JP2020191032A - Driving support method and driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To change a lane to an adjacent lane even if the own vehicle may lose the opportunity to change the lane in a scene in which the own vehicle requests a lane change to an adjacent lane flowing from a congested lane. Try to create an opportunity. SOLUTION: A lane change controller 43 for performing lane change control for changing a lane of a vehicle V from the own lane SL to an adjacent lane NL is provided, and a traveling support method is performed according to the following procedure. When the own vehicle V having the intention of changing lanes to the adjacent lane NL stops in the own lane SL, the inter-vehicle distance from the preceding vehicle immediately before the own vehicle V is secured at a longer distance than usual and stopped. Among other vehicles traveling in the adjacent lane NL, the presence or absence of another vehicle having an intention to change lanes toward the own lane SL is detected. Among the detected other vehicles, the other vehicle traveling behind the own vehicle V is replaced and the target vehicle for the lane change is set. Prior to the lane change of the own vehicle V, the lane change concession control for prompting the lane change of the target vehicle is executed by guiding the target vehicle to the rear of the own vehicle V by moving forward of the own vehicle V. [Selection diagram] Fig. 3

Description

The present disclosure relates to a driving support method and a driving support device.

Conventionally, the command signal input from the input device is input to the traveling support signal generation unit. Based on the input command signal, the driving support signal generation unit causes the motion creating means stored in the driving motion generating means storage unit to process what kind of driving motion is selected, and the driving motion is based on the determination. From the model storage, a model of the driving behavior that the vehicle should follow is called. The driving support signal generation unit uses the data acquired in real time by the sensing device to select an appropriate driving operation model from the driving operation model storage unit at any time. Then, the traveling support signal is output to the output device. As a result, a driving support device is known in which a recommended operation is displayed to the driver by the output device and the vehicle is controlled via the control device and the drive unit (see, for example, Patent Document 1). ..

Japanese Patent Application Laid-Open No. 2000-20988

In the conventional device, when moving a vehicle (changing lanes), whether or not it is possible to move (changing lanes) using the distance and relative speed to the object (vehicle or obstacle) to which the vehicle is moved. I try to judge. In other words, since the lane change judgment is made based on the relative speed between the own vehicle and the other vehicle, even if the other vehicle wants to change lanes, the lane change of the own vehicle is made until the other vehicle confirms that it slows down. I can't make a judgment. Therefore, if another vehicle changes lanes in front of the own vehicle, the own vehicle cannot change lanes, which is a problem.

This disclosure focuses on the above issues, and is a scene in which the vehicle may lose the opportunity to change lanes in a scene in which the vehicle requests a lane change in an adjacent lane flowing from a congested lane. However, the purpose is to create an opportunity for the vehicle to change lanes to the adjacent lane.

In order to achieve the above object, the present disclosure includes a controller for lane change control for changing the lane from the own lane to an adjacent lane, and is a traveling support method according to the following procedure.
When a vehicle having an intention to change lanes to an adjacent lane stops in the lane, the vehicle stops with a distance longer than the normal stop distance with the preceding vehicle immediately before the vehicle.
When the vehicle stops with a wider distance from the preceding vehicle than usual, the presence or absence of another vehicle traveling in the adjacent lane that has the intention of changing lanes toward the own lane is detected.
When another vehicle having an intention to change lanes is detected, the other vehicle traveling behind the own vehicle among the detected other vehicles is replaced and the target vehicle for the lane change is set.
When the target vehicle is identified, the lane change concession control for prompting the lane change of the target vehicle is executed by guiding the target vehicle to the rear of the own vehicle by moving forward of the own vehicle prior to the lane change of the own vehicle.

Because the above solution is adopted, even if the vehicle may lose the opportunity to change lanes in the scene where the vehicle requests a lane change from the congested lane to the adjacent lane, the vehicle is in the adjacent lane. You can create an opportunity to change lanes to.

FIG. 5 is an overall system diagram showing an automatic driving control system to which the driving support method and the driving support device of the first embodiment are applied. It is a control block diagram which shows the lane change controller provided in the automatic driving control unit. It is a flowchart which shows the flow of the lane change control processing which is executed by the lane change controller which has in the automatic driving control unit. It is a calculation explanatory drawing which shows the calculation explanation of the inter-vehicle distance set value that a stopped own vehicle starts forward movement. It is a characteristic diagram which shows the assumed example of the deceleration behavior (position, speed, acceleration, jerk) when the target vehicle of the replacement lane change decelerates toward the own vehicle. In the background technology, it is an operation explanatory diagram which shows that it is difficult to change a lane even if there is an intention to change a lane to an adjacent lane in which an own vehicle traveling in a congested lane is flowing. It is an operation explanatory diagram which shows the situation which loses the opportunity of changing lanes even if there is another vehicle which has the intention of changing lanes in the adjacent lane in the background technology. It is an operation explanatory diagram which shows the exchange lane change action in this disclosure invention which changes the lane of the own vehicle from the congested own lane to the adjacent lane flowing. It is an operation explanatory view which shows the exchange lane change action in Example 1 which changes the lane of the own vehicle from the congested own lane to the adjacent lane flowing.

Hereinafter, a mode for implementing the traveling support method and the traveling support device according to the present disclosure will be described with reference to the first embodiment shown in the drawings.

When the automatic driving mode is selected, the driving support method and the driving support device in the first embodiment perform driving / braking / steering angle operation support control according to the target driving trajectory, and the automatic driving vehicle (driving support) travels by automatic driving. It is applied to an example of a vehicle). Hereinafter, the configuration of the first embodiment will be described separately as “overall system configuration”, “lane change controller control block configuration”, and “lane change control processing configuration”.

[Overall system configuration]
FIG. 1 shows an automatic driving control system to which the driving support method and the driving support device of the first embodiment are applied. Hereinafter, the overall system configuration will be described with reference to FIG.

As shown in FIG. 1, the automatic driving control system AD includes an in-vehicle sensor 1, a map data storage unit 2, an external data communication device 3, an automatic driving control unit 4, an actuator 5, and a display device 6. I have.

The vehicle-mounted sensor 1 includes a camera 11, a radar 12, a GPS 13, and an vehicle-mounted data communication device 14. The sensor information acquired by the in-vehicle sensor 1 is output to the automatic driving control unit 4.

The camera 11 is a surrounding recognition sensor that realizes a function of acquiring surrounding information of the own vehicle such as the own lane, an adjacent lane, a vehicle around the own vehicle, and a pedestrian around the own vehicle from image data as a function required for automatic driving. .. The camera 11 is configured by combining, for example, a front recognition camera, a rear recognition camera, a right recognition camera, a left recognition camera, and the like of the own vehicle.

In this camera 11, the vehicle's on-road object, lane, own vehicle's off-road object (road structure, preceding vehicle, following vehicle, oncoming vehicle, surrounding vehicle, pedestrian, bicycle, two-wheeled vehicle), own vehicle's driving road (road) White lines, road boundaries, stop lines, pedestrian crossings), road signs (speed limit), etc. are detected.

The radar 12 is a distance measuring sensor that realizes a function of detecting the presence of an object around the vehicle and a function of detecting a distance to an object around the vehicle as a function required for automatic driving. Here, "radar 12" is a general term including a radar using radio waves, a rider using light, and a sonar using ultrasonic waves. As the radar 12, for example, a laser radar, a millimeter wave radar, an ultrasonic radar, a laser range finder, or the like can be used. The radar 12 is configured by combining, for example, the front radar, the rear radar, the right radar, the left radar, and the like of the own vehicle.

The radar 12 detects the positions of objects on the vehicle's road and objects outside the vehicle's road (road structure, preceding vehicle, following vehicle, oncoming vehicle, surrounding vehicle, pedestrian, bicycle, motorcycle), and at the same time. The distance to each object is detected.

The GPS 13 is a vehicle position sensor that has a GNSS antenna 13a and detects the position (latitude / longitude) of the vehicle while the vehicle is stopped / running by using satellite communication. In addition, "GNSS" is an abbreviation for "Global Navigation Satellite System", and "GPS" is an abbreviation for "Global Positioning System".

The in-vehicle data communication device 14 wirelessly communicates with the external data communication device 3 via the transmission / reception antennas 3a and 14a to obtain information that cannot be acquired from the in-vehicle sensor 1 of the own vehicle or map data from the outside. It is an external data sensor to be acquired.

Here, in the case where the "external data communication device 3" is, for example, a data communication device mounted on another vehicle traveling around the own vehicle, vehicle-to-vehicle communication is performed between the own vehicle and the other vehicle. Through this vehicle-to-vehicle communication, among various information held by other vehicles, information necessary for the own vehicle can be acquired by a request from the in-vehicle data communication device 14.

Further, when the "external data communication device 3" is, for example, a data communication device provided in the infrastructure equipment, infrastructure communication is performed between the own vehicle and the infrastructure equipment. Through this infrastructure communication, among various information possessed by the infrastructure equipment, information necessary for the own vehicle can be acquired by a request from the in-vehicle data communication device 14. For example, if the map data stored in the map data storage unit 2 has insufficient information or information changed from the map data, the missing information / changed information can be supplemented. It is also possible to acquire traffic information such as traffic congestion information and travel regulation information on the target travel trajectory on which the vehicle is scheduled to travel.

The map data storage unit 2 is composed of an in-vehicle memory in which so-called electronic map data, in which latitude and longitude are associated with map information, is stored. The map data stored in the map data storage unit 2 is high-precision map data having a level of accuracy that allows recognition of each lane on a road having at least a plurality of lanes. By using this high-precision map data, it is possible to draw a target driving locus of which lane the own vehicle will drive in a plurality of lanes in automatic driving. Then, when the own vehicle position detected by GPS 13 is recognized as the own vehicle position information by the automatic driving control unit 4, high-precision map data centered on the own vehicle position is transmitted from the map data storage unit 2 to the automatic driving control unit. It is sent to 4.

Here, the "high-precision map data" has road information associated with each point, and the road information is defined by a node and a link connecting the nodes. The road information includes information for identifying a road according to the position / area of the road, road type for each road, lane width for each road, and road shape information. The road information is stored in association with the location of the intersection, the approach direction of the intersection, the type of the intersection, and other information related to the intersection for each identification information of each road link. In addition, the road information includes the road type, lane width, road shape, whether or not to go straight, the priority relationship of progress, whether or not to pass (whether or not to enter the adjacent lane), speed limit, and sign for each identification information of each road link. , Other road information is associated and stored.

The automatic driving control unit 4 is a unit that integrates automatic driving control, and includes a target traveling locus calculation controller 40, an actuator drive controller 41, a display controller 42, and a lane change controller 43 (controller).

The target travel locus calculation controller 40 has a function of integratedly processing input information from the vehicle-mounted sensor 1 and the map data storage unit 2 to generate a target travel locus and a target vehicle speed profile (including an acceleration / deceleration profile). That is, the target travel locus based on the travel lane level from the current location to the destination is generated based on the high-precision map data from the map data storage unit 2, a predetermined route search method, etc., and the target vehicle speed along the target travel locus. Generate profile etc. Furthermore, if it is determined that automatic driving cannot be maintained based on the sensing result around the vehicle by the in-vehicle sensor 1 while the vehicle is stopped / traveling along the target traveling trajectory, the target driving is performed based on the sensing result around the vehicle. The trajectory, target vehicle speed profile, etc. are sequentially corrected.

When the target travel locus is generated by the target travel locus calculation controller 40, the actuator drive controller 41 calculates and calculates the drive command value / braking command value / steering angle command value so as to travel along the target travel locus. The command value is output to each actuator. That is, the calculation result of the drive command value is output to the drive actuator 51, the calculation result of the braking command value is output to the braking actuator 52, and the calculation result of the steering angle command value is output to the steering angle actuator 53. The actuator 5 includes a drive actuator 51 that controls the driving force output to the driving wheels, a braking actuator 52 that controls the braking force applied to the driving wheels and the trailing wheels, and a rudder that controls the steering angle of the steering wheels. It has an angular actuator 53.

The display controller 42 inputs target travel locus information, own vehicle position information, destination information, and the like generated by the target travel locus calculation controller 40, and displays a map, a road, a target travel locus, and itself on the display screen of the display device 6. Outputs a command that displays the vehicle position and destination in an easy-to-see manner. Here, the "display device 6" displays on the screen where the vehicle is moving on the map while the vehicle is stopped / running by automatic driving, and provides the driver and occupants with visual information on the vehicle position. Refers to a device.

The lane change controller 43 performs lane change control based on a predetermined control rule when changing a lane from its own lane to an adjacent lane. Here, the "predetermined control rule" is the distance between the vehicle and the preceding vehicle immediately before the vehicle when the vehicle having the intention of changing lanes to the adjacent lane stops in the vehicle lane. Secure a longer distance and stop. When the vehicle stops with a wider distance from the preceding vehicle than usual, the presence or absence of another vehicle traveling in the adjacent lane that has the intention of changing lanes toward the own lane is detected. When another vehicle having an intention to change lanes is detected, the other vehicle traveling behind the own vehicle among the detected other vehicles is replaced and the target vehicle for the lane change is set. When the target vehicle is identified, the lane that precedes the lane change of the own vehicle and executes the lane change concession control that prompts the target vehicle to change lanes by guiding the target vehicle to the rear of the own vehicle by moving forward. The change control rule.

[Control block configuration of lane change controller]
FIG. 2 shows a lane change controller 43 included in the automatic driving control unit 4. Hereinafter, the control block configuration of the lane change controller 43 will be described with reference to FIG.

As shown in FIG. 2, the lane change controller 43 includes the own lane change intention detection processing unit 43a, the stopped vehicle distance securing processing unit 43b, the surrounding situation recognition unit 43c, and the other lane change intention detection processing unit 43d. , The target vehicle identification processing unit 43e, and the like. A lane change concession start determination unit 43f, a lane change concession processing unit 43g, a lane change start determination processing unit 43h, and a lane change concession processing unit 43i are provided.

The own lane change intention detection processing unit 43a detects whether the own vehicle has an intention to change lanes to an adjacent lane or has no intention to change lanes.

Here, the intention to change lanes to the adjacent lane of the own vehicle is detected by using, for example, the following detection methods (a) and (b).
(a) Detection of lane change intention based on driver's request It is detected when the driver manually intervenes in the vehicle driving manual intervention information is acquired and the vehicle is changed to the adjacent lane. For example, the driver may detect the intention to change lanes of the own vehicle by turning on the blinkers, or the driver may detect the intention to change lanes of the own vehicle by operating the driver to move laterally to approach the adjacent lane.
(b) Detection of lane change intention based on system request The lane change command information is acquired from the target travel locus calculation controller 40, and the lane change command information is detected when the vehicle is changed to the adjacent lane by automatic driving. For example, the intention to change the lane of the own vehicle may be detected by the flag signal output when the determination of the lane change is made, or the target lane change calculated by the target travel locus calculation controller 40 may be transferred to the adjacent lane. The intention to change lanes may be detected.

When the own vehicle having the intention of changing lanes to the adjacent lane stops in the own lane, the stop inter-vehicle distance securing processing unit 43b sets the inter-vehicle distance from the preceding vehicle immediately before the own vehicle to a distance longer than the normal stop inter-vehicle distance. Secure and stop. Here, the "normal time" refers to a driving situation in which the vehicle is driven by the vehicle-to-vehicle distance maintenance control while maintaining the distance between the vehicle and the preceding vehicle without performing the lane-change control by the lane change controller 43. "Distance longer than the normal stop vehicle distance" means that, for example, an additional distance that allows one vehicle to enter is added to the stop vehicle distance that is normally secured between the own vehicle and the preceding vehicle. The inter-vehicle distance (= set stop inter-vehicle distance). The distance between vehicles that normally stops varies depending on the type of road, such as general roads and expressways, but the vehicle does not interfere with the preceding vehicle when the preceding vehicle slows or stops on a congested road that repeatedly slows or stops. It is set to a distance that can be followed with a margin.

In the stopped inter-vehicle distance securing processing unit 43b, when the own vehicle having the intention of changing lanes to the adjacent lane stops in the own lane, has the set stop inter-vehicle distance been secured as the inter-vehicle distance with the preceding vehicle immediately before the own vehicle? Judge whether or not. Then, when the set stop distance cannot be secured, the stop of the own vehicle is maintained even if the preceding vehicle moves forward. Furthermore, when the own vehicle that has the intention of changing lanes to the adjacent lane stops by securing the inter-vehicle distance set as the inter-vehicle distance between the own vehicle and the preceding vehicle, whether or not the following vehicle immediately after the own vehicle is stopped is stopped. to decide. Then, when it is determined that the following vehicle is stopped, the blinker of the own vehicle is activated.

The surrounding situation recognition unit 43c recognizes the surrounding situation of the own vehicle based on the information acquired from the camera 11 and the radar 12 mounted on the own vehicle, and uses the own vehicle surrounding recognition information for detecting the intention to change another lane. Output to unit 43d. For example, the situation in which a plurality of other vehicles existing around the own vehicle are traveling is grasped by using the image information from the camera 11 and the signal information from the radar 12.

The other lane change intention detection processing unit 43d inputs the own vehicle surrounding recognition information from the surrounding situation recognition unit 43c, and has an intention to change the lane toward the own lane among a plurality of other vehicles traveling in the adjacent lane. Detects if a car exists.

Here, the detection of another vehicle having an intention to change lanes is performed using, for example, the following detection methods (a) to (d).
(a) Detected when another vehicle turns on the blinker.
(b) Detects the behavior of another vehicle toward the own lane and detects that preparations for changing lanes have begun.
(c) Detects when another vehicle accelerates or decelerates toward the inter-vehicle space in its own lane.
(d) Detect by inputting information that another vehicle plans to change lanes to its own lane through vehicle-to-vehicle communication between the own vehicle and another vehicle.

When the target vehicle identification processing unit 43e detects another vehicle having a lane change intention toward the own lane by the other lane change intention detection processing unit 43d, the target vehicle identification processing unit 43e travels behind the own vehicle among the detected other vehicles. Other vehicles to be replaced are specified as the target vehicles for lane change.

When the target vehicle identification processing unit 43e identifies the target vehicle for the replacement lane change, the lane change concession start determination unit 43f determines that the inter-vehicle distance to the target vehicle traveling in the adjacent lane is the own vehicle after the target vehicle starts decelerating. It is determined whether or not the vehicle-to-vehicle distance set value capable of stopping at the rear position of is reached. Then, when it is determined that the target vehicle has reached the inter-vehicle distance set value, the lane change concession control by the forward movement of the stopped own vehicle is started.

Here, the "inter-vehicle distance set value" is the inter-vehicle distance between the own vehicle and the target vehicle, which is set as a concession control start threshold value for starting the forward movement of the own vehicle toward the preceding vehicle. The "inter-vehicle distance set value" determines the assumed deceleration when it is assumed that the vehicle speed reduction gradient decelerates at a gentle angle when the target vehicle starts decelerating, and the vehicle speed of the target vehicle is high based on the assumed deceleration. Set the inter-vehicle distance to be longer. Here, "gentle" means that when an empty space is formed behind the own vehicle during manual driving, the vehicle speed decrease gradient when the target vehicle traveling behind the own vehicle starts changing lanes toward the empty space. It means that the gradient angle is smaller than the angle (deceleration).

When the lane change concession processing unit 43g determines the start of concession control by the lane change concession start determination unit 43f, the lane change concession processing unit 43g guides the target vehicle to the rear of the own vehicle by moving forward of the own vehicle prior to the lane change of the own vehicle. By doing so, lane change concession control that prompts the lane change of the target vehicle is executed.

Here, "lane change concession control" means that the front end of the own vehicle is adjacent to the vacant area of the own lane reserved in advance in front of the own vehicle that is stopped with a longer distance from the preceding vehicle than usual. Control that moves forward while facing the lane and stands by at the position where the vehicle has moved forward. That is, in the vacant area of the own lane, the movement is started by the slow forward movement of the own vehicle, the distance between the vehicle and the following vehicle of the own vehicle is gradually increased, and the front end of the own vehicle is directed toward the adjacent lane at the terminal position where the forward movement is made. Control to stand by. The term "normal" refers to a driving situation in which the lane change controller 43 does not control the lane change and maintains the inter-vehicle distance from the preceding vehicle while driving under the inter-vehicle distance maintenance control, which is the same as the "normal time". Used in the sense.

The lane change start determination processing unit 43h approaches the target vehicle toward the inter-vehicle space created behind the own vehicle as the vehicle moves forward under the lane change concession control, and the target vehicle enters the rear of the own vehicle. Judge whether or not the vehicle is decelerating. That is, it is a condition for starting the lane change of the own vehicle that the target vehicle is decelerating so as to enter the rear of the own vehicle.

The lane change processing unit 43i determines that the target vehicle is decelerating so as to enter behind the own vehicle by the lane change start determination processing unit 43h, that is, the target vehicle intends to change lanes to the own lane. When it is confirmed, the lane change of the own vehicle to the adjacent lane is started so as to replace the target vehicle. In addition, the own vehicle starts changing lanes from a state in which the front end of the own vehicle stands by toward the adjacent lane in the empty area of the own lane.

Here, in the lane change controller 43, when it is determined that the own vehicle has an intention to change the lane from the congested own lane to the adjacent lane, the other vehicle traveling in the adjacent lane is more than the own vehicle. Monitor the distance between the vehicle and the following vehicle traveling behind and the relative speed. Then, when it is determined that the own vehicle can change lanes to the adjacent lane based on the inter-vehicle distance and the relative speed with the following vehicle, the independent lane change to the adjacent lane of the own vehicle is started. Note that "single lane change" is different from "replacement lane change" that specifies the target vehicle, and means changing lanes to the adjacent lane in which the own vehicle is flowing independently without specifying the target vehicle.

[Lane change control processing configuration]
FIG. 3 is a flowchart showing the flow of the lane change control process executed by the lane change controller 43 provided in the automatic driving control unit 4. Hereinafter, the processing configuration in each step of FIG. 3 will be described. The own vehicle traveling in the own lane is referred to as "own vehicle V", and the target vehicle for changing the lane to be replaced with the own vehicle V by another vehicle traveling in the adjacent lane is referred to as "vehicle A". Then, the following vehicle immediately after the own vehicle V in the other vehicle traveling in the own lane is called "vehicle B", and the preceding vehicle traveling in front of the own vehicle V in the other vehicle traveling in the own lane is called "vehicle B". It is called "Vehicle C".

In step S1, following the determination that the vehicle A having the intention of changing lanes has not been detected at the start or in S11, whether or not the own vehicle V has the intention of changing lanes from the own lane to the adjacent lane is determined. to decide. If YES (there is an intention to change the lane of the own vehicle V), the process proceeds to step S2, and if NO (there is no intention to change the lane of the own vehicle V), the process proceeds to the end.

In step S2, following the determination in S1 that the vehicle V has an intention to change lanes, it is determined whether or not the condition that the vehicle V can change lanes to the adjacent lane is detected. If YES (detection of lane changeable condition), the process proceeds to step S3, and if NO (non-detection of lane changeable condition), the process proceeds to step S5. Here, the "lane changeable condition" monitors the inter-vehicle distance and the relative speed of the other vehicle traveling in the adjacent lane with the following vehicle traveling behind the own vehicle. Then, when it is detected that the following vehicle exists in a lane changeable area in which the time required to reach the own vehicle is longer than the time required for the own vehicle to complete the lane change to the adjacent lane, the lane is detected. Judge that the changeable condition is satisfied.

In step S3, following the determination that the lane changeable condition is detected in S2, the single lane change of the own vehicle V is executed toward the inter-vehicle space of the adjacent lane, and the process proceeds to step S4. That is, when changing lanes to the adjacent lane in which the stopped vehicle V is flowing, if there is a margin even if the vehicle V changes lanes due to the relative relationship with the following vehicle, the normal single lane change Is executed.

In step S4, following the execution of the lane change of the own vehicle V in S3, it is determined whether or not the own vehicle V has completed the lane change to the adjacent lane. If YES (lane change completed), the process proceeds to the end, and if NO (lane change not completed), the determination in step S4 is repeated. The "lane change end" is determined by, for example, monitoring the self-position of the own vehicle V, moving laterally toward the adjacent lane, and confirming that the own vehicle V has reached the target position for the lane change in the adjacent lane. To do.

In step S5, following the determination that the lane changeable condition is not detected in S2, it is determined whether or not the set stop inter-vehicle distance is secured as the inter-vehicle distance between the own vehicle V and the vehicle C. If YES (the set stop vehicle distance is secured), the process proceeds to step S11, and if NO (the set stop vehicle distance is not secured), the process proceeds to step S6.

In step S6, following the determination that the set stop inter-vehicle distance in S5 is not secured, when the own vehicle V having the intention of changing lanes to the adjacent lane stops, the vehicle that is the preceding vehicle immediately before the own vehicle V The vehicle stops with a wider distance from C than usual, and the process proceeds to step S7.

In step S7, following the stop in S6 with the inter-vehicle distance wider than usual, or the stop-maintenance of the own vehicle V in S8, the measured value of the stop-to-vehicle distance between the own vehicle V and the vehicle C is the set stop inter-vehicle distance. Judge whether or not it is the above. If YES (measured value of distance between stopped vehicles ≧ set distance between stopped vehicles), the process proceeds to step S9, and if NO (measured value of distance between stopped vehicles <set distance between stopped vehicles), the process proceeds to step S8.

In step S8, following the determination that the measured value of the distance between the stopped vehicles in S7 <the set distance between the stopped vehicles, even if the vehicle C moves forward by slowing down in the congested lane, the vehicle V does not follow the vehicle C. The stop is maintained and the process proceeds to step S7.

In step S9, following the determination that the measured value of the distance between the stopped vehicles in S7 ≥ the set distance between the stopped vehicles, it is determined whether or not the vehicle B, which is the following vehicle immediately after the own vehicle V, is stopped. If YES (vehicle B is stopped), the process proceeds to step S10, and if NO (vehicle B is not stopped), the determination in step S9 is repeated.

In step S10, following the determination that the vehicle B in S9 is stopped, the blinker of the own vehicle V is put out and the process proceeds to the end. Here, confirming that the vehicle B is stopped and operating the blinker of the own vehicle V recognizes to the vehicle B that the own vehicle V has an intention to change lanes to the adjacent lane. This is to get them to work. If the winker of the own vehicle V has already been operated before the vehicle B is determined to stop, the winker operation is continued.

In step S11, following the determination that the set stop inter-vehicle distance in S5 is secured, has the vehicle A having the intention of changing lanes to the own lane been detected among the following vehicles traveling in the adjacent lane in which the vehicle is flowing? Judge whether or not. If YES (detection of vehicle A), the process proceeds to step S12, and if NO (non-detection of vehicle A), the process returns to step S1.

In step S12, following the determination that the vehicle A is detected in S11 or the vehicle A in S13 has not reached the inter-vehicle distance according to the set value, the own vehicle V and the replacement lane are changed. The calculation of the inter-vehicle distance set value with the target vehicle A is executed, and the process proceeds to step S13.

Here, a calculation example of the inter-vehicle distance setting value D _A between the vehicle V and the vehicle A, will be described with reference to FIGS. Distance D _B to the front end of the rear end and the vehicle B of the vehicle _V, the total length of L _B of the vehicle _B, and the rear margin of the vehicle B X, a speed of the vehicle A V (A), the deceleration jerk J, The maximum deceleration is αmax (assumed deceleration). Then, as shown in the assumed example of the deceleration behavior of FIG. 5, the vehicle A decreases the vehicle speed V (A) with a gentle downward gradient without operating the sudden braking, and the deceleration increase section t1 is acceptable. It is assumed that the scene approaches the own vehicle V by the constant deceleration section t2 and the deceleration reduction section t3.
In this case, the inter-vehicle distance set value DA between the own vehicle V and the vehicle _A is
_{D A = D B + L B} + X + V (A) t1 + (1/2) V (A) t2 ... (1)
_{D A = D B + L B} + X + V (A) [(αmax / J) + {(V (A) -αmax 2 / J) / (2αmax)}] ... (2)
Will be. However, in Eq. (1), {V (A) t1 + (1/2) V (A) t2} is the deceleration distance. Then, using the maximum deceleration αmax and assumed deceleration (2), the vehicle speed V (A) is higher long made headway distance setting value D _A is calculated. For example, if the vehicle B who is 7m behind the passenger, the vehicle A is at a speed 40 km / h, the inter-vehicle distance setting value D _A, is calculated to be about 67.3m (2) below.

In step S13, following the calculation of the inter-vehicle distance setting value in S12, the vehicle A is judged whether the host vehicle has reached the inter-vehicle distance according to the inter-vehicle distance setting value D _A. If YES (vehicle A has reached the inter-vehicle distance according to the set value), the process proceeds to step S13, and if NO (vehicle A has not reached the inter-vehicle distance according to the set value), the process returns to step S12.

In step S14, following the determination that the vehicle A has reached the inter-vehicle distance according to the set value in S13, the head (front end of the vehicle) of the own vehicle V is moved within the own lane area between the own vehicle V and the vehicle A. The vehicle advances while swinging in the direction of the adjacent lane, and proceeds to step S15.

In step S15, it is determined whether or not the vehicle A has decelerated so as to enter behind the own vehicle V, following the lane change concession operation due to the forward traveling of the own vehicle V in S13. If YES (detection of lane change deceleration of vehicle A), the process proceeds to step S16, and if NO (detection of lane change deceleration of vehicle A), the determination of step S15 is repeated.

In step S16, following the determination that the lane change deceleration of vehicle A in S15 is detected, the diagonally forward position of vehicle V in the adjacent lane is set as the target position for lane change, and the lane change of vehicle V toward the target position is set. Is started, and the process proceeds to step S17.

In step S17, it is determined whether or not the own vehicle V has completed the lane change to the adjacent lane following the start of the lane change of the own vehicle V in S16. If YES (lane change completed), the process proceeds to the end, and if NO (lane change not completed), the determination in step S17 is repeated.

Next, "background technology and problem-solving measures" will be explained. Then, the actions of the first embodiment are "lane change control processing action", "stopped vehicle distance securing action", "lane change concession control and lane change control action of own vehicle", and "lane change action of own vehicle and vehicle". Will be explained separately.

[Background technology and problem-solving measures]
When the own vehicle V is in the congested lane, if the own lane is maintained, the arrival time to the destination will be later than the scheduled time, so the vehicle is flowing from the congested lane. The demand for changing lanes to adjacent lanes is high. However, as shown in FIG. 6, in the scene where the own vehicle V is changed to the adjacent lane NL flowing from the congested own lane SL, the own vehicle V in the stopped state or the slow-moving state is started to start the adjacent lane NL. You need to change lanes to. For this reason, the time required from the start to the end of the lane change by the own vehicle V becomes longer than in the case of changing the lane from the flowing own lane to the adjacent lane. On the other hand, in the flowing adjacent lane, which is the lane change destination of the own vehicle V, a plurality of vehicles travel one after another without decelerating while maintaining a predetermined inter-vehicle distance, and pass by the own vehicle V. go. For this reason, even if the own vehicle V has an intention to change lanes to the adjacent lane, it is difficult to find a situation in which the required lane change time of the own vehicle V can be secured on the adjacent lane side. It can be said that there are few opportunities to change lanes.

On the other hand, in the background technique described in Patent Document 1, when changing the lane of a vehicle, the distance to the moving destination object (vehicle or obstacle) and the relative speed are used to change the lane. I try to judge whether it is possible or not. In other words, since the lane change judgment is made based on the relative speed between the own vehicle and the other vehicle, even if the own vehicle wants to change lanes, the lane change of the own vehicle is made until it is confirmed that the other vehicle slows down. I can't make a judgment.

Therefore, for example, there is a possibility that the own vehicle can change lanes to the adjacent lane only when the other vehicle intends to change lanes to the own lane and the other vehicle slows down by itself. However, as shown in FIG. 7, when the vehicle A having the intention of changing lanes to the own lane SL changes lanes ahead of the own vehicle V, the own vehicle V intends to change lanes to the adjacent lane NL. However, vehicle A obstructs the lane change course and cannot change lanes. Therefore, even if the vehicle A intended to change lanes to the own lane SL is found, the own vehicle V loses the opportunity to change lanes to the adjacent lane NL.

In this disclosure, in response to the above problem, when it is desired to change lanes to the adjacent lane NL flowing through the own vehicle V, it is possible to find another vehicle that changes lanes from the adjacent lane NL to the own lane SL, but the lane cannot be changed. It will be a breakthrough. Furthermore, if you find another vehicle that changes lanes from the adjacent lane NL to your own lane SL, you can create a situation that guides the other vehicle to the rear of your vehicle V and encourages the other vehicle to change lanes. I focused on the fact that it is a necessary measure so that it will not be lost.

Based on the above points of interest, the present disclosure includes a lane change controller 43 that performs lane change control for changing the lane of the own vehicle V from the own lane SL to the adjacent lane NL, and is a traveling support method according to the following procedure. When the own vehicle V, which has the intention of changing lanes to the adjacent lane NL, stops in the own lane SL, the distance between the vehicle and the preceding vehicle (vehicle C) immediately before the vehicle V is set to be longer than the normal stop distance. Secure and stop. When the vehicle stops with a larger distance from the preceding vehicle (vehicle C) than usual, the presence or absence of another vehicle traveling in the adjacent lane NL and having an intention to change lanes toward the own lane SL is detected. When another vehicle having an intention to change lanes is detected, the other vehicle traveling behind the own vehicle V among the detected other vehicles is replaced and the target vehicle for lane change (vehicle A) is set. When the target vehicle (vehicle A) is identified, the target vehicle (vehicle A) is guided to the rear of the own vehicle V by moving forward of the own vehicle V prior to the lane change of the own vehicle V. A) A means of executing lane change concession control that encourages lane change was adopted.

Explaining the outline of the present disclosure based on FIG. 8, when the own vehicle V is changed to the adjacent lane NL flowing from the congested own lane SL, there is a following vehicle and the approach destination adjacent lane NL. It is assumed that there is a target vehicle (vehicle A) that wants to change lanes in the own lane SL that is congested. In this case, by guiding the target vehicle (vehicle A) to the rear of the own vehicle V so as to easily change lanes, the operation for creating a situation in which the own vehicle V can easily change lanes is specified.

In this way, when another vehicle having an intention to change lanes is detected, among the detected other vehicles, the other vehicle traveling behind the own vehicle V is regarded as the target vehicle (vehicle A) for the replacement lane change. .. Therefore, if you want to change lanes to the adjacent lane NL that is flowing through your vehicle V, if you find another vehicle that changes lanes from the adjacent lane NL to your own lane SL, replace it with the target vehicle (vehicle A). By doing so, the situation where the lane cannot be changed is overcome.

Further, when the target vehicle (vehicle A) is specified, the target vehicle (vehicle A) is guided to the rear position of the own vehicle V by moving forward of the own vehicle V prior to the lane change of the own vehicle V. The lane change concession control that prompts the lane change of the vehicle (vehicle A) is executed. For this reason, a situation is created in which the target vehicle (vehicle A) is guided to the rear of the own vehicle V and the target vehicle (vehicle A) is encouraged to change lanes, so that the own vehicle V loses the opportunity to change lanes. That is also resolved.

As a result, in the scene where the own vehicle V requests the adjacent lane NL flowing from the congested lane to change lanes, the own vehicle V may lose the opportunity to change lanes. You can create an opportunity to change lanes to NL.

[Lane change control processing action]
Hereinafter, the lane change control processing operation executed by the lane change controller 43 will be described with reference to the flowchart shown in FIG.

First, if there is an intention to change lanes of the own vehicle V and a condition that the own vehicle V can change lanes is detected in the adjacent lane NL where the lane change is planned, the process proceeds to S1 → S2 → S3. In S3, the single lane change of the own vehicle V toward the adjacent lane NL is executed, and when the single lane change is completed, the process proceeds from S4 to the end.

Next, if there is an intention to change lanes of the own vehicle V and the condition for changing lanes is not detected in the adjacent lane NL where the own vehicle V plans to change lanes, the process proceeds to S1 → S2 → S5. In S5, it is determined whether or not the set stop inter-vehicle distance Ds is secured as the inter-vehicle distance between the own vehicle V and the vehicle C. Then, when it is determined in S5 that the set stop inter-vehicle distance Ds is not secured, the process proceeds from S5 to S6 → S7. In S7, it is determined whether or not the measured value of the distance between the stopped vehicle and the vehicle C is equal to or greater than the set distance between the stopped vehicles. Then, while it is determined in S7 that the measured value of the distance between the stopped vehicles <the set distance between the stopped vehicles, the flow of proceeding from S7 to S8 is repeated. In S8, the stop of the own vehicle V is maintained even if the vehicle C moves forward.

If it is determined in S7 that the measured value of the distance between the stopped vehicles ≥ the set distance between the stopped vehicles, the process proceeds from S7 to S9. In S9, it is determined whether or not the vehicle B, which is the following vehicle of the own vehicle V, is stopped. While it is determined in S9 that the vehicle B is not stopped, the determination in S9 is repeated. When it is determined that the vehicle B is stopped in S9, the process proceeds from S9 to S10 → end. In S10, the blinker of the own vehicle V is issued.

Next, there is an intention to change the lane of the own vehicle V, the condition that the own vehicle V can change lanes is not detected in the adjacent lane NL where the lane change is planned, and the set stop inter-vehicle distance Ds is secured. In that case, the process proceeds in the order of S1 → S2 → S5 → S11. In step S11, it is determined whether or not a vehicle A having an intention to change lanes to the own lane SL is detected among the following vehicles traveling in the adjacent lane NL. Then, while it is determined that the vehicle A is not detected in S11, the flow of proceeding from S1 → S2 → S5 → S11 is repeated.

If it is determined that the vehicle A is detected in S11, the process proceeds from S11 to S12 → S13. In S12, the calculation of the inter-vehicle distance setting value D _A between the vehicle V and the vehicle A is executed. In S13, the vehicle A is whether the host vehicle has reached the inter-vehicle distance according to the inter-vehicle distance setting value D _A is determined. In S13 the vehicle A is while it is determined not to have reached the following distance by the inter-vehicle distance setting value D _A, is repeated flow from S12 → S13.

If in S13 the vehicle A is judged to have reached the following distance by the inter-vehicle distance setting value _{D A,} proceeds from S13 to S14 → S15. In S14, in the own lane area between the own vehicle V and the vehicle A, a lane change concession operation is executed in which the head of the own vehicle V is swung in the direction of the adjacent lane NL to move forward. In S15, it is determined whether or not the vehicle A has decelerated so as to enter behind the own vehicle V. While it is not detected in S15 that the vehicle A is decelerating so as to enter behind the own vehicle V, the determination in S15 is repeated.

When it is detected in S15 that the vehicle A is decelerating so as to enter behind the own vehicle V, the process proceeds from S15 to S16 → S17. In S16, the position slightly ahead of the own vehicle V in the adjacent lane NL is set as the target position for changing the lane, and the lane change of the own vehicle V toward the target position is started. In S17, it is determined whether or not the own vehicle V has completed the lane change to the adjacent lane NL. Then, when it is determined in S17 that the own vehicle V has completed the lane change to the adjacent lane NL, the process proceeds from S17 to the end.

In this way, in the lane change control process for changing the lane of the own vehicle V from the congested own lane SL to the adjacent lane NL flowing, the following control processes (a) to (c) are performed.
(a) When the condition that the lane can be changed is detected in the adjacent lane NL, the independent lane change control in which the own vehicle V heads for the adjacent lane NL is executed according to the basic lane change control process.
(b) If the condition for changing lanes is not detected in the adjacent lane NL, when the own vehicle V having the intention of changing lanes stops, the distance between the vehicle and the preceding vehicle (vehicle C) is opened more than usual.
(c) When the vehicle A (target vehicle) that intends to change lanes from the adjacent lane NL to the own lane SL is detected when the vehicle is stopped with a wider distance from the preceding vehicle (vehicle C) than usual, the lane is detected. The change concession control is performed, and then the replacement lane change control between the own vehicle V and the vehicle A is executed.

[Determination of distance between stopped vehicles]
The control process (b) is a process for securing the distance between stopped vehicles, and corresponds to each step of S5 to S10 in the flowchart of FIG. Hereinafter, the stop-vehicle distance securing action performed by the stopped-vehicle distance securing processing unit 43b in FIG. 2 will be described.

When the own vehicle V having the intention of changing lanes to the adjacent lane NL stops in the own lane SL, the stop inter-vehicle distance securing processing unit 43b normally determines the inter-vehicle distance from the preceding vehicle (vehicle C) immediately before the own vehicle V. Stop at time Secure a distance longer than the inter-vehicle distance Do and stop.

At this time, when the own vehicle V having the intention of changing lanes to the adjacent lane NL stops in the own lane SL, the inter-vehicle distance from the preceding vehicle (vehicle C) immediately before the own vehicle V is set from the normal stop inter-vehicle distance Do. It is determined whether or not a long set stop vehicle-to-vehicle distance Ds can be secured. Then, when the set stop inter-vehicle distance Ds cannot be secured, the stop of the own vehicle V is maintained even if the preceding vehicle (vehicle C) moves forward (S5 → S6 → S7 → S8).

For example, when the degree of traffic congestion in the own lane SL is high, the distance between the vehicle and the preceding vehicle (vehicle C) immediately before the own vehicle V cannot be stopped even if an attempt is made to secure a distance longer than the normal stop distance Do. There is. In this case, if the stopped state of the own vehicle V is maintained, when the preceding vehicle (vehicle C) in the own lane SL moves forward by slowing from the stopped state, the own vehicle V and the preceding vehicle (vehicle C) The distance between vehicles can be increased. For this reason, the chance of changing lanes to be replaced, which is executed on condition that the set stop inter-vehicle distance Ds is secured as the inter-vehicle distance from the preceding vehicle (vehicle C) immediately before the own vehicle V, is increased.

In the stop inter-vehicle distance securing processing unit 43b, the own vehicle V having the intention of changing lanes to the adjacent lane NL secures the inter-vehicle distance between the own vehicle V and the preceding vehicle (vehicle C) longer than the normal stop inter-vehicle distance Do. Then, it is determined whether or not the following vehicle (vehicle B) immediately after the own vehicle V is stopped. Then, when it is determined that the following vehicle (vehicle B) is stopped, the blinker of the own vehicle V is operated (S7 → S9 → S10).

For example, the own vehicle V having the intention of changing lanes to the adjacent lane NL may stop without operating the blinker. In this case, when the blinker of the own vehicle V is operated after confirming the stop of the following vehicle (vehicle B), the own vehicle V is referred to the driver of the following vehicle (vehicle B) stopped immediately after the own vehicle V. It is possible to recognize that the vehicle has an intention to change lanes to the adjacent lane NL. For this reason, when the vehicle shifts to the lane change concession operation due to the forward movement of the own vehicle V, it is suppressed that the following vehicle (vehicle B) of the own vehicle V follows the forward movement of the own vehicle V to close the space between the following vehicles. The probability that (vehicle B) closes the space between the vehicle V and the own vehicle V will be reduced. In other words, when the lane change concession operation is performed by moving the own vehicle V forward, the probability that an inter-vehicle space for the target vehicle (vehicle A) is created between the own vehicle V and the following vehicle (vehicle B) is increased.

[Lane change concession control and lane change control action of own vehicle]
The control process (c) by each step of S11 to S17 in the flowchart of FIG. 3 is a lane change concession control process and a lane change control process of the own vehicle V. Hereinafter, the lane change concession control and the lane change control action of the own vehicle V performed by the lane change concession start determination unit 43f, the lane change concession processing unit 43g, the lane change start determination processing unit 43h, and the lane change processing unit 43i in FIG. explain.

When the target vehicle (vehicle A) is specified in the lane change concession start determination unit 43f, the target vehicle (vehicle A) starts decelerating the inter-vehicle distance to the target vehicle (vehicle A) traveling in the adjacent lane NL. It determines whether the host vehicle has reached the vehicle distance setting value D _a capable of stopping the rearward position of the vehicle V from. When the target vehicle (vehicle A) is determined that reaches the inter-vehicle distance setting value D _A, starts lane change concessions control by the forward movement of the vehicle V that is stopped.

That is, in order to guide the target vehicle (vehicle A) to the own lane SL, the timing at which the empty space is started to be created behind the own vehicle V by the forward movement of the own vehicle V is, for example, the timing when the target vehicle (vehicle A) is detected. Then, the timing will be early. If the timing is early, the space between the vehicles may be filled by the vehicle B following the own vehicle V or the vehicle behind the vehicle B before the target vehicle (vehicle A) decelerates and approaches the empty space. On the other hand, when the target vehicle (vehicle A) decelerates to the rear position of the own vehicle V and approaches, the timing to start creating an empty space behind the own vehicle V is delayed, and the target vehicle (vehicle A) is moved to the own vehicle V. It may not be possible to secure an empty space to guide smoothly toward the rear of the car.

In contrast, the timing to start create more space in the rear of the vehicle V, when the timing at which the target vehicle (vehicle A) has reached the inter-vehicle distance setting value D _A, target vehicle (vehicle A) is rearward of the vehicle V The empty space will expand as the vehicle slows down and approaches. Therefore, when starting the lane change concession control, it is appropriate that the empty space is not filled by the following vehicle of the own vehicle V and the target vehicle (vehicle A) cannot be guided behind the own vehicle V. At the right time, an empty space will start to be created behind the vehicle V.

In addition, after reaching target vehicle (vehicle A) is the inter-vehicle distance setting value D _A, target vehicle section up (vehicle A) initiates a lane change to the rear of the vehicle V, the subject vehicle (vehicle A ) Is in a decelerated state. Therefore, the traffic flow behind the target vehicle (vehicle A) in the adjacent lane NL where the own vehicle V is planning to change lanes is blocked by the target vehicle (vehicle A) in the decelerated state. Therefore, when the own vehicle V is moved laterally to change lanes to the adjacent lane NL, it is avoided that another vehicle traveling in the adjacent lane NL approaches from behind the own vehicle V, and the front of the target vehicle (vehicle A). Smooth lane changes will be made toward the vacant space secured in.

Here, the inter-vehicle distance setting value D _A, based on the assumption deceleration when the target vehicle (vehicle A) is assumed that the vehicle speed decreases gradient is decelerated at a moderate angle after the start of deceleration, target vehicle (vehicle A) The higher the vehicle speed V (A), the longer the inter-vehicle distance is set.

For example, given a vehicle distance setting value D _A fixed value according to the average vehicle speed of the target vehicle (vehicle A), the target vehicle (vehicle A) is a high speed than the average speed, to stop behind the vehicle V Requires sudden braking, etc., and suddenly changes the traffic flow in the adjacent lane NL. On the other hand, if the target vehicle (vehicle A) has a vehicle speed lower than the average vehicle speed, it takes time to stop behind the own vehicle V, and the empty space created behind the own vehicle V is filled with the following vehicle. Will end up.

In contrast, the inter-vehicle distance setting value D _A, as target vehicle (vehicle A) is assumed deceleration is set to the vehicle speed V (A) following distance becomes higher lengthened target vehicle (vehicle A) There is. Therefore, when the target vehicle (vehicle A) decelerates and approaches toward the rear of the own vehicle V, the traffic flow in the adjacent lane NL is suddenly changed or vacant regardless of the height of the vehicle speed V (A) at the start of deceleration. Appropriate deceleration of the target vehicle (vehicle A) that does not fill the space will be ensured.

In the lane change concession processing unit 43g, the front end of the own vehicle V is within the vacant area of the own lane reserved in advance in front of the own vehicle V which is stopped with a longer distance from the preceding vehicle (vehicle C) than usual. Is controlled to move forward while facing the adjacent lane NL and to stand by at the position where the vehicle has moved forward.

That is, when the own vehicle V moves forward in the lane vacant area reserved in advance in front of the own vehicle V, an empty space equivalent to the space corresponding to the forward movement distance of the own vehicle V is created behind the own vehicle V. Will be. Then, if the front end of the vehicle V is directed to the adjacent lane NL in advance within the lane vacant area reserved in advance in front of the vehicle V, when the vehicle V starts changing lanes to the adjacent lane NL. It is possible to omit the operation of turning the front end of the own vehicle V toward the adjacent lane NL. Therefore, when the inter-vehicle space for the target vehicle (vehicle A) is created behind the own vehicle V by the lane change concession control, the lane change is completed with good response when the own vehicle V starts the lane change to the adjacent lane NL. The posture will be adjusted.

In the lane change start determination processing unit 43h, when the lane change concession control is completed, the target vehicle (vehicle A) approaching the inter-vehicle space created behind the own vehicle V as the own vehicle V moves forward is released. It is determined whether or not the vehicle is decelerating so as to enter behind the own vehicle V. Then, when the lane change processing unit 43i determines that the target vehicle (vehicle A) is decelerating so as to enter behind the own vehicle V, the lane change processing unit 43i starts changing the lane of the own vehicle V.

That is, the fact that the target vehicle (vehicle A) is decelerating so as to enter behind the own vehicle V means that at least the target vehicle (vehicle A) is prepared to change lanes to the own lane SL. .. Therefore, if the lane change of the own vehicle V to the adjacent lane NL is started at this timing, the target vehicle (vehicle) is in the process of exiting the own lane SL or immediately after the own vehicle V exits the own lane SL. A) will change lanes by entering the own lane SL. Therefore, when changing lanes to the adjacent lane NL flowing through the own vehicle V, the lane change start timing of the own vehicle V is set appropriately so that the own vehicle V and the target vehicle (vehicle A) can be replaced. Changes will be achieved smoothly and responsively.

[Swap lane change action between own vehicle and vehicle]
The switching lane changing action of the own vehicle V and the target vehicle A will be described with reference to the action explanatory diagram shown in FIG.

In [Step 1] of FIG. 9, the inter-vehicle distance from the preceding vehicle C is set wider than usual to stop. That is, as the inter-vehicle distance from the preceding vehicle (vehicle C) immediately before the own vehicle V, a set stop inter-vehicle distance Ds longer than the normal stop inter-vehicle distance Do is secured and the vehicle stops. Then, when the vehicle stops with a wider distance from the vehicle C than usual, it is confirmed that the following vehicle B stops, and the blinker is turned on.

In [Step 2] of FIG. 9, the vehicle A whose lane is to be changed is found from the adjacent lane NL of the lane change destination of the own vehicle V. When the vehicle A whose lane is to be changed is found, it is confirmed whether the vehicle A is within the deceleration range for entering the rear of the vehicle B. Then, the vehicle A is shifted to [Step3] in FIG. 9 at the timing when reaching the limit position in which it is decelerated to enter the rear of the vehicle B (inter-vehicle distance setting value D _A).

In [Step 3] of FIG. 9, the own vehicle V is advanced and waits while shaking the head toward the change destination lane in the own lane SL. After that, it is determined whether or not the vehicle A is decelerating so as to enter the rear of the own vehicle V, and when the deceleration of the vehicle A is determined, the lane change to the adjacent lane NL of the own vehicle V is started. Here, there are the following patterns (1) and (2) for changing the lane of vehicle A to its own lane SL.

(1) Pattern in which vehicle B does not follow when the vehicle V is moved forward In this pattern (1), an inter-vehicle space is created between the vehicle V and the vehicle B, so the vehicle A is created in the vehicle lane SL. The lane is changed toward the inter-vehicle space between the own vehicle V and the vehicle B.

(2) Pattern in which vehicle B follows when own vehicle V is moved forward In this pattern (2), since an inter-vehicle space is created behind vehicle B, vehicle A is behind vehicle B created in own lane SL. Change lanes toward the inter-vehicle space.

In this way, when the own vehicle V is changed to the adjacent lane NL flowing from the congested own lane SL, the own vehicle V and the vehicle A are exchanged lanes. At this time, as the replacement lane change pattern, there are a pattern (1) in which the vehicle B does not follow when the own vehicle V is moved forward, and a pattern (2) in which the vehicle B follows when the own vehicle V is moved forward. Then, regardless of the replacement lane change according to any of the patterns (1) and (2), the own vehicle V changes lanes to the adjacent lane NL by performing the operation of guiding the vehicle A to the rear of the own vehicle V. Opportunities will be created.

As described above, the traveling support method and the traveling support device of the first embodiment have the effects listed below.

(1) A driving support method including a controller (lane change controller 43) that controls a lane change to change the vehicle V from the own lane SL to the adjacent lane NL, and has an intention to change the lane to the adjacent lane NL. When the vehicle V stops in the own lane SL, the distance between the vehicle V and the preceding vehicle (vehicle C) immediately before the own vehicle V is secured to be longer than the normal stop distance between the vehicles, and the preceding vehicle (vehicle C) is stopped. ) When the vehicle stops with a wider distance than usual, it detects the presence or absence of other vehicles traveling in the adjacent lane NL that have the intention of changing lanes toward the own lane SL, and the other vehicle that has the intention of changing lanes. When it is detected, among the detected other vehicles, the other vehicle traveling behind the own vehicle V is set as the target vehicle (vehicle A) for the replacement lane change, and when the target vehicle (vehicle A) is specified, the own vehicle Prior to the lane change of V, the lane change concession control for prompting the lane change of the target vehicle (vehicle A) is executed by guiding the target vehicle (vehicle A) to the rear of the own vehicle V by moving forward of the own vehicle V. (Fig. 3). Therefore, in a scene in which the own vehicle V requests a lane change from the adjacent lane NL flowing from the congested lane, the own vehicle V may lose the opportunity to change lanes. It is possible to provide a driving support method that creates an opportunity to change lanes to NL.

(2) When the target vehicle (vehicle A) is specified, the inter-vehicle distance to the target vehicle (vehicle A) traveling in the adjacent lane NL is set to the own vehicle V after the target vehicle (vehicle A) starts decelerating. determining whether the host vehicle has reached the vehicle distance setting value D _a which can be stopped in the rear position, when the target vehicle (vehicle a) is determined that reaches the inter-vehicle distance setting value D _a, and stops The lane change concession control by the forward movement of the own vehicle V is started (S13 → S14 in FIG. 3). Therefore, when starting the lane change concession control, it is possible to start creating an empty space for guiding the target vehicle (vehicle A) behind the own vehicle V at an appropriate timing. In addition, when the own vehicle V is moved laterally to change lanes to the adjacent lane NL, a smooth lane change is performed toward the empty space secured in front of the target vehicle (vehicle A) approaching due to deceleration. Can be done.

(3) the inter-vehicle distance setting value D _A, based on the assumption deceleration when it is assumed that the vehicle speed decreases gradient is decelerated at a moderate angle after target vehicle (vehicle A) starts deceleration, target vehicle (vehicle A) The higher the vehicle speed V (A), the longer the inter-vehicle distance is set (S12 in FIG. 3). Therefore, when the target vehicle (vehicle A) decelerates and approaches toward the rear of the own vehicle V, the traffic flow in the adjacent lane NL is suddenly changed or vacant regardless of the height of the vehicle speed V (A) at the start of deceleration. It is possible to secure an appropriate deceleration of the target vehicle (vehicle A) that does not fill the space.

(4) The lane change concession control is performed in the vacant area of the own lane that is reserved in advance in front of the own vehicle V that is stopped with a longer distance from the preceding vehicle (vehicle C) than usual. The control is such that the vehicle moves forward while facing the adjacent lane NL at the front end and stands by at the position where the vehicle has moved forward (S14 in FIG. 3). Therefore, when the inter-vehicle space for the target vehicle (vehicle A) is created behind the own vehicle V by the lane change concession control, the lane change is completed with good response when the own vehicle V starts the lane change to the adjacent lane NL. You can adjust your posture.

(5) When the lane change concession control is completed, the target vehicle (vehicle A) approaching the inter-vehicle space created behind the vehicle V as the vehicle V moves forward moves to the rear of the vehicle V. It is determined whether or not the vehicle is decelerating so as to enter, and when it is determined that the target vehicle (vehicle A) is decelerating so as to enter behind the own vehicle V, the lane change of the own vehicle V is started (Fig. 3 from S15 to S16). Therefore, when changing lanes to the adjacent lane NL flowing through the own vehicle V, the lane change start timing of the own vehicle V is set appropriately so that the own vehicle V and the target vehicle (vehicle A) can be replaced. Changes can be achieved smoothly and responsively.

(6) When the own vehicle V, which has the intention of changing lanes to the adjacent lane NL, stops in the own lane SL, the distance from the preceding vehicle (vehicle C) immediately before the own vehicle V is calculated from the normal stop distance Do. It is judged whether or not the long set stop inter-vehicle distance Ds can be secured, and if the set stop inter-vehicle distance Ds cannot be secured, the stop of the own vehicle V is maintained even if the preceding vehicle (vehicle C) moves forward. (S7 → S8 in FIG. 3). Therefore, it is possible to increase the chance of changing lanes to be replaced, which is executed on condition that the set stop inter-vehicle distance Ds is secured as the inter-vehicle distance from the preceding vehicle (vehicle C) immediately before the own vehicle V.

(7) The own vehicle V, which has the intention of changing lanes to the adjacent lane NL, sets the distance between the own vehicle V and the preceding vehicle (vehicle C) longer than the normal stop vehicle distance Do (set stop vehicle distance Ds). When it is secured and stopped, it is determined whether or not the following vehicle (vehicle B) immediately after the own vehicle V is stopped, and when it is determined that the following vehicle (vehicle B) is stopped, the winker of the own vehicle V is operated. (S9 → S10 in FIG. 3). For this reason, when the vehicle shifts to the lane change concession operation due to the forward movement of the own vehicle V, it is suppressed that the following vehicle (vehicle B) of the own vehicle V follows the forward movement of the own vehicle V to close the space between the following vehicles. It is possible to reduce the probability that (vehicle B) closes the space between the vehicle V and the own vehicle V.

(8) If it is determined that the own vehicle V has the intention to change lanes to the adjacent lane NL, the inter-vehicle distance and relative to the following vehicle traveling behind the own vehicle V among other vehicles traveling in the adjacent lane NL. When the speed is monitored and it is determined that the own vehicle V can change lanes to the adjacent lane NL based on the distance to the following vehicle and the relative speed, the independent lane change of the own vehicle V to the adjacent lane NL is started. (S1 → S2 → S3 in FIG. 3). Therefore, when the own vehicle V changes lanes to the adjacent lane NL flowing from the congested lane, if the condition that the lane can be changed to the adjacent lane NL is detected, the lane change of the own vehicle V is started at that point. Therefore, it is possible to prevent waiting until the target vehicle (vehicle A) is detected.

(9) A travel support device including a controller (lane change controller 43) that controls a lane change to change the vehicle V from the own lane SL to the adjacent lane NL, and the controller (lane change controller 43) is an adjacent lane. When the own vehicle V, which has the intention of changing lanes to NL, stops in the own lane SL, the distance between the vehicle V and the preceding vehicle (vehicle C) immediately before the vehicle V is secured longer than the normal stop vehicle distance Do. When the vehicle stop distance securing processing unit 43b and the preceding vehicle (vehicle C) are stopped with a larger distance than usual, the lane is changed toward the own lane SL among other vehicles traveling in the adjacent lane NL. The other lane change intention detection processing unit 53d that detects the presence or absence of another vehicle having an intention, and when another vehicle having an intention to change lane is detected, the vehicle travels behind the own vehicle V among the detected other vehicles. When the target vehicle identification processing unit 43e, which is the target vehicle (vehicle A) for replacing another vehicle and the target vehicle (vehicle A), and the target vehicle (vehicle A) are specified, the vehicle V advances ahead of the lane change of the own vehicle V. It has a lane change concession processing unit 43g that executes lane change concession control that prompts the target vehicle (vehicle A) to change lanes by guiding the target vehicle (vehicle A) to the rear of the own vehicle V by movement (FIG. 2). ). Therefore, in a scene in which the own vehicle V requests a lane change from the adjacent lane NL flowing from the congested lane, the own vehicle V may lose the opportunity to change lanes. It is possible to provide a driving support device that creates an opportunity to change lanes to NL.

The traveling support method and the traveling support device of the present disclosure have been described above based on the first embodiment. However, the specific configuration is not limited to the first embodiment, and design changes and additions are permitted as long as the gist of the invention according to each claim is not deviated from the claims.

In the first embodiment, as the stop inter-vehicle distance securing processing unit 43b, the own vehicle V having the intention of changing the lane to the adjacent lane NL sets the inter-vehicle distance between the own vehicle V and the vehicle C longer than the normal stop inter-vehicle distance Do. An example of securing the inter-vehicle distance Ds and stopping the vehicle is shown. The stop inter-vehicle distance securing processing unit may be any one as long as the inter-vehicle distance between the own vehicle and the preceding vehicle is secured and stopped at a distance longer than the normal stop inter-vehicle distance. That is, it may be shorter or longer than the set stop inter-vehicle distance Ds as long as the forward movement margin of the own vehicle can be secured enough to create the inter-vehicle space of the target vehicle.

In the first embodiment, as the lane change concession processing unit 43 g, the vehicle V is located in the vacant area of the vehicle V reserved in advance in front of the vehicle V which is stopped with a longer distance from the vehicle C than usual. An example is shown in which the vehicle moves forward with the front end facing the adjacent lane NL and stands by at the position where the vehicle has moved forward. However, the lane change concession processing unit moves the vehicle forward and moves forward within the vacant area in the lane reserved in advance in front of the vehicle that is stopped with a longer distance from the preceding vehicle than usual. The control that stands by at the moved position is not limited to the control of the first embodiment.

In the first embodiment, as the lane change start determination processing unit 43h, the vehicle A approaching the inter-vehicle space created behind the own vehicle V as the own vehicle V moves forward enters the rear of the own vehicle V. When it is determined that the vehicle is decelerating as described above, an example of starting the lane change of the own vehicle V is shown. However, the lane change start determination processing unit is not limited to this, and may be an example in which it is determined that the target vehicle has entered the own lane and the lane change of the own vehicle is started.

In the first embodiment, when the automatic driving mode is selected for the driving support method and the driving support device of the present disclosure, the driving / braking / steering angle operation support control is performed according to the target driving locus, and the driving is performed by automatic driving. An example of applying to a vehicle is shown. However, the travel support method and the travel support device of the present disclosure can be applied to a travel support vehicle that travels by supporting some of the driving / braking / steering operations by the driver. Further, it can be applied even to a traveling support vehicle that visually and auditorily assists driving by a driver operation by displaying a monitor and providing voice guidance on the traveling locus, vehicle speed, and traveling position of the own vehicle.

43 Lane change controller (controller)
43a Own lane change intention detection processing unit 43b Stopped vehicle distance securing processing unit 43c Surrounding situation recognition unit 43d Other lane change intention detection processing unit 43e Target vehicle identification processing unit 43f Lane change concession start judgment unit 43g Lane change concession processing unit 43h Lane change inter-lane determination processing unit 43i Lane change processing unit V Own vehicle SL Own lane NL Adjacent lane vehicle A Vehicles subject to replacement lane change traveling in the adjacent lane NL Vehicle B Following vehicle vehicle C own vehicle V immediately after own vehicle V Preceding vehicle Do at the position immediately before the normal stop Vehicle distance Ds setting Stop vehicle distance DA _A Vehicle distance set value

Claims (9)

It is a driving support method equipped with a controller that controls lane change to change the lane from the own lane to the adjacent lane.
When a vehicle having the intention of changing lanes to the adjacent lane stops in the lane, the vehicle stops with a distance longer than the normal stop distance with the preceding vehicle immediately before the vehicle.
When the vehicle stops with a wider distance from the preceding vehicle than usual, the presence or absence of another vehicle traveling in the adjacent lane that has the intention of changing lanes toward the own lane is detected.
When another vehicle having the intention to change lanes is detected, the other vehicle traveling behind the own vehicle among the detected other vehicles is set as the target vehicle for the lane change.
When the target vehicle is identified, the lane change concession control that prompts the lane change of the target vehicle by guiding the target vehicle to the rear of the own vehicle by moving forward of the own vehicle prior to the lane change of the own vehicle is performed. A driving support method characterized by executing. In the driving support method according to claim 1,
When the target vehicle is specified, the inter-vehicle distance to the target vehicle traveling in the adjacent lane is a vehicle-to-vehicle distance setting value capable of stopping at a position behind the own vehicle after the target vehicle starts decelerating. Judge whether or not you have reached
A traveling support method characterized in that when it is determined that the target vehicle has reached the inter-vehicle distance set value, the lane change concession control is started by the forward movement of the stopped own vehicle. In the driving support method according to claim 2,
The inter-vehicle distance set value is based on the assumed deceleration when it is assumed that the vehicle speed decrease gradient decelerates at a gentle angle after the target vehicle starts decelerating, and the inter-vehicle distance becomes longer as the vehicle speed of the target vehicle increases. A driving support method characterized by setting. In the driving support method according to any one of claims 1 to 3,
In the lane change concession control, the front end of the own vehicle is directed to the adjacent lane within the vacant area of the own lane reserved in advance in front of the own vehicle which is stopped with a longer distance from the preceding vehicle than usual. A driving support method characterized in that the vehicle moves forward while moving forward and stands by at the position where the vehicle has moved forward. In the driving support method according to any one of claims 1 to 4,
When the lane change concession control is completed, is the target vehicle approaching toward the inter-vehicle space created behind the own vehicle as the vehicle moves forward, decelerating so as to enter the rear of the own vehicle? Judge whether or not
A traveling support method characterized in that when it is determined that the target vehicle is decelerating so as to enter the rear of the own vehicle, the lane change of the own vehicle is started. In the driving support method according to any one of claims 1 to 5,
When the own vehicle having the intention of changing lanes to the adjacent lane stops in the own lane, whether or not the set stop inter-vehicle distance longer than the normal stop inter-vehicle distance can be secured as the inter-vehicle distance from the preceding vehicle immediately before the own vehicle. Judge and
A traveling support method characterized in that when the set distance between stopped vehicles cannot be secured, the stopped vehicle is maintained even if the preceding vehicle moves forward. In the driving support method according to any one of claims 1 to 6,
When the own vehicle having the intention of changing lanes to the adjacent lane stops with a distance longer than the normal stop distance between the own vehicle and the preceding vehicle, the following vehicle immediately after the own vehicle stops. Judge whether or not
A traveling support method characterized in that the blinker of the own vehicle is operated when the stop of the following vehicle is determined. In the driving support method according to any one of claims 1 to 7.
When it is determined that the own vehicle has the intention to change lanes to the adjacent lane, the inter-vehicle distance and relative speed with the following vehicle traveling behind the own vehicle among other vehicles traveling in the adjacent lane are monitored.
When it is determined that the own vehicle can change lanes to the adjacent lane based on the inter-vehicle distance and the relative speed with the following vehicle, the vehicle starts to change the single lane to the adjacent lane. Support method. It is a driving support device equipped with a controller that controls lane change to change the lane from the own lane to the adjacent lane.
The controller
When a vehicle having the intention of changing lanes to the adjacent lane stops in the lane, the vehicle stops with a distance longer than the normal stop distance with the preceding vehicle immediately before the vehicle. With the inter-vehicle distance securing processing unit,
When the vehicle stops with a wider distance from the preceding vehicle than usual, the other vehicle traveling in the adjacent lane is detected to detect the presence or absence of another vehicle having the intention to change lanes toward the own lane. Processing unit and
When another vehicle having the intention to change lanes is detected, the target vehicle identification processing unit that replaces the other vehicle traveling behind the own vehicle among the detected other vehicles and targets the vehicle for lane change.
When the target vehicle is identified, the lane change concession control for prompting the lane change of the target vehicle by guiding the target vehicle to the rear of the own vehicle by moving forward of the own vehicle prior to the lane change of the own vehicle is performed. A driving support device characterized by having a lane change concession processing unit to execute.