JP7204565B2 - Vehicle control method and vehicle control device - Google Patents

Description

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

BACKGROUND ART There is known a vehicle travel control device that causes a vehicle traveling in a travel lane to change lanes to an adjacent traffic lane adjacent to the travel lane (Patent Document 1). When it is determined that there is no space for the vehicle to enter, the vehicle control device moves the vehicle along a predetermined traveling locus so as to change lanes, and moves the vehicle along a lane boundary between the traveling lane and the adjacent lane. The vehicle is made to wait at an upper waiting position or a waiting position within a predetermined distance from the lane boundary line in the traveling lane. This vehicle control device moves the vehicle from the standby position to the space when it is determined that the space exists while the vehicle is waiting.

JP 2016-203745 A

In the conventional technology, when the waiting position for lane change is set in an inappropriate place, there is a problem that it is difficult to convey the intention of the lane change to vehicles traveling in the lane into which the vehicle is entering. be.

The problem to be solved by the present invention is to provide a lane control method and a lane control device that make it easier to convey the intention of a lane change to other vehicles traveling in the lane to which the vehicle is approaching.

The present invention acquires information about the surroundings of the own vehicle, and based on the information about the surroundings of the own vehicle, the vehicle is positioned on the adjacent lane (second lane) adjacent to the own lane (first lane), and the approach destination of the own vehicle is determined. , the front vehicle located in front of the entry position is specified, the turn signal operation position is set within a predetermined range ahead of the vehicle in front of the vehicle in the own lane, and the own vehicle From a state in which the vehicle is traveling ahead of the vehicle ahead on the lane, the vehicle is driven on the own lane at a speed that makes the relative speed of the vehicle to the vehicle ahead negative, and after the relative speed becomes negative. The above problems are solved by operating the winkers of the own vehicle at the winker operating position.

ADVANTAGE OF THE INVENTION According to this invention, it can be made easy to convey the intention of lane change to other vehicles.

FIG. 1 is a configuration diagram showing an example of a vehicle system including a vehicle control device according to this embodiment. FIG. 2 is a flowchart of lane change processing executed by the vehicle control device according to the present embodiment. FIG. 3 shows an example of travel of the own vehicle when the processing shown in FIG. 2 is executed. FIG. 4 is a graph showing the characteristics of the upper limit of the winker operating position with respect to the vehicle speed of another vehicle traveling on the adjacent lane.

<<First embodiment>>
BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. Note that the present embodiment will be described by exemplifying a vehicle control device mounted on a vehicle.

FIG. 1 is a configuration diagram showing an example of a vehicle system 200 including a vehicle control device 100 according to an embodiment of the invention. A vehicle system 200 of the present embodiment is mounted on a vehicle. Vehicle system 200 is a system for a vehicle to automatically change lanes.

As shown in FIG. 1, a vehicle system 200 according to the present embodiment includes a surrounding environment sensor group 10, a vehicle sensor group 20, a navigation system 30, a map database 40, an HMI 50, an actuator control device 60, and a vehicle. It includes a control actuator group 70 , a winker 80 and a vehicle control device 100 . These devices or systems are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.

The surrounding environment sensor group 10 is a group of sensors for detecting the surrounding state (external state) of the own vehicle, and is provided in the own vehicle. As shown in FIG. 1, the surrounding environment sensor group 10 includes, for example, a radar 11 and an imaging device 12, but is not limited to these.

The radar 11 detects objects existing around the vehicle. Examples of the radar 11 include, but are not limited to, millimeter wave radar, laser radar, ultrasonic radar, laser range finder, and the like. The radar 11 detects an object by, for example, transmitting radio waves around the vehicle and receiving radio waves reflected by the object. Specifically, the radar 11 detects the direction in which an object exists and the distance to the object. In addition, the radar 11 detects the relative velocity (including the direction of movement) of the object with respect to the own vehicle based on the direction in which the object exists and the time change of the distance to the object. A detection result detected by the radar 11 is output to the vehicle control device 100 .

In this embodiment, the radar 11 detects all directions around the vehicle. For example, the radars 11 are provided at the front, sides, and rear of the vehicle. A front radar detects an object existing in front of the vehicle, and a side radar detects an object existing on the side of the vehicle. , and a rear radar that detects objects behind the vehicle. Note that the number and type of radars 11 provided in the own vehicle are not particularly limited.

The image capturing device 12 captures an image of an object existing around the own vehicle. Examples of the imaging device 12 include, but are not limited to, a camera having a CCD or CMOS imaging device. A captured image captured by the imaging device 12 is output to the vehicle control device 100 .

In the present embodiment, the imaging device 12 captures images in all directions around the host vehicle. For example, the imaging devices 12 are provided at the front, sides, and rear of the vehicle, respectively. It consists of a camera and a rear camera that detects objects behind the vehicle. Note that the number and types of imaging devices 12 provided in the own vehicle are not particularly limited.

Examples of objects detected by the surrounding environment sensor group 10 include bicycles, motorcycles, automobiles (hereinafter also referred to as other vehicles), road obstacles, traffic lights, road markings (including lane boundaries), and crosswalks. . For example, when there are other vehicles around the vehicle traveling in the direction of movement of the vehicle, the radar 11 detects the direction of the vehicle and the distance to the other vehicle based on the position of the vehicle. Detects the speed of other vehicles relative to the vehicle. In addition, the imaging device 12 captures an image from which the type of other vehicle, the size of the other vehicle, and the shape of the other vehicle can be specified.

Further, for example, when the own vehicle is traveling in a specific lane among a plurality of lanes, the radar 11 separates the lane in which the own vehicle is traveling from the lane located on the side of this lane. The lane boundary line is detected, and the distance from the vehicle to the lane boundary line is detected. In addition, the imaging device 12 captures an image in which the type of lane boundary line can be identified. Note that when there are lane boundary lines on both sides of the own lane, the radar 11 detects the distance from the own vehicle to the lane boundary line for each lane boundary line. Further, in the following description, the lane in which the vehicle is traveling is called the own lane, and the lane located on the side of the own lane is called the adjacent lane.

The vehicle sensor group 20 is a sensor group that detects the state (internal state) of the own vehicle. As shown in FIG. 1, the vehicle sensor group 20 includes, but is not limited to, a vehicle speed sensor 21, an acceleration sensor 22, a gyro sensor 23, a steering angle sensor 24, an accelerator sensor 25, and a brake sensor 26, for example.

The vehicle speed sensor 21 measures the rotational speed of a driving system such as a drive shaft, and detects the running speed of the own vehicle based on the measurement result. The vehicle speed sensor 21 is provided, for example, on a wheel of the host vehicle or on a drive shaft that rotates integrally with the wheel. The acceleration sensor 22 detects acceleration of the host vehicle. The acceleration sensor 22 includes a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle and a lateral acceleration sensor that detects the lateral acceleration of the vehicle. The gyro sensor 23 detects the speed at which the vehicle rotates, that is, the amount of angular movement (angular velocity) of the vehicle per unit time. A steering angle sensor 24 detects the steering angle of the steering wheel. The steering angle sensor 24 is provided, for example, on the steering shaft of the own vehicle. The accelerator sensor 25 detects the depression amount of the accelerator pedal (position of the accelerator pedal). The accelerator sensor 25 is provided, for example, on the shaft portion of the accelerator pedal. The brake sensor 26 detects the amount of depression of the brake pedal (position of the brake pedal). The brake sensor 26 is provided, for example, on the shaft portion of the brake pedal.

A detection result detected by the vehicle sensor group 20 is output to the vehicle control device 100 . The detection results include, for example, vehicle speed, acceleration (including longitudinal acceleration and lateral acceleration), angular velocity, amount of depression of the accelerator pedal, and amount of depression of the brake pedal.

The navigation system 30 is a system that guides the occupants (including the driver) of the own vehicle by showing the route from the current position of the own vehicle to the destination based on the information of the current position of the own vehicle. The navigation system 30 receives map information from the map database 40 and destination information via the HMI 50 from the occupant of the vehicle. The navigation system 30 generates a travel route for the host vehicle based on these pieces of input information. Then, the navigation system 30 outputs the information on the travel route of the own vehicle to the vehicle control device 100 and presents the information on the travel route of the own vehicle to the occupants of the own vehicle via the HMI 50 . As a result, the occupant is presented with a travel route from the current position to the destination.

As shown in FIG. 1 , the navigation system 30 includes a GPS 31 , a communication device 32 and a navigation controller 33 .

The GPS 31 acquires position information indicating the current position of the vehicle (Global Positioning System, GPS). The GPS 31 acquires position information of its own vehicle by receiving radio waves transmitted from a plurality of satellite communications with a receiver. Also, the GPS 31 can detect changes in the position information of the own vehicle by periodically receiving radio waves transmitted from a plurality of satellite communications.

The communication device 32 acquires the surrounding conditions of the own vehicle from the outside. The communication device 32 is, for example, a device capable of communicating with a server or system provided outside the host vehicle. The communication device 32 may communicate with a communication device mounted on another vehicle.

For example, the communication device 32 receives road traffic information from a vehicle information and communication system (VICS (registered trademark), hereinafter the same) via an information transmission device (beacon) provided on the road or FM multiplex broadcasting. to get Road traffic information includes, for example, lane-by-lane congestion information, accident information, broken-down vehicle information, construction information, speed regulation information, lane regulation information, and the like. It should be noted that the road traffic information does not necessarily include each of the above information, and may include at least one of the information.

Further, for example, when the communication device 32 has a function capable of communicating with a communication device mounted on another vehicle, the communication device 32 acquires the vehicle speed information of the other vehicle and the position information of the other vehicle. Such communication between the own vehicle and the other vehicle is called inter-vehicle communication. The communication device 32 may acquire information such as the vehicle speed of other vehicles as peripheral information of the host vehicle through inter-vehicle communication.

Note that the communication device 32 may acquire information including the position, vehicle speed, and traveling direction of the other vehicle from the VICS as the peripheral information of the own vehicle.

The navigation controller 33 is a computer that generates a travel route from the current position of the vehicle to the destination. For example, the navigation controller 33 includes a ROM (Read Only Memory) that stores a program for generating a travel route, a CPU (Central Processing Unit) that executes the program stored in the ROM, and an accessible storage device. It consists of functional RAM (random access memory).

The navigation controller 33 receives information on the current position of the vehicle from the GPS 31, road traffic information from the communication device 32, map information from the map database 40, and information on the destination of the vehicle from the HMI 50. is entered. For example, assume that the occupant of the own vehicle has set the destination of the own vehicle via the HMI 50 . The navigation controller 33 calculates a lane-based route from the current position to the destination based on the position information of the vehicle, the destination information of the vehicle, the map information, and the road traffic information. Generate as a driving route. The navigation controller 33 outputs the generated travel route information to the vehicle control device 100 and presents it to the occupants of the own vehicle via the HMI 50 .

In this embodiment, the travel route of the own vehicle may be any route that allows the own vehicle to reach the destination from the current position, and other conditions are not limited. For example, the navigation controller 33 may generate a travel route for the host vehicle according to conditions set by the occupant. For example, if the passenger has made settings to preferentially use toll roads to arrive at the destination, the navigation controller 33 may generate a travel route using toll roads based on the map information. . Further, for example, the navigation controller 33 may generate a travel route for the host vehicle based on road traffic information. For example, if there is a traffic jam in the middle of the shortest route to the destination, the navigation controller 33 searches for a detour route, and selects the route with the shortest required time among the plurality of searched detour routes as the travel route. may be generated as

The map database 40 stores map information. Map information includes road information and traffic rule information. Road information and traffic regulation information are defined by nodes and links (also referred to as road links) connecting the nodes. Links are identified at the lane level.

The road information is information about roads on which the vehicle can travel. Each road link contains, for example, road type, road width, road shape, propriety of going straight, priority of progress, propriety of overtaking (prohibition of entering adjacent lane), propriety of changing lanes, and other information related to the road. Although linked, the information linked to the road link is not limited to these. In addition, each road link is associated with, for example, the installation position of a traffic light, the position of an intersection, the approach direction of the intersection, the type of the intersection, and other information related to the intersection.

The traffic rule information is traffic rules to be observed by the vehicle when traveling. Examples of traffic rules include, but are not limited to, temporary stops, no parking/stopping, slowing down, speed limits, and no lane changes on the route. Each road link is associated with traffic rule information for the section defined by the road link. For example, a road link in a lane change prohibited section is associated with lane change prohibited information. Note that traffic rule information may be linked not only to road links, but also to nodes or specific points (latitude, route) on a map, for example.

Further, the traffic rule information may include not only information on traffic rules but also information on traffic lights. For example, a road link at an intersection where a traffic light is installed may be associated with information on the color currently displayed by the traffic light and/or information on the period at which the display of the traffic light is switched. For example, the communication device 32 acquires information about the traffic light from VICS or from an information transmission device (for example, an optical beacon) provided on the road. The information displayed on the traffic light changes over time. Therefore, the traffic regulation information is updated every predetermined period.

The map information stored in the map database 40 may be high-precision map information suitable for automatic driving. The high-definition map information is obtained, for example, through communication with a server or system provided outside the host vehicle. Further, the high-precision map information is based on information obtained in real time using the surrounding environment sensor group 10 (for example, information on objects detected by the radar 11, images of the surroundings of the vehicle captured by the imaging device 12). may be generated at any time.

Here, automatic driving in this embodiment will be described. In the present embodiment, automatic driving refers to a mode other than a driving mode in which the driving subject is only the driver. For example, when the driver includes a controller (not shown) that assists the driving operation together with the driver, or a controller (not shown) that executes the driving operation on behalf of the driver is included. correspond to

Further, in the present embodiment, a configuration in which the vehicle system 200 includes the map database 40 will be described as an example, but the map database 40 may be provided outside the vehicle system 200 . For example, the map information may be stored in advance in a portable storage device (eg, external HDD, flash memory). In this case, by electrically connecting vehicle control device 100 and a storage device that stores map information, the storage device functions as map database 40 .

The HMI 50 is an interface (Human Machine Interface, HMI) for outputting and inputting information between the occupants of the host vehicle and the vehicle system 200 . Examples of the HMI 50 include a display that displays text or image information and a speaker that outputs sound such as music or voice, but are not limited to these.

Exchange of information via the HMI 50 will be described. For example, when an occupant inputs a destination to the HMI 50 to set the destination, the destination information is output from the HMI 50 to the navigation system 30 . Thereby, the navigation system 30 can acquire the information of the destination of the own vehicle. Also, for example, when the navigation system 30 generates a travel route to a destination, information on the travel route is output from the navigation system 30 to the HMI 50 . Then, the HMI 50 outputs the travel route information from the display and/or the speaker. As a result, information on the travel route to the destination is presented to the occupants of the host vehicle. Examples of the information on the travel route to the destination include, but are not limited to, route guidance and required time to the destination.

Further, for example, when the occupant inputs a lane change execution command to the HMI 50 in order to cause the own vehicle to change lanes, the lane change execution command is output from the HMI 50 to the vehicle control device 100 . Thereby, the vehicle control device 100 can start the lane change control process. Further, for example, when the vehicle control device 100 sets a target trajectory for lane change, information on the target trajectory is output from the vehicle control device 100 to the HMI 50 . Then, the HMI 50 outputs the target trajectory information from the display and/or the speaker. As a result, the occupant of the own vehicle is presented with the information of the target trajectory for changing lanes. Information on the target trajectory for lane change includes, for example, an entry position specified on an adjacent lane and a target trajectory for lane change, but is not limited to these. Note that the target trajectory and the approach position will be described later.

The actuator control device 60 controls running of the host vehicle. The actuator control device 60 includes a steering control mechanism, an accelerator control mechanism, a brake control mechanism, an engine control mechanism, and the like. A control signal is input to the actuator control device 60 from a vehicle control device 100 which will be described later. The actuator control device 60 realizes automatic operation of the own vehicle by controlling the vehicle control actuator group 70 according to the control signal from the vehicle control device 100 . For example, when a control signal for moving the own vehicle from the own lane to the adjacent lane is input to the actuator control device 60, the actuator control device 60 responds to the control signal by steering angle, An accelerator depression amount or a brake depression amount is calculated according to the moving speed. The actuator control device 60 outputs various calculated parameters to the vehicle control actuator group 70 .

The control of each mechanism may be performed completely automatically, or may be performed in a manner that assists the driving operation of the driver. The control of each mechanism can be interrupted or stopped by intervention of the driver. The travel control method by the actuator control device 60 is not limited to the control method described above, and other well-known methods can also be used.

The vehicle control actuator group 70 is various actuators for driving the own vehicle. As shown in FIG. 1, the vehicle control actuator group 70 includes, but is not limited to, a steering actuator 71, an accelerator opening actuator 72, and a brake control actuator 73, for example.

The steering actuator 71 controls the steering direction and amount of steering of the host vehicle in accordance with a signal input from the actuator control device 60 . The accelerator opening actuator 72 controls the accelerator opening of the host vehicle according to a signal input from the actuator control device 60 . The brake control actuator 73 controls the braking operation of the brake system of the own vehicle according to the signal input from the actuator control device 60 .

The blinker 80 has a blinking lamp inside, and when the driver of the own vehicle operates a direction indicator switch (not shown), the blinker 80 lights up in orange. The winker 80 is a device for indicating the direction to the surroundings when the own vehicle turns left or right or changes lanes. The winkers 80 are, for example, integrally provided on the left and right of the front and rear ends of the vehicle.

Further, in this embodiment, a control signal is input to the winker 80 from the vehicle control device 100 . The control signal is a signal for operating the winkers, and includes a signal for blinking the turn signals 80 that are turned off (also referred to as a flashing signal) and a signal for turning off the blinking turn signals 80 (also referred to as an extinguishing signal). . For example, when a blinking signal for blinking the left winker is input to the winker 80, the winker 80 turns on the left winker. Thereafter, when a turn-off signal for turning off the left turn signal is input to the turn signal 80, the turn signal 80 turns off the left turn signal. Thus, the winkers 80 are controlled by the vehicle control device 100 in addition to the driver of the own vehicle.

Next, the vehicle control device 100 will be explained. The vehicle control device 100 of the present embodiment is configured by a computer having hardware and software, and includes a ROM (Read Only Memory) storing a program and a CPU (Central Processing Unit) executing the program stored in the ROM. and a RAM (Random Access Memory) functioning as an accessible storage device. As the operation circuit, an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. can be used instead of or together with the CPU. . A control device 101 shown in FIG. 1 corresponds to a CPU (processor). The storage device 110 shown in FIG. 1 corresponds to ROM and RAM.

In this embodiment, a configuration in which a program to be executed by the control device 101 is stored in advance in the storage device 110 will be described as an example, but the location where the program is stored is not limited to the storage device 110 . For example, the program can be read by a computer and stored in a portable computer-readable recording medium (for example, disk media, flash memory, etc.). In this case, the control device 101 executes a program downloaded from a computer-readable recording medium. In other words, the vehicle control device 100 may have only an operating circuit and may be configured to download the program from the outside.

As shown in FIG. 1, the control device 101 includes an information acquisition unit 102, a lane change point identification unit 103, a lane change preparation unit 104, and a lane change control unit 105 as functional blocks. These blocks realize each function described later by software established in the ROM. In this embodiment, the functions of the control device 101 are divided into four functional blocks, and the functions of the respective functional blocks are described. However, the functions of the control device 10 must be divided into four blocks. Instead, it may be divided into three or less functional blocks, or five or more functional blocks. Further, the functions of the control device 10 are not limited to the functions of the functional blocks described below, and include, for example, the control function of a navigation system.

A function of the information acquisition unit 102 will be described. The information acquisition unit 102 acquires various types of information from the surrounding environment sensor group 10, the vehicle sensor group 20, the navigation system 30, the map database 40, and the HMI 50, respectively.

The information acquisition unit 102 acquires peripheral information of the own vehicle (also referred to as external information of the own vehicle) detected by the surrounding environment sensor group 10 . The peripheral information of the own vehicle includes detection results detected by the radar 11 and captured images captured by the imaging device 12 . The information acquisition unit 102 also acquires information indicating the state of the own vehicle (also referred to as internal information of the own vehicle) detected by the vehicle sensor group 20 . The internal information of the own vehicle includes the vehicle speed, acceleration, angular velocity, amount of depression of the accelerator pedal, and amount of depression of the brake pedal of the own vehicle. The information acquisition unit 102 also acquires the current position of the vehicle, the travel route of the vehicle, and road traffic information from the navigation system 30 . The information acquisition unit 102 also acquires map information (including road information and traffic regulation information) from the map database 40 .

The lane change location identification unit 103 acquires the current position of the vehicle and the travel route of the vehicle from the navigation system 30, and identifies the lane change location based on the current position of the vehicle and the travel route. A lane change point indicates a point where the vehicle needs to be moved from its own lane to an adjacent lane when traveling on the travel route. The lane change location identification unit 103 refers to the travel route of the host vehicle and identifies a location where the lane is changed on the travel route.

The lane change point identification unit 103 identifies, from the travel route of the vehicle, a point such as an intersection where the direction of travel is switched, or a point such as an interchange where the course is changed in a direction different from the direction of travel of the vehicle as a target point. Next, the lane change point identification unit 103 identifies a point where the vehicle needs to move from the own lane to the adjacent lane in order to change the traveling direction of the vehicle at the target point as a lane change point.

For example, if the travel route is set to turn right at the intersection ahead of the current position, and the vehicle is traveling in the leftmost lane of the multiple lanes, the vehicle prepares for the right turn. You must move from the left lane to the right lane. In such a scene, the lane change point identification unit 103 identifies an intersection requiring a right turn as a target point. The lane change point identification unit 103 identifies a position a predetermined distance ahead of the intersection (target point) at which the vehicle should turn right on the travel route as a lane change point. The lane change point is set, for example, at a point several hundred meters before the target point on the travel route. The lane change point does not necessarily have to be set at a point, and may be set at a predetermined section. Other examples of lane change locations include a predetermined section before a branch point provided on an expressway and a predetermined section before the destination of the vehicle. The branch points provided on the expressway include branch points to various directions and branch points between the main line and the exit. Note that in the present embodiment, when a lane change location is specified by a section, the length of the section is not particularly limited.

In this embodiment, when the lane change location is identified by the lane change location identification unit 103, and the vehicle reaches the lane change location, or when the occupant inputs a lane change execution command, the vehicle automatically moves to the lane change location. A lane change process for dynamically changing lanes is executed by the functions described below.

The lane change preparation unit 104 executes preparation control for changing lanes of the own vehicle when the current position of the own vehicle reaches the lane change point. The preparatory control includes identification of the entry position, identification of the lane change candidate area, setting of the winker activation position, vehicle speed control, and activation of the blinker.

Lane change preparation unit 104 identifies an entry position, which is located on an adjacent lane adjacent to the own lane in which the own vehicle travels, and indicates the position of the entry destination of the own vehicle, based on the surrounding information of the own vehicle. For example, the lane change preparation unit 104, based on the result of detection by the radar 11 and the captured image captured by the imaging device 12, determines that the distance along the traveling direction of the vehicle on the adjacent lane is a predetermined distance or more. Identify the location as the entry location.

Further, when identifying the entry position, the lane change preparation unit 104 identifies the other vehicle in front of the other vehicles located before and after the entry position as the front vehicle, and identifies the other vehicle behind as the rear vehicle. In other words, the lane change preparation unit 104 selects the front vehicle positioned ahead of the entry position and the rear vehicle positioned behind the entry position among the plurality of other vehicles positioned in the adjacent lanes. Identify. For example, the lane change preparation unit 104 determines, from the detection result detected by the radar 11 and the captured image captured by the imaging device 12, the approach position among the plurality of other vehicles positioned in front of the adjacent lane with respect to the approach position. The other vehicle located closest to is identified as the preceding vehicle. In addition, the lane change preparation unit 104 identifies the other vehicle positioned closest to the entry position among the plurality of other vehicles positioned behind the entry position in the adjacent lane as the rear vehicle. Note that if no other vehicle is running behind the entry position, the lane change preparation unit 104 may identify only the preceding vehicle.

After identifying at least the forward vehicle, the lane change preparation unit 104 identifies a predetermined range located behind the forward vehicle on the adjacent lane as a lane change candidate area (hereinafter also referred to as a lane change candidate area). When the rear vehicle is traveling behind the front vehicle, the lane change preparation unit 104 identifies the range between the front vehicle and the rear vehicle as a lane change candidate area. When no other vehicle is running behind the forward vehicle, the lane change preparation unit 104 sets the lane change candidate area so as to have a predetermined length in the direction along the travel route.

The lane change preparation unit 104 sets the winker operation position and controls the lighting timing of the winkers 80 in order to convey the intention of the lane change to the vehicle traveling in the adjacent lane. In addition, the lane change preparation unit 104 sets the vehicle speed change position of the own vehicle and controls the vehicle speed of the own vehicle in order to convey the intention of the lane change to the vehicle traveling on the adjacent lane. Each control will be described below.

The lane change preparation unit 104 sets the turn signal operating position based on the vehicle speed of the own vehicle, the vehicle speed of the vehicle ahead, and the position of the vehicle ahead. The turn signal activation position represents the position where blinking of the turn signal is started in order to convey the intention of the lane change to the preceding vehicle. The winker operating position is represented by a position relative to the position of the forward vehicle when identifying the lane change candidate area. The winker operating position is set on the own lane. The winker operating position is set within a range where the driver of the preceding vehicle traveling on the adjacent lane can see the winker of the own vehicle. In addition, the winker operating position is set at a position where the blinking of the winker can be easily seen by the driver of the preceding vehicle.

The lane change preparation unit 104 sets the vehicle speed change position at a position a predetermined distance away from the winker operation position in the traveling direction of the host vehicle. The predetermined distance is, for example, the total length of the host vehicle. The predetermined distance may be the total length of the other vehicle. The vehicle speed change position is set at a position in front of the forward vehicle to which the intention of lane change is transmitted, and further in front of the winker operation position. The vehicle speed change position is represented by a position relative to the preceding vehicle, similar to the winker operating position. Note that the vehicle speed change position may be a position ahead of the position of the vehicle ahead by a length obtained by multiplying the distance from the position of the vehicle ahead to the winker operation position by a constant ratio.

The lane change preparation unit 104 controls the speed of the own vehicle so that the position of the own vehicle reaches the vehicle speed change position from the state in which the own vehicle is traveling around the preceding vehicle. For example, when the own vehicle and the vehicle ahead are running side by side, and the position of the own vehicle is traveling behind the vehicle speed change position, the lane change preparation unit 104 determines that the vehicle speed of the own vehicle is ahead. A control signal for controlling the vehicle speed is output to the actuator control device 60 so as to be higher than the vehicle speed.

The lane change preparation unit 104 changes the vehicle speed of the own vehicle so that the relative speed of the own vehicle with respect to the preceding vehicle becomes negative when the current position of the own vehicle reaches the vehicle speed change position. Since the relative velocity of the own vehicle to the forward vehicle is negative, the own vehicle moves backward relative to the forward vehicle. The driver of the vehicle ahead can recognize from the movement of the vehicle that the vehicle will not enter the space ahead.

The lane change control unit 105 operates the winkers 80 to start blinking when the own vehicle moves backward relative to the preceding vehicle and the position of the own vehicle reaches the winker operation position. At this time, blinking of the winkers 80 starts within a range that can be recognized by the driver of the preceding vehicle. Therefore, the driver of the vehicle ahead can recognize that the own vehicle is about to enter behind the vehicle ahead. In other words, the driver of the vehicle in front recognizes that the vehicle is reversing from the position in front of the vehicle in front and that the turn signal is blinking, thereby grasping the intention of the vehicle to change lanes. can.

When the host vehicle moves backward relative to the vehicle ahead and travels next to the lane change candidate area, the lane change control unit 105 measures the length of the lane change candidate area and The length of the change candidate area is compared with a predetermined determination threshold. The length of the lane change candidate area is the length in the direction along the travel route. The determination threshold is a threshold for determining that the lane can be changed, and is set in advance. For example, the determination threshold is set to a length that can secure a predetermined length (for example, 6 m) in front and rear of the vehicle. Note that the determination threshold may be changed according to the vehicle speed of other vehicles on the adjacent lane and/or the vehicle speed of the own vehicle.

If the length of the lane change candidate area is equal to or greater than the determination threshold, the lane change control unit 105 determines whether the vehicle is to change lanes with the current position of the vehicle as the starting point and the entry position within the range behind the lane change as the ending point. Generate a target trajectory for The lane change control unit 105 sets the vehicle speed and steering angle when the host vehicle travels along the target locus. The travel control unit 108 outputs a control signal corresponding to the set vehicle speed and steering angle to the actuator control device 60 . Then, when the position of the own vehicle reaches the entry position, the lane change control unit 105 ends the flashing of the winkers 80 to end the lane change control.

Next, the control flow of the control device 101 will be described with reference to FIG. FIG. 2 shows a flowchart of control processing executed by the vehicle control device according to this embodiment. Each of the following control flows may be performed completely automatically, or may be performed in a manner that assists the driving operation of the driver.

In step S<b>1 , the control device 101 acquires external information (surrounding information) of the own vehicle from the surrounding environment sensor group 10 . Also, the control device 101 acquires internal information of the host vehicle. It should be noted that the control device 101 acquires the external information and internal information of the own vehicle at predetermined intervals while executing the control processing after step S2. The running state is represented by the position of the vehicle, the speed of the vehicle, and the like.

In step S2, the control device 101 identifies a lane change location based on the travel route of the host vehicle. In step S3, the control device 101 compares the current position of the vehicle with the lane change location, and determines whether or not the vehicle has reached the lane change location. If the current position of the vehicle has not reached the lane change point, the control device 101 repeatedly executes the control process of step S3. When the current position of the own vehicle reaches the lane change point, the control device 101 executes control processing from step S4 onward.

In step S4, the control device 101 identifies the entry position of the own vehicle on the adjacent lane from the surrounding information of the own vehicle, and identifies another vehicle positioned in front of the entry position as the preceding vehicle. In step S5, the control device 101 identifies a lane change candidate area behind the forward vehicle on the adjacent lane.

In step S6, the control device 101 sets the winker operating position within a predetermined range located ahead of the forward vehicle on the own lane. Further, the control device 101 sets the vehicle speed changing position ahead of the winker operating position.

In step S7, the control device 101 changes the current position of the vehicle to the lane change position based on the current position of the vehicle, the vehicle speed of the vehicle, the current position of the vehicle ahead, the vehicle speed of the vehicle ahead, and the vehicle speed change position. Control the vehicle speed of the own vehicle so that it approaches. For example, when the own vehicle is positioned behind the vehicle ahead and the vehicle speed of the own vehicle is lower than the vehicle speed of the vehicle ahead, the control device 101 increases the vehicle speed so that the vehicle speed of the own vehicle is higher than the vehicle speed of the vehicle ahead. Control. As another example, when the host vehicle is positioned ahead of the vehicle ahead and the vehicle speed of the host vehicle is lower than the vehicle speed of the vehicle ahead, the control device 101 controls the vehicle speed of the host vehicle to maintain the current vehicle speed. Control the vehicle speed of the host vehicle.

In step S8, the control device 101 compares the current position of the vehicle with the vehicle speed change position, and determines whether the current position of the vehicle has reached the vehicle speed change position. If the current position of the host vehicle has not reached the vehicle speed change position, the control device 101 repeatedly executes the control process of step S8.

In step S9, the control device 101 causes the own vehicle to travel on the own lane at a speed that makes the relative speed of the own vehicle to the preceding vehicle negative. In step S10, the control device 101 compares the current position of the vehicle with the winker operating position, and determines whether the current position of the own vehicle has reached the winker operating position. If the current position of the host vehicle has not reached the winker operating position, the control device 101 repeatedly executes the control process of step S10.

When the current position of the host vehicle reaches the winker operating position, in step S11, the control device 101 operates the winkers 80 to start blinking.

In step S12, control device 101 measures the length (M) of the lane change candidate area. In step S13, the control device 101 compares the length (M) of the lane change candidate area with a predetermined determination threshold (M _th ), and the length (M) of the lane change candidate area becomes the determination threshold (M _th ). It is determined whether or not the above is satisfied. When the length (M) of the lane change candidate area is equal to or greater than the determination threshold value (M _th ), the controller 101 starts lane change by the function of the lane change control unit 105 in step S14. That is, the relative speed of the vehicle to the vehicle in front becomes negative, and the turn signals 80 of the vehicle operate within a range that can be seen by the driver of the vehicle in front. It is transmitted to the driver, and the driver of the vehicle ahead increases the vehicle speed. As the speed of the vehicle in front increases, the length (M) of the lane change candidate area increases, creating a sufficient space behind the vehicle in front that is suitable for changing lanes. You can move to the adjacent lane.

On the other hand, when the length (M) of the lane change candidate area is less than the determination threshold value (M _th ), the elapsed time from the blinking start of the blinker 80 is compared with a predetermined time, and the elapsed time is the predetermined time. Determine whether or not it has passed. When the elapsed time has passed the predetermined time, the control device 101 executes the control process of step S4. That is, when a predetermined period of time has passed since the start of flashing of the blinker and the length (M) of the lane change candidate area does not exceed the determination threshold value (M _th ), control device 101 determines a new entry position. , the lane change preparation unit 104 performs lane change preparation control. If the elapsed time has not passed the predetermined time, the control device 101 executes the control of step S12. That is, the control device 101 repeatedly executes the control loop from step S12 to step S15.

The relationship between the control processing of the control device 101 and the driving scenes of the own vehicle and the other vehicle will be described with reference to FIGS. 3 and 4. FIG. FIG. 3 shows an example of driving scenes of the own vehicle, and the driving scenes change in order from (a) to (d). The vehicle shown in FIG. 3 is a running vehicle, and FIG. 3 represents the positions of the vehicles in relative positions. FIG. 4 is a graph showing the characteristics of the upper limit of the winker operating position with respect to the vehicle speed of another vehicle traveling on the adjacent lane.

The control device 101 identifies the change location S based on the travel route of the host vehicle. As shown in FIG. 3( a ), when the vehicle X passes through the lane change point S, the control device 101 acquires surrounding information of the vehicle X from the surrounding environment sensor group 10 . The control device 101 identifies the entry position P of the own vehicle X on the adjacent lane from the surrounding information. The control device 101 identifies a forward vehicle A positioned in front of the entry position P and a rear vehicle B positioned behind the entry position P, respectively.

The control device 101 identifies an area between the forward vehicle A and the backward vehicle B as a lane change candidate area. The control device 101 sets a winker operation start range W at a position ahead of the forward vehicle A on the own lane. The winker operation start range W is represented by a relative position with the front end of the forward vehicle A as a reference point O. As shown in FIG. Further, the winker operation start range W is a range from the upper limit β _MAX of the winker operating position to the lower limit β _MIX of the winker operating position in the direction along the travel route. The width of the winker operation start range W (the length in the direction perpendicular to the travel route) corresponds to, for example, the width of the vehicle. The upper limit β _MAX of the winker operating position and the lower limit β _MIX of the winker operating position are represented by the length from the reference point O in the direction along the traveling route.

As shown in FIG. 4, the upper limit β _MAX of the winker operating position is set according to the vehicle speed of the preceding vehicle, and is represented by the following equations (1) and (2), for example.
[Number 1]
β _MAX =V _A /3.6×0.5 (V _A ≧20 km/h) (1)
β=k (V _A <20km/h) (2)

However, _VA is the vehicle speed of vehicle A. k is a predetermined coefficient, and k=3(m) in the example of FIG. In the right side of equation (1), the value (multiplier) of 0.5 seconds that is multiplied by the value obtained by converting the vehicle speed VA of the forward vehicle _A to the unit speed per minute per meter is This is a value that expresses the distance that the vehicle cannot follow in terms of running time. When multiple vehicles are running side-by-side for a certain period of time, the driver of the vehicle unconsciously wants to avoid running side-by-side. Accelerate or decelerate. The value of 0.5 seconds in the formula (1) is a value determined by an empirical rule based on such a driver's psychology. Note that the multiplier in equation (1) does not necessarily have to be 0.5 seconds, and may be, for example, 0.4 seconds or 0.6 seconds.

The graph in FIG. 4 expresses the relationship between equations (1) and (2). As shown in formulas (1), (2) and FIG. 4, when the vehicle speed _VA is lower than a predetermined speed threshold (20 km/h in the example of FIG. 4), the upper limit _βMAX of the turn signal operating position is constant. set to length. Further, when the vehicle speed _VA is equal to or higher than a predetermined speed threshold value (20 km/h in the example of FIG. 4), the upper limit β _MAX of the winker operating position becomes a value proportional to the vehicle speed _VA .

The lower limit β _MIN of the winker operating position is set according to the minimum distance at which the driver of the preceding vehicle A can confirm that the winker 80 installed at the front end of the own vehicle X is blinking. The minimum distance is set to 0.5m, 1m, etc.

The position and height of the driver's viewpoint differ depending on the vehicle type. Therefore, the control device 101 may set the lower limit β _MIN of the winker operating position according to the vehicle type of the vehicle A ahead. The control device 101 identifies the vehicle type of the preceding vehicle A based on the peripheral information of the own vehicle. For example, when the vehicle type of the preceding vehicle A is a sedan type, the control device 101 sets the lower limit β _MIN of the winker operating position to 1 m. Let the lower limit β _MIN of the operating position be 0.5 m.

As shown in FIG. 3( a ), the control device 101 sets the range from the lower limit β _MIN of the winker operating position to the upper limit β _MAX of the winker operating position as the winker operating start range W. As shown in FIG. Further, the control device 101 sets the winker operation position Q within the winker operation start range W. The winker actuation position Q is set at the center point of the winker actuation start range W. The winker operation position Q may be set within the winker operation start range W according to the relative speed of the own vehicle X with respect to the vehicle A ahead. As will be described later, from a state in which the own vehicle X is traveling in front of the forward vehicle A, the relative speed of the own vehicle X with respect to the forward vehicle A becomes negative, and the own vehicle X becomes relative to the forward vehicle A. fall back. At this time, the higher the relative speed of the own vehicle X with respect to the forward vehicle A on the negative side, the faster the own vehicle X moves backward toward the forward vehicle A. Therefore, in order to make the driver of the preceding vehicle A see the blinking of the turn signals of the own vehicle X more quickly, the control device 101 adjusts the turn signal operation position P to Set to a more forward position.

As shown in FIG. 3(a), the control device 101 sets the vehicle speed change position R at a position from the reference point O to the upper limit β _MAX of the turn signal operating position plus the total length L of the vehicle X. As shown in FIG. The vehicle speed change position R is set at a position forward of the winker operation start range W, and the length from the vehicle speed change position R to the reference point O is L+β _MAX .

The control device 101 controls the vehicle speed of the own vehicle X so that the own vehicle X is relatively ahead of the position of the forward vehicle X. As shown in FIG.

As shown in FIG. 3(b), the own vehicle X travels ahead of the preceding vehicle X on the own lane, and the position of the own vehicle X reaches the vehicle speed change position R. As shown in FIG. When the position of the own vehicle X and the position of the other vehicle A are in the positional relationship shown in FIG. The vehicle speed of vehicle X is controlled.

As shown in FIG. 3C, the vehicle X moves backward relative to the vehicle A ahead because the relative velocity of the vehicle X to the vehicle A ahead becomes negative. In other words, the own vehicle X moves from a position in front of the preceding vehicle A so as to approach the preceding vehicle A in the direction along the travel route. When the host vehicle X reaches the winker operating position Q, the control device 101 operates the winkers 80 . As a result, blinking of the winker 80 starts from the winker operating position Q. At this time, the driver of the forward vehicle A confirms that the vehicle X is moving backward relative to the forward vehicle A and that the turn signals 80 of the vehicle X have started blinking. It is possible to grasp the intention that the host vehicle X changes lanes at a position behind the forward vehicle A.

As shown in FIG. 3(d), the driver of the preceding vehicle A grasps the intention of the own vehicle X to change lanes and increases the vehicle speed. As a result, the lane change candidate area spreads forward with respect to the entry position P. In addition, the driver of the rear vehicle B can grasp the intention that the vehicle X will change lanes in front of the rear vehicle B, because the turn signals 80 of the vehicle X are blinking. The driver of the rear vehicle B recognizes the intention of the vehicle X to change lanes and reduces the vehicle speed. As a result, the lane change candidate area expands to the rear side with respect to the entry position P.

The control device 101 compares the length (M) of the lane change candidate area and the determination threshold (M _th ). In the example of FIG. 3D, the length (M) of the lane change candidate area corresponds to the inter-vehicle distance between the forward vehicle A and the backward vehicle B. In the example of FIG. Then, when the length (M) of the lane change candidate area is equal to or greater than the determination threshold value (M _th ), the control device 101 moves the own vehicle toward the entry position P.

As described above, in this embodiment, peripheral information of the own vehicle is acquired from the sensors provided on the own vehicle, and based on the peripheral information of the own vehicle, the lane (first lane) in which the own vehicle travels is detected. position on the adjacent lane (second lane) and indicates the position of the entry destination of the own vehicle, identifies the preceding vehicle located in front of the entry position on the adjacent lane, The winker operation position is set within a predetermined range located ahead of the vehicle ahead on the line. In this embodiment, the own vehicle is caused to travel on the own lane at a speed that makes the relative speed of the own vehicle to the preceding vehicle negative from the state where the own vehicle is traveling ahead of the preceding vehicle on the own lane. Then, after the relative speed becomes negative, the winker 80 of the host vehicle is operated at the winker operating position. As a result, in the present embodiment, it is possible to easily convey the intention of the host vehicle to change lanes to the forward vehicle. In addition, by communicating the intention to change lanes to the driver of the vehicle in front, the space behind the vehicle in front becomes wider, creating a road environment that makes it easier for the vehicle to enter the adjacent lane.

In addition, in this embodiment, the winker operating position is set such that the front end of the own vehicle is positioned a predetermined distance ahead of the front end of the vehicle ahead when the own vehicle is positioned at the winker operating position. As a result, the blinking of the blinker starts within the range that the driver of the preceding vehicle can see, so it is possible to easily convey the intention of the vehicle to change lanes.

Further, in this embodiment, the winker operating positions are set so that the rear end of the own vehicle is positioned behind the front end of the vehicle ahead when the own vehicle is positioned at the winker operating position. As a result, the driver of the vehicle in front can see part of the front of the vehicle and can see the blinking of the turn signals. This can be communicated to the driver of the vehicle ahead. In addition, it is possible to prevent the occurrence of misunderstanding that the own vehicle is approaching a position in front of the forward vehicle.

Further, in this embodiment, the winker operating positions are set such that the greater the negative relative speed of the own vehicle with respect to the vehicle ahead, the longer the length from the front end of the other vehicle to the winker operating position. As a result, the faster the speed at which the own vehicle retreats to the rear vehicle, the earlier the operation timing of the turn signals.

Further, in the present embodiment, after activating the turn signal of the own vehicle at the turn signal operation position, it is determined whether or not the inter-vehicle distance from the preceding vehicle to the rear vehicle is longer than a predetermined determination threshold. If it is determined to be longer, the own vehicle is moved from the own lane to the adjacent lane. As a result, the lane change can be executed after confirming that a space suitable for the lane change has been secured between the forward vehicle and the rear vehicle.

As a modified example of the present embodiment, the control device 101 may set the turn signal operating position based on the total length of the forward vehicle. For example, the control device 101 sets the winker operation position at a further rearward position within the winker operation start range as the overall length of the forward vehicle is longer. This allows the driver of the vehicle ahead to easily confirm that the turn signals are blinking.

For example, in this specification, the vehicle control device according to the present invention will be described using the vehicle control device 100 as an example, but the present invention is not limited to this. Also, in this specification, the first lane according to the present invention will be described as an own lane, but the present invention is not limited to this. Also, in this specification, the second lane according to the present invention will be described by taking an adjacent lane as an example, but the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 10... Surrounding environment sensor group 11... Radar 12... Imaging device 20... Vehicle sensor group 30... Navigation system 40... Map database 50... HMI
60 Actuator control device 70 Vehicle control actuator group 80 Turn signal 100 Vehicle control device 101 Control device 102 Information acquisition unit 103 Lane change location identification unit 104 Lane change preparation unit 105 Lane change control unit 200 Vehicle system

Claims (7)

A vehicle control method executed by a processor capable of causing the vehicle to change lanes,
Acquiring peripheral information of the own vehicle from a sensor provided on the own vehicle;
identifying an entry position located on a second lane adjacent to a first lane on which the own vehicle travels based on the peripheral information of the own vehicle and indicating a position where the own vehicle should enter;
Identifying a preceding vehicle located in front of the entry position on the second lane,
setting a winker operating position within a predetermined range located ahead of the preceding vehicle on the first lane;
From a state in which the own vehicle is traveling ahead of the preceding vehicle on the first lane, the own vehicle is moved onto the first lane at a speed that makes the relative speed of the own vehicle with respect to the preceding vehicle negative. run with
A vehicle control method for operating the winkers of the own vehicle at the winker operating position after the relative velocity becomes negative. 2. The vehicle control method according to claim 1, wherein when the host vehicle is positioned at the winker operating position, the front end of the host vehicle is positioned ahead of the front end of the preceding vehicle by a predetermined distance. 3. The vehicle control method according to claim 2, wherein the rear end of the own vehicle is positioned behind the front end of the preceding vehicle when the own vehicle is positioned at the winker operating position. The vehicle control method according to claim 2 or 3, wherein the winker operating position is set such that the predetermined distance increases as the relative speed increases on the negative side. The vehicle control method according to any one of claims 1 to 4, wherein the winker operating position is set based on the overall length of the forward vehicle. Identifying a rear vehicle located behind the entry position on the second lane,
determining whether or not the inter-vehicle distance from the preceding vehicle to the rear vehicle is longer than a predetermined determination threshold after activating the blinkers of the own vehicle at the blinker operating position;
The vehicle control according to any one of claims 1 to 5, wherein the host vehicle is moved from the first lane to the second lane when it is determined that the inter-vehicle distance is longer than the predetermined determination threshold. Method. Equipped with a control device that controls driving when the vehicle changes lanes,
The control device is
Acquiring peripheral information of the own vehicle from a sensor provided on the own vehicle;
identifying an entry position located on a second lane adjacent to a first lane on which the own vehicle travels based on the peripheral information of the own vehicle and indicating a position where the own vehicle should enter;
Identifying a preceding vehicle located in front of the entry position on the second lane,
setting a winker operating position within a predetermined range located ahead of the preceding vehicle on the first lane;
From a state in which the own vehicle is traveling ahead of the preceding vehicle on the first lane, move the own vehicle onto the first lane at a speed that makes the relative speed of the own vehicle with respect to the preceding vehicle negative. run with
A vehicle control device for operating the winkers of the own vehicle at the winker operating position after the relative velocity becomes negative.

Images