JP2013148958A - Driving support device - Google Patents

Abstract

The flexibility of automatic control of the running state of a vehicle is improved.
A travel support device (100) can automatically control a travel state of a host vehicle (10). The driving support device has a probability that the preceding communication vehicle (20), which is a vehicle that travels ahead of the host vehicle and can communicate with the host vehicle, is on the same lane as the host vehicle during the automatic control. And a control content determination means (100) for determining the control content related to the automatic control according to the calculated probability.
[Selection] Figure 3

Description

  The present invention relates to a driving support device for a vehicle such as an automobile, and more particularly to a technical field of a driving support device for a vehicle including an inter-vehicle communication device.

  As this type of device, for example, it is determined whether the preceding vehicle is located in the own lane region or the other lane region, and if it is determined that the preceding vehicle is located in the own lane region, the vehicle follows the preceding vehicle. A device has been proposed that performs traveling and maintains the vehicle speed when it is determined that the preceding vehicle is located in the other lane region (see Patent Document 1).

  Alternatively, an apparatus that determines whether or not automatic control of the traveling state of the host vehicle is executable based on a plurality of types of determination items and determination conditions preset for each determination item has been proposed (Patent Document). 2). Alternatively, there has been proposed an apparatus for correcting a control gain related to vehicle speed control means for controlling the actual vehicle speed of the own vehicle so as to coincide with the target vehicle speed based on the relative running state of the own vehicle with respect to the preceding vehicle (patent). Reference 3).

Japanese Patent Application Laid-Open No. 06-191321 JP 2008-049888 A JP 2005-335550 A

  However, there is a technical problem that there is room for improvement in the background art described above.

  The present invention has been made in view of the above-described problems, for example, and an object of the present invention is to provide a travel support device capable of performing flexible travel support.

  In order to solve the above-mentioned problem, the travel support device of the present invention is a travel support device capable of performing automatic control of the travel state of the host vehicle, and travels in front of the host vehicle during the execution of the automatic control. In addition, the probability that a preceding communication vehicle that is a vehicle that can communicate with the host vehicle is on the same lane as the host vehicle is calculated, and the control content related to the automatic control is calculated according to the calculated probability. Control content determining means for determining is provided.

  According to the driving support device of the present invention, the driving support device can automatically control the driving state of the host vehicle (that is, the vehicle on which the driving support device is mounted) such as the speed and the inter-vehicle distance. . The automatic control is typically carried out by inputting an automatic control start command by the driver of the host vehicle.

  For example, the control content determination means including a memory, a processor, and the like is configured so that the preceding communication vehicle, which is a vehicle that travels in front of the own vehicle and can communicate with the own vehicle, is automatically The probability of existing on the same lane is calculated, and the control content related to automatic control is determined according to the calculated probability.

  “Communication is possible” means that information relating to the vehicle such as speed, acceleration, position, vehicle ID, and the like can be exchanged via, for example, inter-vehicle communication. The “probability of being in the same lane as the host vehicle” refers to, for example, the mutual speed between the speed of the preceding communication vehicle when the preceding communication vehicle has traveled the vehicle position in the past and the current speed of the own vehicle. What is necessary is just to calculate | require a correlation coefficient and to calculate as a probability corresponding to the calculated | required cross correlation coefficient. Note that the correspondence between the cross-correlation coefficient and the probability may be established by experiment or simulation.

  Here, according to the inventor's research, the following matters have been found. That is, when a plurality of vehicles are traveling in series, the behavior of the vehicle traveling forward is propagated to the vehicle traveling backward. Therefore, if the vehicle can travel in front of (not limited to immediately before) the vehicle and can acquire information related to the communication vehicle, which is a vehicle that can communicate with the vehicle, the automatic control of the traveling state of the vehicle can be performed. The quality can be improved. On the other hand, when the forward communication vehicle is traveling on a lane different from the own vehicle, if automatic control is performed according to the information related to the communication vehicle, the quality of the automatic control deteriorates. there is a possibility.

  Therefore, in the present invention, the control content relating to the automatic control is determined by the control content determination means in accordance with the probability that the preceding communication vehicle exists on the same lane as the own vehicle. The control content reflects the information related to If comprised in this way, while improving the quality of automatic control, the fall of the quality of this automatic control can be prevented.

  The control content includes, for example, acceleration / deceleration suppression control for suppressing the degree of acceleration / deceleration, deceleration control, provision of information to the driver of the host vehicle, and the like.

  In one aspect of the driving support device of the present invention, the control content determination means sets the calculated probability on the condition that communication with the preceding communication vehicle has continued for a predetermined time or more during the execution of the automatic control. In response, the control content related to the automatic control is determined.

  According to this aspect, communication vehicles that have temporarily entered the communicable range of the host vehicle can be excluded, and for example, the processing burden of the travel support device can be reduced, which is very advantageous in practice.

  The effect | action and other gain of this invention are clarified from the form for implementing demonstrated below.

It is a conceptual diagram which shows an example of the traveling condition of the own vehicle which concerns on embodiment. It is a block diagram which shows the structure of the driving assistance apparatus which concerns on embodiment. It is a flowchart which shows the prefetch control level-up process which concerns on embodiment. Flow chart showing pre-reading control level down processing according to the embodiment Specifically, for example, the control content determination means is the preceding communication vehicle as the probability that the preceding communication vehicle exists on the same lane as the own vehicle is higher. .

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment according to a travel support apparatus of the present invention will be described based on the drawings.

  For example, as shown in FIG. 1, the host vehicle 10 according to the embodiment is assumed to travel on a road following the preceding vehicle 30. FIG. 1 is a conceptual diagram illustrating an example of a traveling state of the host vehicle according to the embodiment.

  Here, the structure of the driving assistance apparatus 100 mounted in the own vehicle 10 is demonstrated with reference to FIG. FIG. 2 is a block diagram illustrating a configuration of the travel support apparatus according to the embodiment. Note that the travel support device 100 automatically receives the travel support start instruction from the driver of the host vehicle 10 (for example, when a travel support switch or the like is turned on), Implement control.

  In FIG. 2, the driving support device 100 includes a vehicle-to-vehicle communication system 101, a front vehicle & own lane recognition system 102, a front communication vehicle-compatible acceleration / deceleration control system 103, a vehicle-to-vehicle distance detection sensor 104, a preceding vehicle-to-vehicle distance control system 105, a target. An acceleration / deceleration calculation unit 106 and an acceleration / deceleration control system 107 are provided.

  The forward vehicle & own lane recognition system 102 is based on information (for example, speed, acceleration, position, vehicle ID, etc.) related to the forward communication vehicle 20 acquired via the inter-vehicle communication system 101. The probability of being on the same lane as the vehicle 10 is calculated.

  Specifically, for example, the forward vehicle & own lane recognition system 102 determines the speed of the forward communication vehicle 20 when the forward communication vehicle 20 has traveled the position of the own vehicle 10 in the past and the current own vehicle 10. The higher the cross-correlation coefficient with the speed, the higher the probability is output (that is, the higher the cross-correlation coefficient, the higher the probability that the forward communication vehicle 20 is on the same lane as the host vehicle 10).

  Alternatively, the forward vehicle & own lane recognition system 102 outputs a higher probability as the number of pieces of information related to the forward communication vehicle 20 that can be acquired via the inter-vehicle communication system 101 increases. More specifically, when, for example, speed, acceleration, position (GPS) information, and image sensor information related to the forward communication vehicle 20 are acquired, a relatively high probability is output. For example, only speed and acceleration information is output. Is obtained, a relatively low probability is output.

  The forward communication vehicle-compatible acceleration / deceleration control system 103 performs forward communication according to information related to the forward communication vehicle 20 acquired via the inter-vehicle communication system 101 and the probability calculated by the forward vehicle & own lane recognition system 102. A vehicle-corresponding target value (for example, an acceleration target value corresponding to the acceleration related to the forward communication vehicle 20) is determined.

  The inter-vehicle distance sensor 104 includes, for example, a millimeter wave radar and detects the inter-vehicle distance from the own vehicle 10 to the preceding vehicle 30.

  The preceding vehicle inter-vehicle distance control system 105 determines a preceding vehicle-corresponding target value (for example, an acceleration target value) such that the inter-vehicle distance detected by the inter-vehicle distance detection sensor 104 becomes a predetermined distance.

  The target acceleration / deceleration calculation unit 106 calculates a target acceleration / deceleration based on the target value for the forward communication vehicle and the target value for the preceding vehicle and, for example, an acceleration actuator or a brake actuator according to the calculated target acceleration / deceleration. The acceleration / deceleration control system 107 including the above is controlled.

  Particularly in the present embodiment, the target acceleration / deceleration calculation unit 106 determines the forward communication vehicle-corresponding target value according to the reliability of the forward communication vehicle-corresponding target value (that is, the probability calculated by the forward vehicle & own lane recognition system 102). Is to be reflected in the calculated target acceleration / deceleration.

  If the target value for the forward communication vehicle is not reflected at all in the target acceleration / deceleration, the target acceleration / deceleration is determined based only on the target value for the preceding vehicle. In this case, automatic acceleration / deceleration control (so-called Adaptive Cruise Control: ACC) is performed so that the distance between the host vehicle 10 and the preceding vehicle 30 is a predetermined distance (hereinafter referred to as “conventional ACC” as appropriate). ").

  Next, a driving support process performed by the driving support device 100 configured as described above will be described. Here, in particular, for the process of changing the degree of reflection of the target value for the forward communication vehicle (hereinafter referred to as “prefetch control level up process” or “prefetch control level down process” as appropriate), the flowcharts of FIGS. Will be described with reference to FIG.

(Prefetch control level-up process)
In FIG. 3, the driving support device 100 first determines whether or not the conventional ACC is being performed (that is, based on the inter-vehicle distance detected by the inter-vehicle distance detection sensor 104 without using the information related to the front communication vehicle 20. Whether or not automatic control of the traveling state of the host vehicle 10 is being carried out) is determined (step S101). When it is determined that the conventional ACC has not been performed (step S101: No), the driving support device 100 performs the process of step S101 again (that is, enters a standby state until the conventional ACC is performed).

  On the other hand, when it is determined that the conventional ACC is being performed (step S101: Yes), the driving support device 100 determines whether communication is established between the own vehicle 10 and the forward communication vehicle 20. (Step S102). Here, the driving support device 100 has established communication between the own vehicle 10 and the forward communication vehicle 20 on the condition that communication has continued between the own vehicle 10 and the forward communication vehicle 20 for a predetermined time or more. judge.

  When it determines with communication not being established between the own vehicle 10 and the front communication vehicle 20 (step Ss102: No), the driving assistance device 100 implements the process of step S101 again. On the other hand, when it is determined that communication is established between the host vehicle 10 and the forward communication vehicle 20 (step S102: Yes), the driving support device 100 is acquired via the inter-vehicle communication system 101, for example, the front Based on the position information of the communication vehicle 20, it is determined whether the inter-vehicle distance from the own vehicle 10 to the front communication vehicle 20 is less than the distance L (step S103).

  “Distance L” determines whether or not the target value for forward communication vehicle corresponding determined by the forward communication vehicle corresponding acceleration / deceleration control system 103 is reflected in the target acceleration / deceleration calculated by the target acceleration / deceleration calculation unit 106. It is a value and is set in advance as a fixed value or as a variable value according to some physical quantity or parameter. Such a “distance L” may be set, for example, as a distance such that the behavior of the front communication vehicle 20 affects the host vehicle 10.

  When it is determined that the inter-vehicle distance from the host vehicle 10 to the forward communication vehicle 20 is greater than or equal to the distance L (step S103: No), the driving support device 100 performs the process of step S101 again. On the other hand, when it is determined that the inter-vehicle distance from the own vehicle 10 to the forward communication vehicle 20 is less than the distance L (step S103: Yes), the driving support device 100 is calculated by the preceding vehicle & own lane recognition system 102. It is determined whether or not the probability is greater than or equal to probability P1 (step S104).

  When it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is less than the probability P1 (step S104: No), the driving support device 100 determines that the forward communication vehicle 20 is the same vehicle as the own vehicle 10. It is determined that the possibility of being on the line is low (in other words, the forward communication vehicle 20 is highly likely to be on a different lane from the own vehicle 10). In this case, the driving support device 100 provides the driver of the host vehicle 10 with information related to the front communication vehicle 20 acquired via the inter-vehicle communication system 101, for example, while continuing the conventional ACC (step). S109).

  When it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is equal to or higher than the probability P1 (step S104: Yes), the driving support device 100 is calculated by the preceding vehicle & own lane recognition system 102. It is determined whether or not the probability is greater than or equal to a probability P2 higher than the probability P1 (step S105).

  When it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is greater than or equal to the probability P2 (step S105: Yes), the driving support device 100 indicates that the forward communication vehicle 20 is the same vehicle as the own vehicle 10. It is determined that there is a high possibility of existing on the line.

  In this case, the driving support device 100 is configured to control the acceleration / deceleration control system for the forward communication vehicle on the condition that the traveling state of the host vehicle 10 is a steady state (for example, the acceleration / deceleration associated with the host vehicle 10 is within a predetermined allowable range). The target acceleration / deceleration calculation unit 106 is controlled so as to calculate the target acceleration / deceleration based on the target value for the forward communication vehicle determined by 103 and the target value for the preceding vehicle determined by the preceding vehicle inter-vehicle distance control system 105. (Step S106).

  As a result, in addition to the inter-vehicle distance from the own vehicle 10 to the preceding vehicle 30, the target acceleration / deceleration is calculated based on, for example, acceleration or the like related to the front communication vehicle 20 (step S107). In this case, before the inter-vehicle distance from the host vehicle 10 to the preceding vehicle 30 changes, it is possible to predict how the inter-vehicle distance will change with reference to, for example, the acceleration related to the forward communication vehicle 20. Therefore, acceleration or deceleration of the host vehicle 10 can be started earlier than in the conventional ACC. As a result, the degree of acceleration or deceleration is moderate as compared with the conventional ACC.

  In the process of step S105, when it is determined that the probability calculated by the forward vehicle & own lane recognition system 102 is less than the probability P2 (step S105: No), the driving support device 100 determines that the forward communication vehicle 20 is The possibility of existing on the same lane as the host vehicle 10 is determined to be, for example, medium.

  In this case, the driving support device 100 continues the conventional ACC, and, for example, when the front communication vehicle 20 decelerates, based on the front communication vehicle compatible target value determined by the front communication vehicle compatible acceleration / deceleration control system 103. The acceleration of the car 10 is stopped (step S108). As a result, the acceleration of the host vehicle 10 can be stopped earlier than the conventional ACC.

(Prefetch control level down process)
In FIG. 4, the driving support device 100 first has a target value for the forward communication vehicle determined by the acceleration / deceleration control system 103 for the forward communication vehicle, and a target value for the preceding vehicle determined by the inter-vehicle distance control system 105. Based on the above, it is determined whether or not the target acceleration / deceleration calculation unit 106 has calculated the target acceleration / deceleration (step S201).

  When it is determined that the target acceleration / deceleration is not calculated based on the target value for the forward communication vehicle and the target value for the preceding vehicle (step S201: No), the driving support device 100 performs the process of step S201 again. . On the other hand, when it is determined that the target acceleration / deceleration is calculated based on the target value for the forward communication vehicle and the target value for the preceding vehicle (step S201: Yes), the driving support device 100 starts the forward communication from the own vehicle 10. It is determined whether the inter-vehicle distance to the vehicle 20 is equal to or greater than the distance L, or communication between the host vehicle 10 and the forward communication vehicle 20 is interrupted (step S202).

  When it is determined that the inter-vehicle distance from the host vehicle 10 to the front communication vehicle 20 is equal to or greater than the distance L, or when it is determined that communication between the host vehicle 10 and the front communication vehicle 20 has been interrupted (step S202). : Yes), the driving support apparatus 100 performs predetermined transition control (step S205). As a result, the process proceeds to the conventional ACC (step S206).

  Here, in the case of the deceleration control of the host vehicle 10, when the jerk (jerk acceleration) is a predetermined value (or within a predetermined range), the predetermined shift control stops the control of the brake actuator and shifts to the conventional ACC. Means control. On the other hand, when the acceleration control of the host vehicle 10 is being performed, when the jerk is a predetermined value (or within a predetermined range), the acceleration request is returned to zero, and the conventional ACC is transferred.

  In the process of step S202, when it is determined that the inter-vehicle distance from the own vehicle 10 to the forward communication vehicle 20 is less than the distance L and communication between the own vehicle 10 and the forward communication vehicle 20 is established. (Step S202: Yes), the driving assistance apparatus 100 determines whether or not the probability calculated by the preceding vehicle & own lane recognition system 102 is less than the probability P2 (Step S203).

  When it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is greater than or equal to the probability P2 (step S203: No), the driving support device 100 performs the process of step S201 again.

  On the other hand, when it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is less than the probability P2 (step S203: Yes), the driving support device 100 calculates by the preceding vehicle & own lane recognition system 102. It is determined whether or not the obtained probability is less than the probability P1 (step S204).

  When it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is less than the probability P1 (step S204: Yes), the driving support device 100 performs predetermined transition control (step S209), For example, information related to the forward communication vehicle 20 acquired through the inter-vehicle communication system 101 is provided to the driver of the host vehicle 10 while performing the conventional ACC (step S210).

  On the other hand, when it is determined that the probability calculated by the preceding vehicle & own lane recognition system 102 is greater than or equal to the probability P1 (step S204: No), the driving support device 100 performs predetermined transition control (step S207). For example, when the forward communication vehicle 20 decelerates while performing the conventional ACC, the acceleration of the host vehicle 10 is stopped based on the forward communication vehicle-compatible target value determined by the forward communication vehicle-compatible acceleration / deceleration control system 103. (Step S208).

  The “front communication vehicle 20” and the “driving support device 100” according to the present embodiment are examples of the “preceding communication vehicle” and the “control content determination unit” according to the present invention.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the scope or spirit of the invention that can be read from the claims and the entire specification. Is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 10 ... Own vehicle, 20 ... Forward communication vehicle, 30 ... Preceding vehicle, 100 ... Driving support device, 101 ... Inter-vehicle communication system, 102 ... Forward vehicle & own lane recognition system, 103 ... Acceleration / deceleration control system for forward communication vehicle, DESCRIPTION OF SYMBOLS 104 ... Inter-vehicle distance detection sensor, 105 ... Leading vehicle inter-vehicle distance control system, 106 ... Target acceleration / deceleration calculation part, 107 ... Acceleration / deceleration control system

Claims (5)

A driving support device capable of performing automatic control of the driving state of the host vehicle,
During the execution of the automatic control, calculating the probability that a preceding communication vehicle that is traveling ahead of the host vehicle and can communicate with the host vehicle is on the same lane as the host vehicle, A driving support apparatus comprising control content determining means for determining the control content related to the automatic control according to the calculated probability.   The travel support apparatus according to claim 1, wherein the control content includes acceleration / deceleration suppression control.   The travel support apparatus according to claim 1, wherein the control content includes deceleration control.   The driving support apparatus according to claim 1, wherein the control content includes provision of information to a driver of the host vehicle.   The control content determination means determines the control content related to the automatic control according to the calculated probability on the condition that communication with the preceding communication vehicle has continued for a predetermined time or more during the execution of the automatic control. The driving support device according to claim 1, wherein the driving support device is a vehicle.

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