example, the driver operating the lane change assist switch, the driver operating the direction indicator lever to execute autonomous lane change control, and the driver operating the lane change suggested by the system. On the other hand, the driver expressed his intention to consent by holding the steering wheel.
• condition (12) in FIG. 5 If the condition (12) in FIG. 5 is satisfied while executing the lane change mode of the autonomous steering control/hands-off mode, a transition is made to the lane keep mode of the autonomous steering control/hands-off mode.
• This condition (12) includes, for example, exceeding the speed limit before starting LCP.
• the determining unit 24 determines whether or not the steering operation input by the driver satisfies a predetermined abort condition during execution of the autonomous lane change control, and if it is determined that the steering operation satisfies the predetermined abort condition, the autonomous lane change control is performed. It has a function to cancel lane change control.
• Executing autonomous lane change control means, for example, after starting autonomous lane change control and before vehicle V starts moving in the width direction of the road (lateral movement) or before vehicle V starts LCM. It is. If the determination function of the determination unit 24 determines that the driver's steering operation satisfies the predetermined termination condition, the driving support device 19 suspends autonomous lane change control.
• a steering operation refers to an operation that directs the steering wheels of the vehicle V in the direction of travel of the vehicle V, and is, for example, rotating the steering wheel.
• the steering operation is detected using a steering angle sensor, a torque sensor, etc. of the vehicle state detection device 13.
• the predetermined discontinuation condition is a condition for the driving support device 19 to discontinue autonomous lane change control, such as a condition in which the absolute value of the rotation angle of the steering wheel of the vehicle V is greater than a predetermined angle, and a condition in which the driver inputs to the steering wheel.
• the absolute value of the steering torque applied is greater than a predetermined value.
• Steering torque is the torque that rotates the steering wheel.
• the predetermined cancellation conditions are not limited to these, and the above-mentioned conditions can be combined as appropriate.
• the rotation angle of the steering wheel is 0° when the steered wheels (for example, front wheels) of the vehicle V are parallel to the longitudinal direction of the vehicle V, and is considered a positive angle when the steering wheel is rotated clockwise, and counterclockwise. When rotated in the opposite direction, the angle is negative.
• the torque that rotates the steering wheel clockwise has a positive value
• the torque that rotates the steering wheel counterclockwise has a negative value.
• the rotation angle of the steering wheel and the steering torque input to the steering wheel are detected by, for example, a steering angle sensor and a torque sensor of the host vehicle state detection device 13.
• the predetermined angle is a value that corresponds to the vehicle speed of the vehicle V, and can be set to an appropriate value within a range that does not cause the occupants of the vehicle V to feel strange when the autonomous lane change control is canceled. Specifically, when the vehicle V is traveling at 80 to 100 km/h, the angle is approximately 5 to 10 degrees, and when the vehicle V is traveling at 60 to 80 km/h, it is approximately 10 to 20 degrees. . Further, the predetermined value of the steering torque is about 5 to 15 Nm when the vehicle V is running at 80 to 100 km/h, and about 20 to 30 Nm when the vehicle V is running at 60 to 80 km/h. It is.
• the higher the vehicle speed of the vehicle V the smaller the predetermined angle and the predetermined value are set.
• the predetermined angle and steering torque are not limited to the above-mentioned ranges, and can be used in any combination in the present invention.
• the driving support device 19 determines that the driver's steering operation satisfies a predetermined termination condition after the autonomous lane change control is started and while the autonomous lane change control is being executed, the driving support device 19 cancels the autonomous lane change control and performs manual driving. Transition to running. In this case, the state of the driving support device 19 becomes the system OFF state shown in FIG. 5, and the driving of the vehicle is controlled by the driver's steering operation.
• manual driving means that the driving support device 19 does not perform autonomous driving control of the driving operation, and the driving of the vehicle is controlled by the driver's operation. This transition to traveling by manual operation is not an essential feature of the present invention, and may be added or omitted as necessary.
• the driving support device 19 performs speed control using the autonomous driving control. While maintaining the steering control, the steering control based on the autonomous driving control may be canceled. In this case, the state of the driving support device 19 is in the lane keep mode of the autonomous steering control/hands-on mode shown in FIG. 5, and the driving support device 19 performs lane keep control. Maintaining speed control by autonomous driving control and canceling steering control by autonomous driving control when it is determined that the driver's steering operation satisfies a predetermined cancellation condition is not an essential configuration of the present invention, but may be necessary. It may be added or omitted as appropriate.
• the driving support device 19 determines that the steering operation detected during execution of the autonomous lane change control does not satisfy the predetermined termination condition after the start of the autonomous lane change control, the driving support device 19 will to correct driving behavior using autonomous lane change control. For example, the driving support device 19 advances or delays the timing of performing a lane change driving operation based on a steering operation that does not satisfy a predetermined cancellation condition. This correction of the traveling motion is not an essential feature of the present invention, and may be added or omitted as necessary. Alternatively or in addition to this, the driving support device 19 may shorten or lengthen the time required to execute the lane change driving operation based on the steering operation.
• the driving support device 19 controls the width direction of the own lane (or road) when the vehicle V moves from the own lane to another lane (for example, an adjacent lane) based on the steering operation.
• the speed may be increased or decreased. Setting the speed in the width direction of the own lane when the vehicle V moves from the own lane to another lane is not an essential feature of the present invention, and may be added as necessary and may be omitted. Good too.
• the driving support device 19 changes the position at which the vehicle V starts lateral movement to the lane L2 from the position P3 to the position P3a. That is, the driving support device 19 delays the timing at which the vehicle V starts moving laterally, depending on the steering torque input to the steering wheel.
• a steering torque that rotates the steering wheel to the right is detected between positions P2 and P3 before starting lateral movement to lane L2. do.
• the autonomous lane change control is canceled as described above.
• the driving support device 19 changes the position at which the vehicle V starts lateral movement to the lane L2 from the position P3 to the position P3b. In other words, the timing at which the vehicle V starts moving laterally is brought forward.
• the position where the LCP is completed may be the initially set position, or the position where the LCP is completed may be changed in accordance with the changed timing. good.
• the position where LCP is completed may be position P6, or may be a position ahead of position P6 in the traveling direction.
• the position where LCP is completed may be position P6, or may be a position behind position P6 in the traveling direction.
• the driving support device 19 cancels the autonomous lane change control and
• the vehicle may also transition to autonomous driving control that causes the vehicle to travel straight ahead. That is, the state of the driving support device 19 becomes the lane keep mode state of the autonomous steering control/hands-on mode shown in FIG. 5, and the driving support device 19 performs lane keep control.
• the predetermined time can be set to an appropriate value within a range in which the occupants of the vehicle V do not feel uncomfortable when the autonomous lane change control is canceled, and specifically, it is about 5 to 60 seconds.
• the intention is to execute the autonomous lane change control before executing the autonomous lane change control.
• the driver's intention is expressed.
• a display accepting execution of the autonomous lane change control proposed by the driving support device 19 is performed, and the overtaking control shown in FIGS. 3A to 3B and the display shown in FIG. Route control includes a display requesting the driver to execute autonomous lane change control.
• the driver may, for example, actuate the direction indicator lever up or down and/or rotate the steering wheel.
• the driver's expression of intention is not limited to the above-mentioned expression of consent and expression of request, but also includes other expressions.
• an example of a driving scene in which autonomous lane change control is executed based on the driver's intention is a driving scene in which multiple lane changes occur in succession.
• the driving support device 19 proposes execution of autonomous lane change control to the driver.
• driving scenes that the driver has consented to Note that the above-mentioned driving scene in which the vehicle changes lanes several times in succession includes a driving scene in which the vehicle changes lanes to another lane and then returns to the original own lane.
• the driving support device 19 of this embodiment does not necessarily require the driver's declaration of intention to execute autonomous lane change control.
• the driving support device 19 of this embodiment can perform autonomous lane change control regardless of the driver's expressed intention. For example, driving scenes in which the vehicle changes lanes to the adjacent lane only once, driving scenes in which the vehicle changes lanes without the driver's consent when passing another vehicle traveling in front of the vehicle, and other vehicles traveling in front of the vehicle.
• the driving support device 19 executes autonomous lane change control based on the judgment of the driver to maintain the vehicle speed. Executes autonomous lane change control regardless of the display.
• the driving support device 19 detects whether the driver is changing lanes from the own lane to the adjacent lane or from the adjacent lane to the own lane. shall be carried out without the consent of
• the driving support device 19 proposes execution of autonomous lane change control. Assuming that the driver has consented to this, autonomous lane change control will be executed regardless of the driver's expressed intention. As another example, when the traveling direction of the vehicle V changes, the driving support device 19 requests the driver's consent to execute the autonomous lane change control, and when the driver's consent is obtained, executes the autonomous lane change control. do. On the other hand, if the traveling direction of the vehicle V does not change, autonomous lane change control is executed based on the judgment of the driving support device 19.
• the driving support device 19 executes autonomous lane change control based on the judgment of the driving support device 19, regardless of the driver's expressed intention. do.
• the vehicle V if the vehicle V is unable to continue traveling along the travel route, it will ask the driver for consent to execute autonomous lane change control, and if the driver's consent is obtained, autonomous lane change control will be executed. .
• the autonomous lane change control of this embodiment includes autonomous lane change control that is executed regardless of the driver's expressed intention, and autonomous lane change control that is executed based on the driver's expressed intention.
• the autonomous lane change control that is executed regardless of the driver's expressed intention will be referred to as the first autonomous lane change control
• the autonomous lane change control that is executed based on the driver's expressed intention will be referred to as the second autonomous lane change control.
• the driving support device 19 executes the first autonomous lane change control without confirming the driver's expressed intention, and executes the second autonomous lane change control when the driver's expressed intention can be confirmed.
• the driving support device 19 determines whether the driver's intention is input to at least one of the direction indicator switch and the steering wheel. If it is determined that the input has been input to at least one of the turn signal switch and the steering wheel, it is determined that the driver's intention has been confirmed. On the other hand, if it is determined that the input was not input to at least one of the turn signal switch and the steering wheel, it is assumed that the driver's intention could not be confirmed. Examples of the input include the driver's grasping and/or rotation of the steering wheel, the driver's operation of a turn signal switch, and the like.
• the intention of the driver performing the steering operation may be different.
• a case will be described in which the driver performs a steering operation to rotate the steering wheel.
• FIG. 4 is a plan view showing a driving scene in which driving assistance is performed by the driving assistance device 19 of the present embodiment, in which a vehicle V currently traveling in lane L1 is driving through lanes L2 and L3.
• This is a driving scene in which the vehicle autonomously changes lanes up to lane L4.
• the route travel control shown in the figure is started using a switch input by the driver as a trigger, the above-mentioned steering operation is performed while changing lanes from lane L2 to lane L3.
• the driver since the driver has already consented to the execution of route driving control, it is unlikely that the driver intends to cancel the lane change from lane L2 to lane L3. It is thought that there is an intention to delay.
• the driver wishes to continue autonomous lane change control and does not request that it be discontinued.
• the driver performs a steering operation while knowing in advance that he or she is going to change lanes, by setting a predetermined abort condition to prevent autonomous lane change control from being aborted, autonomous It is possible to suppress cancellation of lane change control.
• FIGS. 3A and 3B are plan views showing an example of a driving scene in which the driving support device 19 executes overtaking control.
• the overtaking control start conditions shown in FIGS. 3A and 3B are satisfied and the driving support device 19 starts autonomous lane change control without depending on the driver's intention, when changing lanes from lane L1 to lane L2, If this steering operation is performed, it is considered that the driver desires to continue traveling along lane L1 and does not request a lane change to lane L2.
• the driving support device 19 uses the determination function of the determination unit 24 to set the predetermined termination condition for canceling the first autonomous lane change control to the second autonomous lane change control.
• the autonomous lane change control is set to be more likely to be canceled than the predetermined cancellation condition for canceling the change control.
• the driving support device 19 sets the predetermined angle of the first autonomous lane change control to be smaller than the predetermined angle of the second autonomous lane change control with respect to the predetermined angle that is the rotation angle of the steering wheel at which the autonomous lane change control is to be stopped. do.
• the predetermined angle of the first autonomous lane change control is set to about 5 to 10 degrees, and the predetermined angle of the second autonomous lane change control is set to about 2.5 to 5 degrees, which is half of the first autonomous lane change control.
• the driving support device 19 sets the predetermined value of the first autonomous lane change control to a predetermined value of the second autonomous lane change control regarding the predetermined value of the steering torque for canceling the autonomous lane change control. It may be set small.
• the predetermined value for the first autonomous lane change control is set to about 5 to 15 Nm, and the predetermined value for the second autonomous lane change control is set to about 2.5 to 7 Nm, which is half of the predetermined value for the first autonomous lane change control.
• the predetermined angle and/or steering torque is set. Changing the predetermined value of is not an essential feature of the present invention, and may be added or omitted as necessary.
• the first autonomous lane change control can be stopped by changing the operation settings of the steering wheel without changing the predetermined rotation angle of the steering wheel and the predetermined value of the steering torque.
• the cancellation condition may be set to a condition that makes it easier for the autonomous lane change control to be canceled than the predetermined cancellation condition for canceling the second autonomous lane change control.
• the amount of rotation of the first autonomous lane change control is set as the amount of rotation of the steering wheel. Set smaller than the rotation amount of the second autonomous lane change control.
• the first autonomous lane change control can be canceled with less rotation of the steering wheel than the second autonomous lane change control.
• the driver's steering input is made such that the torque required to rotate the steering wheel in the first autonomous lane change control is smaller than the torque required to rotate the steering wheel in the second autonomous lane change control.
• the assist gain may be set high. As a result, the steering torque required to reach the predetermined angle increases, and the autonomous lane change control can be stopped by inputting a smaller steering torque than the second autonomous lane change control.
• the predetermined cancellation condition for canceling the first autonomous lane change control can be set as the predetermined cancellation condition for canceling the first autonomous lane change control.
• Setting a condition in which autonomous lane change control is more likely to be canceled than a predetermined cancellation condition for canceling lane change control is not an essential feature of the present invention, and may be added or omitted as necessary.
• FIGS. 6A and 6B are examples of flowcharts showing information processing executed in the driving support system 10 of this embodiment. The processing described below is executed at predetermined time intervals by the CPU 191, which is the processor of the driving support device 19. Note that the flowcharts shown in FIGS. 6A and 6B are based on a driving scene in which the vehicle V runs on a road under lane keeping control.
• step S1 of FIG. 6A the vehicle V is caused to travel using the vehicle control device 17 under lane keep control of the steering control unit 232. Specifically, the speed of the vehicle V is controlled using the speed control device 171 through inter-vehicle distance control or constant speed control. Furthermore, the steering control device 172 is used to control the steering device of the vehicle V so that the vehicle travels along its own lane through autonomous steering control.
• step S2 the environment recognition function of the recognition unit 22 acquires the current position of the vehicle V from the own vehicle position detection device 15.
• the travel control function of the control unit 23 acquires a travel route from the navigation device 16.
• the environment recognition function of the recognition unit 22 recognizes the driving environment around the vehicle V from the detection results of the imaging device 11 and the distance measuring device 12.
• step S5 the determination function of the determination unit 24 determines whether or not it is necessary to execute autonomous lane change control based on the information acquired in steps S2 to S4. For example, when it is necessary to change lanes from the own lane to an adjacent lane that is a left-turn-only lane in order to make a left turn along a set travel route, it is determined that autonomous lane change control needs to be executed. On the other hand, if the vehicle can continue traveling along its own lane and reach the destination, it is determined that autonomous lane change control is not necessary.
• step S6 the process determines whether the execution of autonomous lane change control is not necessary.
• step S7 the driving support function of the support unit 20 determines whether the vehicle V has arrived at the destination. If it is determined that the vehicle V has arrived at the destination, the autonomous driving control is stopped and the display device 18 prompts the driver to drive manually. On the other hand, if it is determined that the vehicle V has not arrived at the destination, the process advances to step S1 and the above-described process is repeated.
• step S5 determines whether it is necessary to execute autonomous lane change control.
• step S5 determines whether it is necessary to execute autonomous lane change control.
• step S11 the determination function of the determination unit 24 determines whether a lane change start condition is satisfied. If it is determined that the lane change start conditions are not met, the autonomous driving control is stopped and the display device 18 prompts the driver to manually change the lane. On the other hand, if it is determined that the lane change start condition is satisfied, the process proceeds to step S12 and autonomous lane change control is started.
• step S13 the determination function of the determination unit 24 determines whether or not the lane change by autonomous lane change control is to be executed without depending on the driver's declaration of intention. If it is determined that the lane change by the autonomous lane change control is to be executed without depending on the driver's declaration of intention, the process proceeds to step S14, and a predetermined condition for canceling the first autonomous lane change control is set. That is, a predetermined termination condition under which autonomous lane change control is likely to be canceled is set. After that, the process advances to step S19.
• step S15 the determination function of the determination unit 24 determines whether the driver has requested execution of autonomous lane change control. For example, if the driver operates a lane change support switch to instruct the execution of autonomous lane change control, by acquiring the input of the instruction, it is determined that the driver has requested the execution of autonomous lane change control. On the other hand, if no input related to the driver's declaration of intention is obtained, it is determined that the driver has not requested execution of autonomous lane change control.
• step S16 If it is determined that the driver has requested execution of the autonomous lane change control, the process proceeds to step S16, and predetermined conditions for canceling the second autonomous lane change control are set. In other words, a predetermined termination condition under which autonomous lane change control is unlikely to be canceled is set. After that, the process advances to step S19. On the other hand, if it is determined that the driver has not requested execution of autonomous lane change control, the process proceeds to step S17, and the display device 18 is used to suggest to the driver execution of lane change.
• step S18 it is determined whether the driver has accepted the proposed lane change. If it is determined that the driver has accepted the proposed lane change, the process proceeds to step S16, and if it is determined that the driver has rejected the proposed lane change, the autonomous driving control is stopped and a message is displayed via the display device 18. Encourages drivers to drive manually.
• the driver's expression of consent is input via a switch on the steering wheel, a turn signal switch, a direction signal lever, the steering wheel, etc.
• step S19 the determination function of the determination unit 24 determines whether a steering operation by the driver has been detected. If it is determined that the steering operation by the driver is not detected, the process proceeds to step S20, and a lane change is executed by the autonomous lane change control of the control unit 23. Specifically, LCP and LCM are executed. After executing the lane change, the process proceeds to step S7 in FIG. 6A.
• step S21 the determination function of the determination unit 24 determines whether the input steering operation satisfies a predetermined cancellation condition. For example, if the absolute value of the steering torque acquired from the torque sensor (vehicle state detection device 13) is larger than a predetermined value, it is determined that the predetermined cancellation condition is satisfied. On the other hand, if the rotation angle of the steering wheel obtained from the steering angle sensor (vehicle state detection device 13) is less than or equal to the predetermined angle, it is determined that the predetermined discontinuation condition is not satisfied.
• step S22 the process proceeds to step S22, and the lane change driving operation is corrected in accordance with the steering operation. For example, when changing lanes to the right in the direction of travel, if a torque that turns the steering wheel to the left in the direction of travel is detected, the timing at which the vehicle V starts lateral movement is delayed. Then, the process proceeds to step S20, and a lane change is executed based on the corrected driving motion.
• step S23 the process proceeds to step S23 and the autonomous lane change control is canceled.
• the autonomous driving control is then stopped, and the display device 18 prompts the driver to drive manually.
• step S21 the steering operation does not satisfy the predetermined abort condition
• the process may proceed to step S1 of FIG. 6A and transition to driving under lane keep control.
• step S21 the steering operation satisfies the predetermined cancellation condition
• the autonomous lane change control may be canceled, the process may proceed to step S1 in FIG. 6A, and the vehicle may transition to driving under lane keep control.
• the autonomous driving control executes the autonomous lane change control for changing the lane from the own lane in which the vehicle V is traveling to a lane other than the own lane, and during the execution of the autonomous lane change control.
• the autonomous lane change control is canceled if the driver's steering operation inputted into the driver's steering operation satisfies a predetermined cancellation condition. If the first autonomous lane change control is executed without confirming the driver's intention, and the second autonomous lane change control is executed based on the driver's intention, the driver's intention can be confirmed.
• the expression of intention is an indication that the driver agrees to execute the autonomous lane change control proposed by the driving support device, and an indication that the driver executes the autonomous lane change control.
• a display requesting a turn signal, and the indication of intention may be input to the processor using at least one of a turn signal switch and a steering wheel.
• the predetermined discontinuation condition is a condition in which the absolute value of the rotation angle of the steering wheel of the vehicle V is larger than a predetermined angle, and an input by the driver to the steering wheel.
• the absolute value of the steering torque may be greater than a predetermined value.
• the processor sets the predetermined angle of the first autonomous lane change control to be smaller than the predetermined angle of the second autonomous lane change control; A condition for setting the predetermined value of the first autonomous lane change control to be smaller than the predetermined value of the second autonomous lane change control, and the steering wheel necessary for changing the steering angle of the steered wheels of the vehicle V.
• a condition for setting the amount of rotation of the first autonomous lane change control to be smaller than the amount of rotation of the second autonomous lane change control, and a condition that the amount of rotation of the steering wheel in the first autonomous lane change control is At least one condition may be set as the predetermined discontinuation condition, including a condition in which the required torque is set to be smaller than the torque required to rotate the steering wheel in the second autonomous lane change control.
• the processor transitions to manual driving or autonomous driving. While maintaining the speed control based on the running control, the steering control based on the autonomous running control may be stopped. Thereby, after autonomous lane change control is stopped, it is possible to quickly transition to a predetermined state.
• the processor executes the predetermined discontinuation condition.
• the autonomous lane change control may be corrected based on the steering operation that does not satisfy the condition. This allows the driver's intentions to be reflected in autonomous lane change control.
• the control unit 23 executes autonomous lane change control to change the lane from the own lane in which the vehicle V is traveling to a lane other than the own lane by autonomous driving control; a determination unit 24 that cancels the autonomous lane change control if the driver's steering operation input during execution satisfies a predetermined cancellation condition, and the control unit 23
• the first autonomous lane change control to be executed is executed without confirming the indication of intention, and the second autonomous lane change control to be executed based on the indication of intention by the driver is performed when the indication of intention can be confirmed.
• the determining unit 24 sets the predetermined discontinuation condition of the first autonomous lane change control to a condition in which the autonomous lane change control is more likely to be discontinued than the predetermined discontinuation condition of the second autonomous lane change control.
• a vehicle driving assistance device 19 is provided. As a result, autonomous lane change control can be appropriately canceled depending on the driving scene.
• the configurations described in the above embodiments may be freely combined and used, and the combination is not particularly limited.
• the vehicle driving support method and driving support device 19 of the present embodiment are not limited to the configurations described in the above-described embodiments, and may be used in any combination of the configurations described in the embodiments. Not particularly limited.

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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Human Computer Interaction (AREA)
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• General Physics & Mathematics (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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• Steering Control In Accordance With Driving Conditions (AREA)

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• 2022
  • 2022-07-13 JP JP2024533390A patent/JP7743932B2/ja active Active
  • 2022-07-13 WO PCT/JP2022/027541 patent/WO2024013874A1/ja not_active Ceased
  • 2022-07-13 US US18/881,700 patent/US20260001550A1/en active Pending

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