阅读说明：本技术 车辆控制方法及车辆控制装置 (Vehicle control method and vehicle control device ) 是由 伊东敦 出川胜彦 野尻隆宏 志野达弥 江本周平 石丸秀行 浅井俊弘 于 2018-09-21 设计创作，主要内容包括：本发明提供一种使控制本车辆的处理器执行的车辆控制方法,其中,从检测本车辆的周围的状态的传感器中获取在与本车辆行驶的行驶车道相邻的相邻车道上行驶的其他车辆的检测数据,基于本车辆和其他车辆的位置关系,将用于本车辆从行驶车道车道变更为相邻车道的目标地点设定在相邻车道上,将位于比目标地点靠后方的其他车辆确定为后方车辆,在本车辆的后端位于比后方车辆的前端靠前方的情况下,开始本车辆的方向指示器的闪烁。(A vehicle control method executed by a processor for controlling a host vehicle acquires detection data of another vehicle traveling on an adjacent lane adjacent to a traveling lane on which the host vehicle travels from a sensor for detecting a state around the host vehicle, sets a target point for changing the host vehicle from the traveling lane to the adjacent lane on the basis of a positional relationship between the host vehicle and the other vehicle, determines the other vehicle located behind the target point as a rear vehicle, and starts blinking of a direction indicator of the host vehicle when a rear end of the host vehicle is located ahead of a front end of the rear vehicle.)

1. A vehicle control method causes a processor controlling a host vehicle to execute,

acquiring detection data of another vehicle traveling on an adjacent lane adjacent to a traveling lane on which the host vehicle travels, from a sensor that detects a state around the host vehicle,

setting a target point for the own vehicle to change from the traveling lane to the adjacent lane on the adjacent lane based on a positional relationship between the own vehicle and the other vehicle,

determining the other vehicle located rearward of the target point as a rear vehicle,

when the rear end of the host vehicle is located forward of the front end of the rear vehicle, the blinking of the direction indicator of the host vehicle is started.

2. The vehicle control method according to claim 1,

calculating a recognition distance such that the recognition distance representing a distance at which the blinking of the direction indicator can be recognized by an occupant of the rear vehicle is longer as a vehicle speed of the rear vehicle is higher or a relative speed of the host vehicle with respect to the rear vehicle is higher,

when the inter-vehicle distance between the host vehicle and the rear vehicle is equal to or greater than the recognition distance, the blinking of the direction indicator of the host vehicle is started.

3. The vehicle control method according to claim 1 or 2, wherein,

when the relative acceleration of the host vehicle with respect to the rear vehicle is negative, the blinking of the direction indicator of the host vehicle is started.

4. The vehicle control method according to any one of claims 1 to 3,

reducing the acceleration of the host vehicle when the acceleration of the host vehicle is higher than the acceleration of the rear vehicle,

after the acceleration of the host vehicle decreases, the blinking of the direction indicator of the host vehicle is started.

5. The vehicle control method according to claim 1,

determining the other vehicle located forward of the target point as a preceding vehicle,

predicting a positional relationship between the preceding vehicle and the host vehicle when a predetermined time has elapsed, based on a vehicle state of the preceding vehicle and a vehicle state of the host vehicle,

determining whether or not the rear end of the host vehicle at the time of elapse of the predetermined time is located rearward of the rear end of the preceding vehicle at the time of elapse of the predetermined time,

when it is determined that the rear end of the host vehicle at the time of the elapse of the predetermined time is located rearward of the rear end of the preceding vehicle at the time of the elapse of the predetermined time, blinking of a direction indicator of the host vehicle is started.

6. The vehicle control method according to claim 1,

determining the other vehicle located forward of the target point as a preceding vehicle,

predicting a positional relationship between the preceding vehicle and the host vehicle when a predetermined time has elapsed, based on a vehicle state of the preceding vehicle and a vehicle state of the host vehicle,

determining whether or not a distance from a front end of the host vehicle when the predetermined time has elapsed to a rear end of the preceding vehicle when the predetermined time has elapsed is equal to or greater than a predetermined distance threshold,

when it is determined that the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the preceding vehicle when the predetermined time has elapsed is equal to or greater than a predetermined distance threshold, blinking of a direction indicator of the host vehicle is started.

7. A vehicle control device is provided with:

a sensor that detects a state around the host vehicle; and

a control device that controls the own vehicle,

the sensor detects another vehicle traveling on an adjacent lane adjacent to a traveling lane on which the own vehicle travels,

the control device

Setting a target point for the own vehicle to change from the traveling lane to the adjacent lane on the adjacent lane based on a positional relationship between the own vehicle and the other vehicle,

determining the other vehicle located rearward of the target point as a rear vehicle,

when the rear end of the host vehicle is located forward of the front end of the rear vehicle, the blinking of the direction indicator of the host vehicle is started.

Technical Field

The invention relates to a vehicle control method and a vehicle control device.

Background

The method includes calculating a target speed toward a lane change standby position, controlling the speed of the host vehicle based on the target vehicle speed, and determining that a lane change assistance condition is satisfied when the speed control of the host vehicle is not continued for a predetermined time. Further, there is known a conventional technique of lighting a winker lamp to clearly indicate the intention of merging with another vehicle after the lane change assist condition is satisfied (patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2009-78735

Disclosure of Invention

Problems to be solved by the invention

For example, when the host vehicle starts accelerating from the rear of another vehicle and makes a lane change at a position ahead of the another vehicle from a state where the host vehicle travels on one of the 2 lanes and the another vehicle travels on the other of the 2 lanes, the above-described conventional technique has the following problems: when the lane change assist condition is satisfied and the winker is operated in a state where the host vehicle is located behind another vehicle, the other vehicle cannot know where the host vehicle intends to merge, and the meaning of the merging of the host vehicle is hard to be transmitted to the other vehicle.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a vehicle control method and a vehicle control device that, when a host vehicle merges into adjacent lanes, easily transmit the meaning of the merged vehicle to another vehicle.

Means for solving the problems

In the present invention, detection data of another vehicle traveling in an adjacent lane is acquired, a target point for changing the host vehicle from the traveling lane to the adjacent lane is set on the adjacent lane based on a positional relationship between the host vehicle and the other vehicle, the other vehicle located behind the target point is determined as a rear vehicle, and when a rear end of the host vehicle is located ahead of a front end of the rear vehicle, blinking of a direction indicator of the host vehicle is started. This enables the occupant of the rear vehicle to start the blinking of the direction indicator at a timing at which the blinking of the direction indicator can be recognized, thereby solving the above-described problem.

Effects of the invention

According to the present invention, when the host vehicle merges into the lane at a position ahead of the other vehicle, the intention of the merging of the host vehicle can be easily transmitted to the other vehicle.

Drawings

Fig. 1 is a configuration diagram showing a configuration of a vehicle control device according to the present embodiment.

Fig. 2 is a flowchart showing a control flow of the control device.

Fig. 3 is a diagram showing a scene in which the host vehicle approaches from behind the rear vehicle in order to perform a lane change.

Fig. 4 is a diagram showing a scene in which the host vehicle approaches from behind the rear vehicle in order to perform a lane change.

Detailed Description

Hereinafter, a vehicle control method and a vehicle control device according to an embodiment of the present invention will be described with reference to the drawings. The present embodiment will be described by way of example of a vehicle control device mounted on a vehicle.

Fig. 1 is a diagram showing a configuration of a vehicle control device 100 according to an embodiment of the present invention. As shown in fig. 1, the vehicle control device 100 according to the present embodiment includes a sensor group 110, a vehicle position detection device 120, a map database 130, a navigation system 140, a drive control device 150, a drive mechanism 160, a direction indicator 170, and a control device (processor) 180. These devices are connected to each other through an in-vehicle LAN such as can (controller Area network) for mutual information exchange.

The sensor group 110 includes an external sensor (external sensor) for detecting a state (external state) around the vehicle and an internal sensor (internal sensor) for detecting a state (internal state) of the vehicle. Examples of the external sensor include a front camera that captures an image of the front of the host vehicle, a rear camera that captures an image of the rear of the host vehicle, a front radar that detects an obstacle in front of the host vehicle, a rear radar that detects an obstacle behind the host vehicle, and a side radar that detects an obstacle existing on the side of the host vehicle. The front camera is a monocular camera unit mounted on the upper portion of the windshield and on the rear surface of the rearview mirror. The forward recognition camera may also be a compound eye camera unit. The front radar is a radar or a laser scanner that can recognize a peripheral object in front. The side radar and the rear radar are 4 radars provided at the left and right corners of the inner sides of the front and rear bumpers, and recognize an omnidirectional object in cooperation with the front camera. The side radar and the rear radar 2 may be cameras or laser scanners. In addition, if an omnidirectional object can be recognized, the number of radars is not limited to 4. Examples of the internal sensor include a vehicle speed sensor for detecting a vehicle speed of the vehicle, an acceleration sensor for detecting an acceleration of the vehicle, an in-vehicle camera for capturing an image of an interior of the vehicle, a yaw angle sensor for detecting a relative direction of the vehicle with respect to a road surface, and a steering angle sensor for detecting a steering angle of a steering wheel. The vehicle speed sensor detects a vehicle speed based on the number of rotations of the axle, the rotational speed of the transmission, and the like. The acceleration sensor is a MEMS sensor that detects acceleration in the vehicle traveling direction. The acceleration sensor 4 may not be a MEMS sensor, and instead of the acceleration obtained by the sensor, the acceleration may be obtained by differentiating the value of the vehicle speed obtained by the vehicle speed sensor. The external sensor and the internal sensor may be configured to use one of the plurality of sensors described above, or may be configured to use two or more sensors in combination. The detection results (detection data) of the sensor group 110 are output to the navigation system 140 and the control device 180. In this way, navigation system 140 and control device 180 acquire external information and travel information.

Examples of the object to be detected by the sensor group 110 include a bicycle, a motorcycle, an automobile (hereinafter, also referred to as another vehicle), an obstacle on the road, a traffic signal, a road sign (including a lane display), and a crosswalk. For example, when there is another vehicle traveling around the host vehicle, the sensor group 110 detects the direction and distance to the other vehicle in which the other vehicle is present based on the position of the host vehicle, and detects the relative speed of the other vehicle based on the vehicle speed of the host vehicle. The sensor group 110 detects the vehicle speed, yaw angle, and steering angle of the vehicle. For example, when the host vehicle is traveling in a specific lane, the sensor group 110 detects a traveling lane in which the host vehicle is traveling (hereinafter also referred to as a host lane) and a lane that is located on the side of the host lane (in the vehicle width direction) and is adjacent to the host lane (hereinafter also referred to as an adjacent lane). The own lane and the adjacent lane are separated by a lane boundary line, and the sensor group detects the lane by determining the lane boundary line (white line or the like) from the captured image using an image recognition technique or the like.

The vehicle position detection device 120 is a device that acquires position information indicating the current position of the vehicle. The own-vehicle-position detecting device 120 is configured by, for example, a GPS unit, a gyro sensor, and the like. The own vehicle position detection device 120 periodically acquires the position information of the own vehicle by detecting radio waves transmitted from a plurality of satellite communications by the GPS unit, and detects the current position of the own vehicle based on the acquired position information of the own vehicle, angle change information acquired from the gyro sensor, and the vehicle speed acquired from a vehicle speed sensor (not shown). The position information acquired by the vehicle position detection device 120 is output to the navigation system 140 and the control device 180. Thus, the navigation system 140 and the control device 180 acquire the position information.

The map database 130 stores map information. The map information includes road information and traffic regulation information. The road information is defined by nodes and links between the connected nodes. Links are identified in lane level.

The road information according to the present embodiment stores road type, road width, road shape, straight traveling availability, priority of traveling, overtaking availability (availability to enter an adjacent lane), lane change availability, and other road-related information in association with identification information of each road link. The road information stores intersection-related information such as the position of an intersection, the direction of entry of the intersection, and the type of the intersection, in association with the identification information of each road link.

The map information stored in the map database 130 may be highly accurate map information suitable for autonomous driving. High-precision map information may also be generated based on information acquired in real time using the sensor group 110. In the present embodiment, the automated driving is a driving in which the driving body is not only constituted by the driver, and for example, corresponds to a case where a vehicle controller (not shown) that assists the driving operation by the driver together with the driver is included in the driving body, or a case where a vehicle controller (not shown) that performs the driving operation in place of the driver is included. Further, automatic driving is performed in compliance with traffic regulations.

The navigation system 140 is a system that guides the driver of the host vehicle by indicating a route from the current position of the host vehicle to a destination based on information of the current position of the host vehicle. Various information is input to the navigation system 140 from the sensor group 110, the vehicle position detection device 120, and the map database 130. In addition, when the driver or other occupant inputs information of the destination of the own vehicle, the information of the destination is input to the navigation system 140. The navigation system 140 generates a travel route from the current position of the own vehicle to the destination based on the input various information. Route guidance information for guiding the travel route generated by the navigation system 140 is output to the driver and other passengers via a display or the like.

The drive control device 150 controls the running of the own vehicle. The drive control device 150 includes a brake control mechanism, an accelerator control mechanism, an engine control mechanism, an HMI (human machine interface) device, and the like. A control signal is input from a control device 180 described later to the drive control device 150. The drive control device 150 executes the automatic driving of the vehicle by controlling the operation of the drive mechanism 160 (including the operation of the internal combustion engine in the engine vehicle, the operation of the electric motor in the electric vehicle system, and the operation of the brake including the torque distribution between the internal combustion engine and the electric motor in the hybrid vehicle), the operation of the steering actuator, and the like, according to the control of the control device 180. The drive control device 150 may control the movement direction of the vehicle by controlling the braking amount of each wheel of the vehicle based on a control signal from the control device 180. The control of each mechanism may be performed completely automatically or may be performed to assist the driving operation of the driver. The control of each mechanism can be interrupted or suspended by an intervention operation of the driver. The travel control method by the drive control device 150 is not limited to the above control method, and other well-known methods may be used.

The drive mechanism 160 is an internal combustion engine and/or an electric motor, a brake mechanism. The direction indicator 170 is a device for indicating the direction of the course change to the surroundings when the course is changed.

The control device 180 includes a ROM (read only memory) in which a program for controlling the travel of the vehicle is stored, a CPU (central processing unit) that executes the program stored in the ROM, and a RAM (random access memory) that functions as an accessible storage device. Further, as the operation circuit, an MPU (micro processor unit), a DSP (digital signal processor), an ASIC (application specific integrated circuit), an FPGA (field programmable gate array), or the like may be used instead of or together with a CPU (central processing unit). In the present embodiment, the drive control device 150 and the control device 180 are divided into two controllers, but the drive control device 150 and the control device 180 may be configured by one controller.

The control device 180 has a vehicle state acquisition function, a target point setting function, a target vehicle specifying function, a target area setting function, a travel control function, and a direction indicator control function by the CPU executing programs stored in the ROM.

Here, a specific scenario when the control device 180 executes various functions to control the vehicle will be described. The own vehicle travels on one lane (traveling lane) of the plurality of lanes, and the other vehicles travel on the other lane (adjacent lane). One or more other vehicles may be provided on the adjacent lane. In such a state, the host vehicle controls the vehicle speed so that the host vehicle merges at a position ahead of another vehicle traveling on an adjacent lane, and the host vehicle is located ahead of the other vehicle at the lane change destination on the traveling lane. The direction indicator blinks so that the subject vehicle can give a meaning of confluence to other vehicles located behind the subject vehicle. Control device 180 executes various functions to correspond to such a scenario. Hereinafter, each function will be explained.

The vehicle state acquisition function will be explained. Control device 180 acquires detection data including information detected by sensor group 110 from a vehicle speed sensor, a steering angle sensor, and the like included in sensor group 110. The detection data includes information (information indicating a vehicle state of the host vehicle) such as a vehicle speed, a yaw angle, and a steering angle of the host vehicle. Further, control device 180 acquires information of the current position of the own vehicle from own vehicle position detection device 120. Thus, control device 180 acquires detection data including information on the vehicle state of the host vehicle such as the vehicle speed, the current position, and the attitude angle. Further, control device 180 acquires detection data including information of vehicle states of a plurality of other vehicles located around the own vehicle from a camera, a radar, or the like included in sensor group 110. The vehicle state of the other vehicle is represented by the position of the other vehicle, the vehicle speed, or the like. Control device 180 calculates the positional relationship between the host vehicle and the other vehicle and the relative speed of the other vehicle with respect to the host vehicle, respectively, based on the vehicle state of the host vehicle and the vehicle state of the other vehicle.

The destination point setting function is explained. Control device 180 sets a target point for lane change of the host vehicle on the lane of the destination of lane change based on the positional relationship between the host vehicle and the other vehicle. The target point is set to a position ahead of other vehicles traveling on the adjacent lane. When a plurality of other vehicles travel on adjacent lanes, control device 180 compares the space in front of each of the other vehicles and sets a target point in an area that leaves the longest space in the direction along the lane.

The subject vehicle determination function is explained. The control device 180 determines another vehicle traveling on the adjacent lane based on the positional relationship between the host vehicle and the other vehicle. Control device 180 sets a vehicle located at a position rearward of the target point as the subject vehicle. The target vehicle is a vehicle that becomes a target for merging at the front of the vehicle when the host vehicle changes lanes. When a target point is set among a plurality of vehicles, control device 180 identifies a preceding vehicle located in front of the target point and a following vehicle located behind the target point as target vehicles. When three or more other vehicles travel on adjacent lanes around the host vehicle, control device 180 calculates the inter-vehicle distance between the vehicles, and identifies, as the target vehicle, another vehicle located in front of and behind the widest area of the inter-vehicle, for example.

The target area setting function will be explained. Control device 180 sets a lane change enabled region between the plurality of subject vehicles determined by the subject vehicle determination function. In the case where there is no other vehicle in front of the target point but there is another vehicle only behind the target point, the lane change enabled area is set on the adjacent lane in front of the subject vehicle located behind the target point. In addition, when there is an object vehicle in front of and behind the target point, the lane change enabled area is set on an adjacent lane between the object vehicle located in front and the object vehicle located behind. The lane change available region includes a merging position (target point) where the host vehicle merges. The lane change-able region has at least a distance greater than or equal to a necessary inter-vehicle distance necessary for a lane change. The required inter-vehicle distance represents a lower limit of the inter-vehicle distance required for a lane change, and is defined by a length in a traveling direction of the vehicle or a direction along the lane. When the host vehicle changes lanes at a position forward of the rear vehicle, the necessary inter-vehicle distance defines a sufficient inter-vehicle distance.

The travel control function will be explained. Control device 180 controls the travel of the vehicle by the travel control function. Based on the vehicle state of the host vehicle acquired by the vehicle state acquisition function, control device 180 calculates a vehicle control value indicating the vehicle speed of the host vehicle so that the host vehicle is positioned ahead of the front end of the other vehicle, and controls the output torque of drive mechanism 160 so that the current vehicle speed of the vehicle speed matches the vehicle control value. Further, control device 180 may specify a lane marker of the own vehicle lane based on the detection results of sensor group 110, and control the traveling position of the own vehicle in the vehicle width direction so that the own vehicle travels in the own vehicle lane (so-called lane keeping control). After the turn-on of the direction indicator, control device 180 executes steering control for performing a lane change. Control device 180 controls the steering actuator so that the host vehicle moves from the traveling lane to the lane change enabled region while maintaining the current vehicle speed of the host vehicle. When the movement of the host vehicle into the lane change enabled area is completed, control device 180 ends the lane change control.

The direction indicator control mechanism will be explained. When the rear end of the host vehicle is located forward of the front end of the target vehicle, control device 180 starts blinking of the direction indicator of the host vehicle.

Next, the control flow of the control device 180 will be described with reference to fig. 2 and 3. Fig. 2 is a flowchart showing a control flow of control device 180. Fig. 3 is a diagram for explaining a scene in which the host vehicle approaches the target vehicle from behind the target vehicle until a lane change is made in front of the target vehicle. Fig. 3 shows a scene before a lane change is made.

In fig. 3, the x-axis direction is the vehicle width direction, and the y-axis direction is the vehicle traveling direction. In the following description, the control flow will be described by taking as an example a scene in which a lane change is performed in a space between a plurality of other vehicles, but there may be no other vehicle in front of a target point to be a destination of the lane change. The control process of control device 180 may be applied to a scene in which the host vehicle approaches the target vehicle from behind the target vehicle and makes a lane change ahead of the target vehicle.

The control flow shown in fig. 2 is executed as a trigger when control device 180 determines that a vehicle change is necessary or when a user performs an operation. For example, control device 180 includes a point of confluence in the travel path of the vehicle, and determines that a lane change is necessary when the current position of the host vehicle is located a predetermined distance or rearward from the point of confluence. The method of determining whether or not a lane change is required may be another method. The user's operation is, for example, an operation of a switch or the like for executing an automatic driving mode in order to perform a lane change.

In step S1, control device 180 acquires detection data including information on the current position of the vehicle from vehicle position detection device 120. Further, control device 180 acquires detection data including information such as the vehicle speed and acceleration of the host vehicle from sensor group 110. Thus, control device 180 acquires detection data including information on the vehicle state of the host vehicle. In step S2, control device 180 acquires detection data of a plurality of other vehicles located around the own vehicle from sensor group 110. As shown in fig. 3, the host vehicle a travels behind another vehicle Q (rear vehicle). In the example of fig. 3, the host vehicle a travels on the travel lane S. Control device 180 of own vehicle a determines another vehicle traveling in adjacent lane T. Further, while executing the control processing of step S3 and thereafter, the control device 180 acquires the detection data relating to the vehicle state of the host vehicle and the detection data relating to the vehicle state of the other vehicle, and appropriately uses the detection data in the control processing of step S3 and thereafter.

In step S3, control device 180 sets the target point on the adjacent lane in front of the other vehicle based on the vehicle state of the own vehicle and the vehicle state of the other vehicle. In the example of fig. 3, the inter-vehicle distance of four other vehicles located on adjacent lanes is longest between front vehicle P and rear vehicle Q, and therefore control device 180 sets target point m in front of rear vehicle Q.

In step S4, control device 180 determines another vehicle located behind the target point as the subject vehicle. When a target point is set among a plurality of other vehicles, control device 180 identifies other vehicles located in front of and behind the target point as target vehicles.

In step S5, control device 180 controls the vehicle driving system based on the vehicle state of the subject vehicle located in front of the target point and the vehicle state of the subject vehicle located behind the target pointThe vehicle state and the vehicle state of the vehicle calculate the necessary inter-vehicle distance. Specifically, when the vehicle speed of the host vehicle is equal to or greater than the vehicle speed of the preceding vehicle, the control device 180 calculates the necessary inter-vehicle distance (L) using the following equation (1)_ML_IM). When the vehicle speed of the host vehicle is lower than the vehicle speed of the preceding vehicle, control device 180 calculates the necessary inter-vehicle distance (L) using the following equation (2)_ML_IM)。

[ number 1]

L_MLIM＝v₀×1.5+v₁×1.5+(v₀-v₂)×6+l (1)

[ number 2]

L_MMM＝v₀×1.5+l (2)

Wherein v is₀Indicating the speed, v, of the vehicle₁Indicates the vehicle speed, v, of a rear vehicle (rear target vehicle)₂The vehicle speed of the preceding vehicle (preceding object vehicle) is indicated, and l indicates the total length of the own vehicle.

The above equation is an equation for defining a sufficient inter-vehicle distance when the host vehicle makes a lane change before the following vehicle, and is determined based on the vehicle speed, the inter-vehicle time, and the time required for the lane change. In the above equations (1) and (2), the coefficient (1.5) multiplied by the vehicle speed represents the inter-vehicle time. The time required for the lane change indicates the time required from the time when the blinking of the direction indicator of the host vehicle is started until the host vehicle reaches the target point. In the 3 rd term of the expression (1), the vehicle speed (v) of the host vehicle is related to₀) Minus the speed (v) of the vehicle in front₂) The obtained value (corresponding to the relative speed) is multiplied by a coefficient (6) indicating the time required for the lane change. Also, the 3 rd term of the equation (1) represents an inter-vehicle distance expected to decrease in a lane change. In the equation (1), the vehicle speed of the host vehicle is higher than the vehicle speed of the preceding vehicle, and the inter-vehicle distance between the host vehicle and the preceding vehicle decreases at the time of a lane change, and therefore the length corresponding to the item 3 is included in the necessary inter-vehicle distance. On the other hand, in the equation (2), the vehicle speed of the host vehicle is lower than the vehicle speed of the preceding vehicle, and the inter-vehicle distance between the host vehicle and the preceding vehicle is not reduced at the time of the lane change, and therefore, the inter-vehicle distance does not considerably fall within the necessary inter-vehicle distanceLength in item 3.

In the example of fig. 3, control device 180 bases vehicle speed v of host vehicle a₀Vehicle speed v of rear vehicle Q₁Vehicle speed v of front vehicle P₂And the total length L of the vehicle, and calculating the necessary inter-vehicle distance (L) by using the above (1) or (2)_MLIM). In the case where there is no preceding vehicle and/or following vehicle, the necessary inter-vehicle distance may be defined by setting the vehicle position to infinity.

In step S6, control device 180 calculates the inter-vehicle distance between the front vehicle and the rear vehicle based on the position of the front vehicle and the position of the rear vehicle, and compares the calculated inter-vehicle distance with the required inter-vehicle distance. In the example of fig. 3, control device 180 compares the inter-vehicle distance (L) between front vehicle P and rear vehicle Q_M) And the necessary car-to-car distance (L)_MLIM). At the current car-to-car distance (L)_M) Is the necessary distance between cars (L)_MLIM) In the above case, control device 180 executes the control processing of step S15. At the current car-to-car distance (L)_M) Less than the necessary car-to-car distance (L)_MLIM) In the case of (3), the control device 180 executes the control processing of step S7.

At the current car-to-car distance (L)_M) Less than the necessary car-to-car distance (L)_ML_IM) In the case of (2), the vehicle speed of the host vehicle is reduced in the vicinity of the rear vehicle, and the merging meaning is transmitted to the effect that the host vehicle is to merge at a position in front of the rear vehicle. The rear vehicle decelerates to recognize the vehicle decelerating around and merge the vehicle into the space ahead. Further, since the distance between the front vehicle and the rear vehicle is increased, the inter-vehicle distance is longer than the necessary inter-vehicle distance (L)_MLIM) Long, lane change is possible. The deceleration control for transmitting the meaning of the confluence to the rear vehicles is performed, for example, in a scene where the lane at the confluence destination is blocked and the vehicles are confluent. The control from step S7 to step S14 described below corresponds to the control for transmitting the meaning of the merge.

At the current car-to-car distance (L)_M) Less than the necessary car-to-car distance (L)_MLIM) In the case of (3), control device 180 determines in step S7 thatWhether the rear vehicle is decelerating compared to the own vehicle. Specifically, control device 180 compares the acceleration of the own vehicle with the acceleration of the rear vehicle. When the rear vehicle decelerates, control device 180 calculates the deceleration at step S8. Deceleration indicates the magnitude of the vehicle speed when the vehicle speed is reduced, and control device 180 calculates the deceleration before reducing the vehicle speed of the own vehicle. The larger the difference between the current vehicle speed and the reduced vehicle speed, the higher the deceleration. Control device 180 calculates a vehicle speed difference for making the current vehicle speed lower than the vehicle speed of the vehicle behind as deceleration.

In step S9, control device 180 compares the calculated deceleration with the deceleration upper limit value. The deceleration upper limit value is a preset value and is represented by an upper limit value of an acceleration range that does not affect the riding comfort of the occupant. For example, when the vehicle decelerates at a required deceleration, the deceleration becomes a steep deceleration, and when the vehicle affects the riding comfort of the occupant, the deceleration becomes a value close to or higher than the deceleration upper limit value. The deceleration upper limit value may be a value corresponding to the vehicle state of the host vehicle and/or the vehicle state of the rear vehicle, or may be an upper limit value of acceleration at which the host vehicle can decelerate. For example, in a state where the lane at the merging destination is congested and the vehicle behind is almost stopped, the vehicle speed of the host vehicle is not lower than the vehicle speeds of the other vehicles even if the vehicle speed of the host vehicle is reduced. In this case, even if the deceleration is higher than the deceleration upper limit value, the vehicle speed of the host vehicle is reduced according to the deceleration, and the vehicle speed of the host vehicle is not lower than the vehicle speed of the other vehicle. For example, control device 180 calculates the deceleration upper limit value such that the higher the vehicle speed of the host vehicle is than the vehicle speed of the rear vehicle, the higher the deceleration upper limit value is.

When the calculated deceleration is higher than the deceleration upper limit value, the vehicle speed of the host vehicle is not lower than the vehicle speed of the other vehicle even if the host vehicle is decelerated. Even if the host vehicle is decelerated, control device 180 determines that the inter-vehicle distance including the target point (the inter-vehicle distance between the preceding vehicle and the following vehicle) is not shorter than the necessary inter-vehicle distance, and ends the control flow shown in fig. 2.

When the calculated deceleration is equal to or less than the deceleration upper limit value, control device 180 executes deceleration control for reducing the vehicle speed of the host vehicle based on the calculated deceleration in step S10. The deceleration control in the control process of step S10 may not be performed at this point in time, or may be performed in the control process of step S12. In step S11, control device 180 determines whether the rear end of the host vehicle is located forward of the front end of the rear vehicle. Although the blinking of the direction indicator 170 is started in step S26 described later, in the control process of step S16, the driver of the rear vehicle determines whether or not the own vehicle is located at a position where the blinking of the direction indicator 170 of the own vehicle can be recognized. When the rear end of the host vehicle is not located forward of the front end of the rear vehicle, control device 180 executes the control process of step S7. When the rear end of the host vehicle is located forward of the front end of the rear vehicle, control device 180 executes the control process of step S12.

In step S12, control device 180 executes deceleration control so that the vehicle speed of the host vehicle is lower than the current vehicle speed. In step S13, control device 180 calculates the necessary inter-vehicle distance. The method of calculating the necessary inter-vehicle distance is the same as the method of calculating step S5. In the example of fig. 3, it is assumed that the driver of the rear vehicle Q finds that the own vehicle a is decelerating at a position in front of the rear vehicle Q, and lowers the vehicle speed. At this time, as shown in equation (1), the vehicle speed V of the rear vehicle Q is used₁Decrease the necessary car-to-car distance (L)_MLIM) Shortening the time.

In step S14, control device 180 calculates the inter-vehicle distance between the front vehicle and the rear vehicle based on the position of the front vehicle and the position of the rear vehicle, and compares the calculated inter-vehicle distance with the required inter-vehicle distance (L)_MLIM). At the current car-to-car distance (L)_M) Is the necessary distance between cars (L)_MLIM) In the above case, control device 180 executes the control processing of step S15. At the current car-to-car distance (L)_M) Is the necessary distance between cars (L)_MLIM) In the above case, control device 180 executes the control processing of step S18. At the current car-to-car distance (L)_M) Less than the necessary car-to-car distance (L)_MLIM) In the case ofNext, it is determined that the inter-vehicle distance including the target point is not longer than the necessary inter-vehicle distance, and the control flow shown in fig. 2 is ended.

In the control processing of step S6, it is determined that the current inter-vehicle distance (L) is present_M) Is the necessary distance between cars (L)_MLIM) In the above case, control device 180 sets the vehicle speed of the host vehicle for exceeding the vehicle behind, and controls drive mechanism 160 so that the current vehicle speed matches the set vehicle speed (vehicle speed control).

In step S16, control device 180 determines whether the rear end of the host vehicle is located forward of the front end of the rear vehicle. Although the blinking of the direction indicator 170 is started in step S26 described later, in the control process of step S16, it is determined whether or not the driver of the host vehicle is located at a position where the blinking of the direction indicator 170 of the host vehicle can be recognized by the driver of the vehicle behind. When the rear end of the host vehicle is not located forward of the front end of the rear vehicle, control device 180 executes the control process of step S15. When the rear end of the host vehicle is located forward of the front end of the rear vehicle, control device 180 executes the control process of step S17.

In step S17, control device 180 executes deceleration control so that the vehicle speed of the host vehicle is lower than the current vehicle speed. The deceleration control is control for controlling the vehicle speed so that the position of the host vehicle is located between the front vehicle and the rear vehicle in the traveling direction of the host vehicle, for example, at a deceleration within a predetermined range. This deceleration control is also a control for transmitting the merging intention to the rear vehicle. That is, the driver of the rear vehicle recognizes the merging intention by recognizing the decelerating vehicle at the front position. This makes it possible to transmit the meaning of the confluence of the host vehicle to the rear vehicle. The deceleration control need not be executed at the timing when the rear end of the host vehicle is positioned forward of the front end of the rear vehicle, but may be executed after the timing when the rear end of the host vehicle is positioned forward of the front end of the rear vehicle. For example, control device 180 may execute deceleration control when the position of the own vehicle is a midpoint between the preceding vehicle and the following vehicle in the traveling direction of the own vehicle.

In step S18, control device 180 calculates the acceleration of the host vehicle and the acceleration of the rear vehicle, and compares the calculated accelerations to determine whether the relative acceleration of the host vehicle with respect to the rear vehicle is negative. The acceleration of the rear vehicle may be calculated by measuring the acceleration of the rear vehicle, or may be calculated assuming that the rear vehicle travels at a constant speed. When the relative acceleration is negative, for example, even when the rear vehicle decelerates, the vehicle decelerates relative to the rear vehicle, and therefore the merging meaning of the vehicle is easily transmitted to the driver of the rear vehicle. If the inter-vehicle distance between the front vehicle and the rear vehicle is sufficiently long, the control process of step S18 may be omitted.

When the relative acceleration is positive or zero, control device 180 calculates the deceleration in step S19. The calculation process of the deceleration is the same as step S8. In step S20, control device 180 compares the calculated deceleration with the deceleration upper limit value, and determines whether or not the calculated deceleration is equal to or less than the deceleration upper limit value. The determination processing of step S20 is the same as step S9. When the calculated deceleration is equal to or less than the deceleration upper limit value, control device 180 executes the control process of step S17. That is, in the determination process at step S18, when the relative acceleration is positive or zero, the control process returns to step S17. With this control program, the acceleration of the host vehicle is reduced when the acceleration of the host vehicle is higher than the acceleration of the rear vehicle. On the other hand, when the calculated deceleration is higher than the deceleration upper limit value, control device 180 determines that the inter-vehicle distance including the target point is not longer than the necessary inter-vehicle distance even if the host vehicle is decelerated, and ends the control flow shown in fig. 2.

If it is determined in step S18 that the relative acceleration is negative, in step S21, the control device 180 predicts the positional relationship between the host vehicle and the preceding vehicle after a predetermined time using the vehicle speed of the preceding vehicle, the distance from the host vehicle to the preceding vehicle, the vehicle speed of the host vehicle, and the acceleration of the host vehicle. Specifically, control device 180 calculates a vehicle speed change from the current time to the elapse of a predetermined time, assuming that the current acceleration of the preceding vehicle constantly changes from the current time to the elapse of the predetermined time. Similarly, control device 180 calculates a change in vehicle speed from the current time to the elapse of a predetermined time, assuming that the current acceleration of the host vehicle constantly changes from the current time to the elapse of the predetermined time. Then, the vehicle speed changes of the host vehicle and the preceding vehicle after a predetermined time from the current time are compared, and the time when the vehicle speed of the host vehicle is lower than the vehicle speed of the preceding vehicle is obtained. Further, when there is a timing when the vehicle speed of the host vehicle is lower than the vehicle speed of the preceding vehicle, the host vehicle may overtake the preceding vehicle. That is, control device 180 predicts the positional relationship between the host vehicle and the preceding vehicle when a predetermined time has elapsed, based on the vehicle speed changes of the host vehicle and the preceding vehicle. Further, control device 180 may calculate the future position of the preceding vehicle and the future position of the following vehicle to predict the positional relationship between the preceding vehicle and the host vehicle when a predetermined time has elapsed. Control device 180 calculates each moving distance of the host vehicle and the other vehicles, assuming that the current vehicle speed and the current acceleration constantly change from the current time to the predetermined time. Then, control device 180 calculates the position of the preceding vehicle after a predetermined time has elapsed by adding the calculated travel distance to the current position of the preceding vehicle, and calculates the position of the own vehicle after a predetermined time has elapsed by adding the calculated travel distance to the current position of the own vehicle.

In step S22, control device 180 determines whether or not the own vehicle exceeds the preceding vehicle based on the prediction result obtained in the control process of step S21. Specifically, the control device 180 determines whether the rear end of the host vehicle at the elapse of the predetermined time is positioned forward of the rear of the preceding vehicle at the elapse of the predetermined time or rearward of the front vehicle at the elapse of the predetermined time, using the positional relationship between the host vehicle and the preceding vehicle predicted in the control processing of step S21. If it can be predicted that the rear end of the host vehicle at the time of elapse of the predetermined time is located forward from the rear of the preceding vehicle at the time of elapse of the predetermined time, control device 180 determines that the host vehicle exceeds the preceding vehicle. On the other hand, if it can be predicted that the rear end of the host vehicle when the predetermined time has elapsed is located behind the front vehicle when the predetermined time has elapsed, control device 180 determines that the host vehicle does not pass the front vehicle. If it is determined that the own vehicle exceeds the preceding vehicle, control device 180 ends the control flow shown in fig. 2.

If it is determined that the vehicle does not exceed the preceding vehicle, control device 180 calculates the necessary inter-vehicle distance in step S23. The method of calculating the necessary inter-vehicle distance is the same as the method of calculating step S5. In step S24, control device 180 determines whether or not the inter-vehicle distance between the preceding vehicle and the following vehicle is the necessary inter-vehicle distance (L)_MLIM) The above. The determination processing of step S24 is the same as the determination processing of step S6. At the current car-to-car distance (L)_M) Less than the necessary car-to-car distance (L)_MLIM) If (3), it is determined that the inter-vehicle distance including the target point is not less than the required inter-vehicle distance, and the control flow shown in fig. 2 is ended. In the control processing of step S23 and step S24, since the vehicle state of the automobile and the other vehicle may change and the inter-vehicle distance and the necessary inter-vehicle distance may change in the vehicle speed control in the past, the control device 180 executes the control processing of step S23 and step S24.

In step S25, control device 180 determines whether or not to start blinking of direction indicator 170 based on the vehicle state of the host vehicle and the vehicle state of the rear. Specifically, control device 180 calculates a recognition distance at which the occupant of the rear vehicle can recognize the blinking of direction indicator 170. When the speed of the rear vehicle is high, the driver of the rear vehicle looks far away, and therefore, even if the blinking of the direction indicator is started in a state where the host vehicle is close to the rear vehicle, the driver of the rear vehicle may not recognize the blinking of the direction indicator. Therefore, control device 180 calculates the recognition distance such that the recognition distance is longer as the vehicle speed of the rear vehicle is higher. Then, control device 180 compares the inter-vehicle distance from the host vehicle to the rear vehicle with the calculated recognition distance, and determines that the blinking of direction indicator 170 is to be started when the inter-vehicle distance is equal to or greater than the recognition distance. On the other hand, when the inter-vehicle distance is less than the recognition distance, the control device 180 determines that the direction indicator 170 does not start blinking, and executes the control processing of step S23. Further, control device 180 may calculate the recognition distance such that the recognition distance is longer as the relative speed of the host vehicle with respect to the rear vehicle is higher. When the relative speed of the host vehicle with respect to the rear vehicle is high, the host vehicle merges with the adjacent lane at a position relatively distant from the rear vehicle. Therefore, the control device 180 may calculate the recognition distance so that the driver of the rear vehicle can recognize the blinking of the direction indicator 170 at a distant position.

In step S26, the control device 180 starts the blinking of the direction indicator 170. In step 27, control device 180 controls the steering wheel to move the host vehicle from the host vehicle lane to the adjacent lane so that the host vehicle enters the lane change enabled area while maintaining the current vehicle speed of the host vehicle. After the lane change, control device 180 ends the control flow of fig. 2.

As described above, in the present embodiment, the detection data of another vehicle traveling on an adjacent lane is acquired, the target point at which the host vehicle changes from the traveling lane to the adjacent lane is set on the adjacent lane based on the positional relationship between the host vehicle and the other vehicle, the other vehicle located rearward of the target point is identified as the rear vehicle, and the blinking of the direction indicator of the host vehicle is started when the rear end of the host vehicle is located forward of the front end of the target vehicle. This makes it possible for the occupant of the rear vehicle to start the blinking of the direction indicator at a timing at which the blinking of the direction indicator can be recognized, and therefore, the intention of the merging of the own vehicle can be easily transmitted to another vehicle.

In the present embodiment, the recognition distance indicating the distance at which the blinking of the direction indicator is recognizable by the occupant of the rear vehicle is calculated based on the vehicle state of the rear vehicle and the vehicle state of the host vehicle, and the blinking of the direction indicator of the host vehicle is started when the inter-vehicle distance between the host vehicle and the rear vehicle is equal to or greater than the recognition distance.

In the present embodiment, when the relative acceleration of the host vehicle with respect to the rear vehicle is negative, the blinking of the direction indicator of the host vehicle is started. Thus, the driver of the rear vehicle can recognize that the vehicle speed of the host vehicle has changed for a lane change, and can easily transmit the meaning of the merging of the host vehicle to another vehicle.

In the present embodiment, when the acceleration of the host vehicle is higher than the acceleration of the rear vehicle, the acceleration of the host vehicle is reduced, and after the acceleration of the host vehicle is reduced, the blinking of the direction indicator of the host vehicle is started. In this way, the driver of the rear vehicle can recognize that the vehicle speed is changed to approach the position in front of the rear vehicle in order to change the lane of the own vehicle, and therefore the intention of merging of the own vehicle can be easily transmitted to the other vehicles.

In the present embodiment, the positional relationship between the preceding vehicle and the host vehicle when the predetermined time has elapsed is predicted based on the vehicle state of the preceding vehicle and the vehicle state of the host vehicle, it is determined whether or not the rear end of the host vehicle when the predetermined time has elapsed is located behind the rear end of the preceding vehicle when the predetermined time has elapsed, and if it is determined that the rear end of the host vehicle when the predetermined time has elapsed is located behind the rear end of the preceding vehicle when the predetermined time has elapsed based on the predicted positional relationship, the blinking of the direction indicator 170 of the host vehicle is started. As a result, the direction indicator 170 starts to blink in a state where the rear end of the host vehicle is located rearward of the rear end of the preceding vehicle, and therefore the meaning of the merge of the host vehicle can be easily transmitted to another vehicle.

In the present embodiment, in the control processing of step S21 and step S22, the positional relationship between the host vehicle and the preceding vehicle after a predetermined time has elapsed is predicted in order to determine whether or not the host vehicle has passed the preceding vehicle, but the prediction result of the positional relationship may be used for other determinations. For example, based on the positional relationship between the host vehicle and the preceding vehicle after a predetermined time has elapsed, control device 180 compares the distance from the front end of the host vehicle after the predetermined time has elapsed to the position of the other vehicle after the predetermined time has elapsed with a predetermined distance threshold value. The predetermined distance threshold value represents an upper limit distance for the rear vehicle to easily grasp the merging intention of the host vehicle, and is determined by the positional relationship between the host vehicle and the rear vehicle, the vehicle speed difference, or the like.

For example, as shown in fig. 4, the host vehicle travels in the traveling lane S, and the front vehicle P and the rear vehicle Q travel in the adjacent lane T. Inter-vehicle distance (L) between front vehicle P and rear vehicle Q_M) Is sufficiently wide. In such a state, when the host vehicle passes over the rear vehicle Q and the lane change is performed at a position close to the front vehicle P, there is a fear that the driver of the rear vehicle Q determines that the host vehicle has no intention to merge ahead of the rear vehicle P from a state where the host vehicle passes over the rear vehicle P and travels toward the front vehicle P. In order to prevent such erroneous recognition, control device 180 determines whether or not the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the other vehicle when the predetermined time has elapsed is equal to or greater than a predetermined distance threshold value, using the positional relationship between the host vehicle and preceding vehicle P predicted in the control process of step S21. When it is determined that the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the preceding vehicle P when the predetermined time has elapsed is equal to or greater than the predetermined distance threshold, control device 180 starts blinking of the direction indicator of the host vehicle. Further, when the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the preceding vehicle when the predetermined time has elapsed is less than the predetermined distance threshold, control device 180 does not start blinking of the direction indicator of the automatic vehicle.

That is, in the present embodiment, the positional relationship between the preceding vehicle and the host vehicle when the predetermined time has elapsed is predicted based on the vehicle state of the preceding vehicle and the vehicle state of the host vehicle, it is determined whether or not the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the preceding vehicle when the predetermined time has elapsed is equal to or greater than a predetermined distance threshold, and when it is determined that the distance from the front end of the host vehicle when the predetermined time has elapsed to the rear end of the preceding vehicle when the predetermined time has elapsed is equal to or greater than the predetermined distance threshold, the blinking of the direction indicator of the host vehicle is started. For example, in a state where the inter-vehicle distances of a plurality of vehicles are large, the direction indicator 170 starts to blink at a timing at which the merging intention is easily transmitted to the rear vehicle while the inter-vehicle distance is secured between the host vehicle and the front vehicle. This makes it possible to easily transmit the meaning of the confluence of the vehicle to another vehicle.

Description of the symbols

100 … vehicle control device

110 … sensor group

120 … vehicle position detection device

130 … map database

140 … navigation system

150 … drive control device

160 … driving mechanism

170 … Direction indicator

180 … control the device.