JP6331858B2 - Advance vehicle overtaking support system - Google Patents

Description

  The present invention relates to a preceding vehicle overtaking support apparatus.

Conventionally, as a preceding vehicle overtaking support device, for example, there is a conventional technique described in Patent Document 1.
In the prior art described in Patent Document 1, there is a technique for detecting a space ahead of a preceding vehicle and determining whether the vehicle can enter the detected space after passing the preceding vehicle.

JP 2007-108967 A

However, in the prior art described in Patent Document 1, since the behavior of the preceding vehicle is not taken into consideration, there is a possibility that the space ahead of the preceding vehicle is lost when the host vehicle finishes overtaking the preceding vehicle. Therefore, the overtaking operation of the own vehicle may be wasted.
The present invention has been made paying attention to the above points, and an object thereof is to provide a preceding vehicle overtaking support apparatus that can more appropriately support overtaking of a preceding vehicle by the own vehicle.

  In order to solve the above problems, according to one embodiment of the present invention, a plurality of overtaking point candidates are set on a target route. Next, for each of the multiple overtaking point candidates, using the current location of the preceding vehicle, the speed of the preceding vehicle, and the time it takes for the vehicle to reach the overtaking point candidate from the current location (expected arrival time) The position of the preceding vehicle after the expected arrival time is estimated. Subsequently, the position of the preceding vehicle after the estimated arrival time is estimated using the current location of the preceding vehicle and the probability distribution of the vehicle speed of the preceding vehicle after the estimated arrival time. Subsequently, using the position of the preceding vehicle after the estimated arrival time and the position of the preceding preceding vehicle after the estimated arrival time, the preceding vehicle and the preceding preceding vehicle after the estimated arrival time from among a plurality of overtaking point candidates. A candidate for an overtaking point whose distance to the vehicle is equal to or greater than a predetermined set distance is set as an overtaking point.

  According to one aspect of the present invention, after the expected arrival time, that is, in consideration of the probability distribution of the vehicle speed of the preceding vehicle when the host vehicle reaches the overtaking point candidate from the current location, Estimate the position of the car. Therefore, after the expected arrival time, it can be appropriately determined in advance whether or not there is an appropriate space enough for the host vehicle to enter in front of the preceding vehicle. Thereby, the overtaking of the preceding vehicle by the own vehicle can be supported more appropriately.

It is a conceptual diagram showing schematic structure of the driving assistance device 1 which concerns on 1st Embodiment. It is a block diagram showing the internal structure of the controller 5 of 1st Embodiment. It is a figure for demonstrating line-of-sight distance Lm. It is a figure showing the preceding preceding vehicle vehicle speed probability distribution f (v). It is a figure showing the setting method of standard deviation (sigma) v. It is a flowchart showing the preceding vehicle overtaking support process which the controller 5 performs. It is a block diagram showing the internal structure of the controller 5 of 2nd Embodiment.

Embodiments according to the present invention will be described with reference to the drawings.
(First embodiment)
(Constitution)
As shown in FIG. 1, the preceding vehicle overtaking support device 1 is mounted on a vehicle (hereinafter also referred to as “own vehicle”) A. The preceding vehicle overtaking support device 1 includes a host vehicle state detection unit 2, a navigation device 3, an external information recognition unit 4, and a controller 5.

The own vehicle state detection unit 2 detects the traveling state of the own vehicle A. The own vehicle state detection unit 2 includes a vehicle speed detection unit 2a, an acceleration detection unit 2b, and a yaw rate detection unit 2c.
The vehicle speed detector 2a detects the vehicle speed of the host vehicle A. Then, the vehicle speed detection unit 2 a outputs the detection result to the navigation device 3 and the controller 5. As the vehicle speed detection unit 2a, for example, a rotary attached to the drive wheel of the host vehicle A that detects a pulse generated in proportion to the wheel speed of the drive wheel and calculates the vehicle speed of the host vehicle A using the detected pulse. An encoder can be used.

The acceleration detector 2b detects the acceleration of the host vehicle A. Then, the acceleration detection unit 2b outputs the detection result to the navigation device 3 and the controller 5.
The yaw rate detection unit 2c detects the yaw rate of the vehicle A. Then, the yaw rate detection unit 2 c outputs the detection result to the navigation device 3 and the controller 5.

The navigation device 3 includes a map database 3a, a vehicle position detection unit 3b, a target route setting unit 3c, and a route display unit 3d.
The map database 3a stores map information. The map information includes, for example, a road position and a road structure (curve position, stop line position, traffic light position).
The own vehicle position detection unit 3b detects the current location of the own vehicle A. For example, a GPS receiver that receives a GPS (Global Positioning System) signal and detects the current location (absolute coordinates, latitude and longitude) of the vehicle A using the received GPS signal can be adopted as the vehicle position detection unit 3b. . And the own vehicle position detection part 3b outputs a detection result to the target route setting part 3c.

The target route setting unit 3c includes the traveling state of the vehicle A detected by the vehicle state detection unit 2, the map information stored in the map database 3a, and the current location of the vehicle A detected by the vehicle position detection unit 3b. And the target route of the own vehicle A is set using a predetermined destination. As a target route of the own vehicle A, for example, there is a route from the current location of the own vehicle A to the destination. Then, the target route setting unit 3 c outputs the map information, the current location of the vehicle A, and the setting result to the controller 5.
The route display unit 3d uses the map information stored in the map database 3a and the target route searched by the target route setting unit 3c to monitor an image in which the target route is superimposed on a map around the vehicle A. indicate. Thereby, the searched target route is presented to the driver of the vehicle A.
The external information recognition unit 4 detects a surrounding moving body that exists around the host vehicle A. Then, the external information recognition unit 4 outputs the detection result to the controller 5. The external information recognition unit 4 is, for example, a laser range finder that is arranged at the front end of the host vehicle A, emits laser light around the host vehicle A, and detects a surrounding moving body using reflected light of the emitted laser beam. Can be adopted.

  The controller 5 includes an A / D (Analog to Digital) conversion circuit, a D / A (Digital to Analog) conversion circuit, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. An integrated circuit is provided. The ROM stores one or more programs that realize various processes. The CPU uses the detection results of the vehicle state detection unit 2, the navigation device 3, and the external information recognition unit 4 to perform various processes (for example, a preceding vehicle overtaking support described later) according to one or more programs stored in the ROM. Process). Then, as shown in FIG. 2, the CPU detects the preceding vehicle detection unit 5a, the passing point candidate setting unit 5b, the preceding vehicle position estimation unit 5c, the preceding preceding vehicle current location detection unit 5d, and the probability distribution setting unit 5e. A preceding vehicle position estimation unit 5f, a preceding vehicle forward space determination unit 5g, a passing point setting unit 5h, a target route generation unit 5i, a target steering generation unit 5j, and a target speed calculation unit 5k. .

  The preceding vehicle detection unit 5a includes a preceding vehicle current position detection unit 5aa and a preceding vehicle vehicle speed detection unit 5ab. The preceding vehicle current position detection unit 5aa uses a detection result (target route, surrounding moving body) of the navigation device 3 and the external information recognition unit 4 (target route, surrounding moving body), and a portion of the target route in front of the own vehicle A (hereinafter referred to as “self”). The preceding vehicle B is detected from the “vehicle forward route”. Specifically, the preceding vehicle current position detection unit 5aa detects, as a preceding vehicle B, a surrounding moving object that is present on the forward path of the host vehicle and is closest to the host vehicle A among the surrounding moving bodies. Subsequently, the preceding vehicle current position detection unit 5aa detects the current position of the detected preceding vehicle B. Subsequently, the preceding vehicle speed detector 5ab detects the detected vehicle speed Vs of the preceding vehicle B (the vehicle speed in the direction along the target route). The preceding vehicle current position detection unit 5aa and the preceding vehicle vehicle speed detection unit 5ab output detection results to the passing point candidate setting unit 5b, the preceding vehicle position estimation unit 5c, the probability distribution setting unit 5e, and the target speed calculation unit 5k. To do.

  The overtaking point candidate setting unit 5b determines whether the preceding vehicle B is detected by the preceding vehicle detection unit 5a using the detection result of the preceding vehicle detection unit 5a. If the overtaking point candidate setting unit 5b determines that the preceding vehicle B has been detected, the detection results of the navigation device 3 and the preceding vehicle detecting unit 5a, etc. (map information, current location of the vehicle A, target route) , The vehicle speed of the preceding vehicle B) is set on the forward path of the host vehicle, and a plurality of candidate for passing points that are candidates for passing the preceding vehicle B are set.

  Specifically, the overtaking point candidate setting unit 5b includes the detection results of the own vehicle position detection unit 3b and the target route setting unit 3c (the current location of the own vehicle A, the target route), and the stored contents of the map database 3a. Is used to calculate a distance (hereinafter also referred to as “line-of-sight distance”) Lm that can be seen from a predetermined set position (the future position of the own vehicle A) on the forward path of the own vehicle. As the line-of-sight distance Lm, for example, as shown in FIG. 3, when the vehicle A is traveling on a face-to-face road with one lane on each side, the vehicle A to the vehicle A in the forward path of the vehicle The intersection of the straight line (tangent) extending to the road boundary inside the curve of the nearest curve and the road boundary inside the curve is point D, the intersection of this tangent and the road boundary outside the curve is point E, and point D and point When the intersection of the straight line passing through E and the target route (target route set by the navigation device 3) is a point F, there is a distance along the target route from the set position to the point F. Thereby, the overtaking point candidate setting unit 5b calculates the line-of-sight distance Lm for each of a plurality of predetermined setting positions (future positions of the vehicle A).

Subsequently, the overtaking point candidate setting unit 5b is necessary for overtaking the preceding vehicle B by using the detection result (the vehicle speed Vs of the preceding vehicle B) of the preceding vehicle detection unit 5a and the stored contents of the map database 3a. A distance (hereinafter also referred to as “necessary overtaking distance”) Lo is calculated. As the overtaking required distance Lo, for example, the vehicle speed Vs of the preceding vehicle B, the legal speed Vlim of the road on which the own vehicle A or the preceding vehicle B is traveling, the vehicle speed V0 of the own vehicle A at the time of overtaking, There is a distance calculated by the following equation (1) using the total length lvs of the vehicle B, the target inter-vehicle time Ts, and the target acceleration a0.

Here, as the target inter-vehicle time Ts, for example, a relatively short time (for example, about 2 seconds) is used. Further, as the total length lvs of the preceding vehicle B, for example, the total length (for example, about 5 [m]) of a general vehicle is used. The external information recognition unit 4 may be configured to be able to determine the type of the preceding vehicle B (large vehicle, ordinary vehicle) and set the total length lvs of the preceding vehicle B according to the determined type. For example, when it is determined that the type of the preceding vehicle B is “large vehicle”, the total length lvs of the preceding vehicle B is set to 7 [m], and when the type of the preceding vehicle B is determined to be “normal vehicle”. The total length lvs of the preceding vehicle B is 5 [m]. Further, as the target acceleration a0, for example, an acceleration (for example, 1.5 [m / s ² ]) that does not make the occupant of the vehicle A feel uncomfortable is used.
Subsequently, the overtaking point candidate setting unit 5b selects a line-of-sight distance Lm longer than the necessary overtaking distance Lo from the calculated line-of-sight distance Lm, and sets a predetermined setting position (automatic) corresponding to the selected line-of-sight distance Lm. Each future position of the car A) is set as an overtaking point candidate.

The preceding vehicle position estimation unit 5c is the estimated arrival time that is the time it takes for the vehicle A to reach the overtaking point candidate from the current location for each of the plurality of overtaking point candidates set by the overtaking point candidate setting unit 5b. The position of the subsequent preceding vehicle B (hereinafter also referred to as “future preceding vehicle position”) is estimated. The future preceding vehicle position is calculated by, for example, the detection result of the own vehicle state detection unit 2, the navigation device 3 (target route setting unit 3c), the preceding vehicle detection unit 5a and the overtaking point candidate setting unit 5b (the own vehicle A Vehicle speed, target route, current location of preceding vehicle B, vehicle speed of preceding vehicle B, and a plurality of overtaking point candidates).
Specifically, the preceding vehicle position estimation unit 5c divides the distance along the target route from the current location of the own vehicle A to the passing point candidate by the vehicle speed of the preceding vehicle B for each of the plurality of passing point candidates. To calculate the expected arrival time. Subsequently, the preceding vehicle position estimating unit 5c sets each of the multiplication results obtained by multiplying the calculated predicted arrival times by the vehicle speed of the preceding vehicle B as the future preceding vehicle position.

The preceding preceding vehicle current position detection unit 5d uses the detection results of the navigation device 3 and the external information recognition unit 4 (target route, surrounding moving body) and the like to determine the preceding preceding vehicle C ahead of the preceding vehicle B from the own vehicle forward route. To detect. Specifically, the preceding preceding vehicle current position detection unit 5d is a surrounding moving object that exists on the front path of the own vehicle and is located at the second closest position from the own vehicle A among the surrounding moving bodies (in front of the preceding vehicle B). Then, the surrounding moving object present at the closest position from the preceding vehicle B) is detected as the preceding preceding vehicle C. Subsequently, the preceding preceding vehicle current position detection unit 5d detects the detected position of the preceding preceding vehicle C and the vehicle speed (the vehicle speed in the direction along the target route). Then, the detection result is output to the probability distribution setting unit 5e.
At that time, the preceding preceding vehicle current position detection unit 5d generates a blind spot in the detection range of the external information recognition unit 4 due to a moving object (for example, the preceding vehicle B) that is closest to the own vehicle A, When the moving object (the preceding preceding vehicle C) that is present at the second closest position from the own vehicle A cannot be detected (hereinafter also referred to as “the leading preceding vehicle dead angle state”), an invalid value is output. .

  In the present embodiment, an example in which an invalid value is output in the case of the leading vehicle dead angle state is shown, but other configurations may be employed. For example, when the preceding vehicle C is not detected, the distance from the stop line ahead of the vehicle A to the current location of the vehicle A is detected when the vehicle A is stopped in front of the traffic light. Is equal to or greater than a predetermined set distance, the current location of the preceding vehicle C may be set assuming that the preceding vehicle C exists ahead of the preceding vehicle B. Specifically, when the host vehicle A stops, the distance from the host vehicle A to the stop line is sufficiently larger than the total length of the host vehicle A (hereinafter also referred to as “own vehicle total length”) lv (for example, the host vehicle It is also possible to determine that the preceding vehicle C is present (three times the total length lv). As the distance from the own vehicle A to the stop line, for example, using the detection result (current position of the own vehicle A) of the own vehicle position detection unit 3b and the stored content (the position of the stop line) of the map database 3a, The difference between the current location of A and the position of the stop line can be adopted. In this case, the position ahead of the vehicle's own vehicle length lv from the current location of the preceding vehicle B is the position of the preceding preceding vehicle C, and the legal speeds of the traveling lanes of the own vehicle A, the preceding vehicle B, and the preceding preceding vehicle C are It is good.

  As described above, in the first embodiment, when the preceding vehicle C is not detected, when the host vehicle A is stopped in front of the traffic light, from the stop line in front of the host vehicle A to the current location of the host vehicle A When the distance is detected and the detected distance is equal to or larger than a predetermined distance, the current location of the preceding vehicle C is set assuming that the preceding vehicle C exists ahead of the preceding vehicle B. Therefore, even when the preceding vehicle C cannot be directly detected, the presence of the preceding vehicle C can be estimated. Therefore, the number of scenes that can be overtaken can be increased, and the time for following the slow preceding vehicle B can be shortened.

  On the other hand, the preceding preceding vehicle current position detection unit 5d does not cause a blind spot in the detection range of the external information recognition unit 4 due to a moving object (for example, the preceding vehicle B) that is closest to the own vehicle A. When the moving object (the preceding preceding vehicle C) that exists on the route and is located at the second closest position from the own vehicle A cannot be detected, the maximum value (maximum distance) of the detection range of the external information recognition unit 4 is preceded. The position of the vehicle C may be used, and the legal speed of the traveling lane of the own vehicle A or the preceding vehicle B may be the vehicle speed of the preceding preceding vehicle C.

  The probability distribution setting unit 5e estimates the traveling state of the preceding vehicle C (hereinafter also referred to as “the preceding vehicle state”) for each of the plurality of passing point candidates set by the passing point candidate setting unit 5b. The preceding preceding vehicle state is estimated by, for example, the detection results of the own vehicle state detecting unit 2, the navigation device 3, the preceding vehicle detecting unit 5a, the overtaking point candidate setting unit 5b, and the preceding preceding vehicle current location detecting unit 5d, etc. A vehicle speed, current location, overtaking point candidate, vehicle speed of current vehicle C, current location).

As the preceding preceding vehicle state, for example, the initial position of the preceding preceding vehicle C, the probability distribution of the vehicle speed of the preceding preceding vehicle C after the expected arrival time (when the own vehicle A reaches the overtaking point candidate) F (v) ”, which is also called“ preceding vehicle speed probability distribution ”. The initial position of the preceding preceding vehicle C includes, for example, the position of the preceding preceding vehicle C on the target route when the preceding preceding vehicle current position detection unit 5d detects the preceding preceding vehicle C. Further, as the preceding preceding vehicle speed probability distribution f (v), for example, as shown in FIG. 4, the vehicle speed of the preceding preceding vehicle C detected by the preceding preceding vehicle current position detection unit 5d is set to an average vehicle speed vm. There is a probability density function (for example, normal distribution). When the normal distribution is used, the preceding vehicle vehicle speed probability distribution f (v) may be calculated using the average vehicle speed vm according to the following equation (2).

  Here, in the preceding preceding vehicle speed probability distribution f (v), using the current location of the host vehicle A and the current location of the preceding preceding vehicle C, as shown in FIG. The standard deviation σv (variation in f (v)) is increased as the distance between the preceding vehicle C and the host vehicle A when the preceding vehicle C is detected is increased. Further, in the preceding preceding vehicle speed probability distribution f (v), before and after the preceding preceding vehicle current position detection unit 5d detects the preceding preceding vehicle C, as shown in FIG. The standard deviation σv (variation in f (v)) is increased as the change amount of the current vehicle speed of the own vehicle A is larger.

  Thus, in 1st Embodiment, the dispersion | variation in the preceding preceding vehicle vehicle speed probability distribution f (v) is enlarged, so that the distance of the preceding preceding vehicle C and the own vehicle A is far. Therefore, when the distance between the preceding vehicle C and the host vehicle A is long and the detection accuracy of the current location of the preceding vehicle C by the preceding preceding vehicle current location detection unit 5d decreases, the probability distribution of the position of the preceding vehicle C ( In the preceding preceding vehicle position probability distribution), the range of positions where the preceding preceding vehicle C may exist can be expanded.

  In the first embodiment, the variation in the vehicle speed probability distribution f (v) of the preceding vehicle increases as the change amount of the current vehicle speed of the host vehicle A increases. Therefore, when the amount of change in the current vehicle speed of the own vehicle A is large, pitching occurs, and the detection accuracy of the current position of the preceding vehicle C by the preceding vehicle current position detection unit 5d decreases, the position of the preceding vehicle C In this probability distribution (previous vehicle position probability distribution), the range of positions where the preceding vehicle C may exist can be expanded.

  In the present embodiment, an example is shown in which the standard deviation σv (f (v) variation) is increased as the change amount of the current vehicle speed of the host vehicle A is increased using the vehicle speed of the host vehicle A. It is also possible to adopt the configuration. For example, using the acceleration of the host vehicle A, the standard deviation σv may be increased by determining that the change amount of the current vehicle speed of the host vehicle A is larger as the change amount of the acceleration of the host vehicle A is larger.

In the preceding preceding vehicle speed probability distribution f (v), the distance from the position of the preceding preceding vehicle C detected by the preceding preceding vehicle current position detection unit 5d to the passing point candidate set by the passing point candidate setting unit 5b is When the estimated arrival time, that is, the time until the own vehicle A reaches the overtaking point candidate becomes long, the standard deviation σv (variation of f (v)) is increased as the estimated arrival time is longer.
As described above, in the first embodiment, the longer the expected arrival time, the larger the variation in the vehicle speed probability distribution of the preceding preceding vehicle C (the preceding preceding vehicle vehicle speed probability distribution). Therefore, when the expected arrival time (the time until the vehicle A reaches the overtaking point candidate from the current location) is long and the reliability of the detection result of the position of the preceding preceding vehicle C decreases, the position of the preceding preceding vehicle C In this probability distribution (previous vehicle position probability distribution), the range of positions where the preceding vehicle C may exist can be expanded.

  At that time, in the preceding preceding vehicle vehicle speed probability distribution f (v), the route from the current location of the vehicle A to the overtaking point candidate in the target route (vehicle forward route) using the target route set by the navigation device 3. When it is determined that the change in curvature is greater than or equal to a predetermined set value, the standard deviation σv is made larger than when it is determined that the change is less than the set value. For example, as the curvature change is larger, the slope of the standard deviation σv with respect to the change amount of the expected arrival time in FIG.

  Thus, in 1st Embodiment, when it determines with the variation | change_quantity of the curvature of the path | route from the present location of the own vehicle A to an overtaking point candidate among target routes becoming more than a predetermined setting value, it will become less than a setting value. The variation in the probability distribution of the vehicle speed of the preceding preceding vehicle C (the preceding preceding vehicle speed probability distribution) is made larger than that in the case of the determination. Therefore, when the road shape is complicated and the vehicle speed of the preceding preceding vehicle C is likely to change due to a change in curvature, the preceding leading vehicle C position probability distribution (the preceding leading vehicle position probability distribution) The range of positions where the car C may be present can be expanded.

  Further, in the preceding preceding vehicle vehicle speed probability distribution f (v), on the route from the current location of the vehicle A to the overtaking point candidate in the target route (own vehicle forward route) using the target route set by the navigation device 3. When it is determined that there is a branch point (for example, an intersection), the standard deviation σv (variation of f (v)) is made larger than when it is determined that there is no branch point. For example, the slope of the standard deviation σv with respect to the amount of change in the expected arrival time in FIG.

  Thus, in 1st Embodiment, when it determines with a branch point on the path | route from the present location of the own vehicle A to a passing point candidate among target routes, it is ahead of the case where it determines with there being no branch point. Increase the variation in the vehicle speed probability distribution of the preceding vehicle. Therefore, when the road shape is complicated and the leading vehicle C is likely to deviate from the target route at the branch point, the range of positions where the leading vehicle C may exist in the leading vehicle position probability distribution. Can be spread.

  Note that the probability distribution setting unit 5e sets a predetermined value when the variation of the preceding preceding vehicle vehicle speed probability distribution is equal to or more than a predetermined setting value, or the variation (standard deviation) of the preceding preceding vehicle position probability distribution described later. When it becomes above, it is good also as a structure which stops estimation of a preceding preceding vehicle vehicle speed probability distribution once. In this case, once the estimation of the preceding preceding vehicle vehicle speed probability distribution is temporarily stopped and then the current position of the preceding preceding vehicle C is detected by the preceding preceding vehicle current position detection unit 5d, the estimation of the preceding preceding vehicle vehicle speed probability distribution is resumed.

  As described above, in the first embodiment, when the variation of the preceding preceding vehicle vehicle speed probability distribution is equal to or larger than the predetermined setting value, or when the variation of the preceding preceding vehicle position probability distribution is equal to or larger than the predetermined setting value. When the estimation of the preceding preceding vehicle vehicle speed probability distribution is temporarily stopped and then the preceding preceding vehicle current position detection unit 5d detects the current position of the preceding preceding vehicle C, the estimation of the preceding preceding vehicle vehicle speed probability distribution is resumed. Therefore, when the reliability of the detection result of the vehicle speed of the preceding vehicle C is lowered, or when the reliability of the detection result of the position of the preceding vehicle C is lowered, the estimation of the vehicle speed probability distribution of the preceding vehicle can be stopped.

  The preceding preceding vehicle position estimating unit 5f precedes each of the plurality of passing point candidates set by the passing point candidate setting unit 5b after the expected arrival time (when the vehicle A reaches the passing point candidate). The position of the car C is estimated. As the position of the preceding vehicle C after the estimated arrival time (when the vehicle A reaches the overtaking point candidate), for example, the probability distribution of the position of the preceding vehicle C after the estimated arrival time (hereinafter referred to as “the preceding preceding vehicle”). Car position probability distribution ”). The position of the preceding preceding vehicle C is estimated by, for example, detecting results of the passing point candidate setting unit 5b and the probability distribution setting unit 5e (passing point candidate, initial position of the preceding vehicle C (current location), leading vehicle, etc. Car speed probability distribution f (v)) is used.

Specifically, the preceding preceding vehicle position estimation unit 5f calculates the time (predicted arrival time) required for the own vehicle A to reach the overtaking point candidate from the current location with respect to the preceding preceding vehicle speed probability distribution f (v). Multiplication is performed to obtain the multiplication result as a probability distribution of the moving distance of the preceding vehicle C. The probability distribution of the moving distance of the preceding vehicle C is calculated for each passing point candidate. Subsequently, the preceding preceding vehicle position estimation unit 5f determines that the preceding preceding vehicle C has moved from the initial position along the target route by the calculated probability distribution of the moving distance of the preceding preceding vehicle C. It is calculated as a probability distribution of the position of the preceding vehicle C (a preceding vehicle position probability distribution). The preceding preceding vehicle position probability distribution is also calculated for each passing point candidate. Then, the preceding preceding vehicle position estimating unit 5f outputs the calculation result to the preceding vehicle forward space determining unit 5g.
At this time, if the variance of the probability distribution of the travel distance is sufficiently large (for example, the predicted time within the value obtained by multiplying the standard deviation of the probability distribution of the position of the preceding vehicle C by three). If the estimated position of the following own vehicle A is included), it is determined that the estimation accuracy is poor and an invalid value is output.

  The preceding vehicle forward space determination unit 5g, for each of the plurality of overtaking point candidates set by the overtaking point candidate setting unit 5b, after the expected arrival time (when the vehicle A reaches the overtaking point candidate) It is determined whether a sufficient space is secured in front of B. Specifically, the preceding vehicle forward space determination unit 5g is provided in front of the preceding vehicle B, which is necessary to secure a safe distance ahead and behind the own vehicle A after the own vehicle A overtakes the preceding vehicle B. A distance (hereinafter also referred to as “necessary distance ahead of the preceding vehicle”) La is calculated. The calculation of the preceding vehicle forward required distance La is based on the detection results of the preceding vehicle position estimating unit 5c and the preceding preceding vehicle position estimating unit 5f (the position of the preceding vehicle B after the estimated arrival time, the position of the preceding vehicle C after the estimated arrival time). ) Probability distribution (priority vehicle position probability distribution)).

The required distance La ahead of the preceding vehicle may be calculated according to the following formula (3) using, for example, a predetermined own vehicle total length lv and a predetermined target inter-vehicle time Ta. As the target inter-vehicle time Ta, for example, a time during which safety can be ensured (for example, about 2 seconds) is set.
La = lv + 2VoTa (3)
Subsequently, the preceding vehicle forward space determination unit 5g determines the future preceding vehicle position estimated by the preceding vehicle position estimation unit 5c (the position of the preceding vehicle B when the own vehicle A reaches the overtaking point candidate) and the preceding preceding vehicle. Distance range from the average value of the leading vehicle position probability distribution estimated by the position estimating unit 5f (probability distribution of the position of the leading vehicle C when the vehicle A reaches the overtaking point candidate) to three times the standard deviation The minimum value (hereinafter also referred to as “estimated preceding vehicle forward distance”) Le of the distance to each point is calculated.

  Subsequently, the preceding vehicle forward space determination unit 5g determines whether or not the calculated estimated preceding vehicle forward distance Le is larger than the preceding vehicle forward required distance La (Le> La). If the preceding vehicle forward space determination unit 5g determines that Le> La, the vehicle is sufficient in front of the preceding vehicle B when the own vehicle A reaches the overtaking point candidate (after the estimated arrival time). It is determined that space is reserved. Accordingly, the preceding vehicle forward space determination unit 5g determines whether or not a sufficient space is secured in front of the preceding vehicle B after the estimated arrival time for each of the plurality of overtaking point candidates.

  When the overtaking point setting unit 5h secures a sufficient distance ahead of the preceding vehicle B by the preceding vehicle forward space determination unit 5g from among the plurality of overtaking point candidates set by the overtaking point candidate setting unit 5b. Predetermined vehicle front required distance La in which the determined distance between the preceding vehicle B and the preceding preceding vehicle C after the estimated arrival time (when the own vehicle A reaches the passing point candidate) is determined. The overtaking point candidate as described above is selected. For example, when there are a plurality of overtaking point candidates determined to have a sufficient distance, the overtaking point candidate with the longest distance is selected. Subsequently, the overtaking point setting unit 5h sets the selected overtaking point candidate as an overtaking point where the preceding vehicle B is to be overtaken.

  As described above, in the first embodiment, the current position of the preceding preceding vehicle C and the vehicle speed probability distribution (the preceding preceding vehicle vehicle speed probability distribution) of the preceding preceding vehicle C after the estimated reaching time are used. The probability distribution of the position of the preceding vehicle C (the preceding vehicle position probability distribution) is estimated as the position of the preceding vehicle C. Therefore, the front distance secured ahead of the preceding vehicle B can be determined using the probability distribution of the position of the preceding preceding vehicle C (the preceding preceding vehicle position probability distribution). Thereby, an overtaking point can be set more appropriately.

The target route generation unit 5i uses the map database 3a, the vehicle position detection unit 3b, the target route setting unit 3c, the external information recognition unit 4, and the detection result of the overtaking point setting unit 5h, etc. A target route for traveling (hereinafter also referred to as “automatic traveling target route”) is generated. The automatic travel target route is generated, for example, to a position sufficiently away from the current location of the own vehicle A in the traveling direction (for example, the arrival point when the own vehicle A travels at the current vehicle speed for 5 seconds).
Specifically, the target route generation unit 5i uses the detection results of the map database 3a and the vehicle position detection unit 3b (map information, the current location of the vehicle A), and the center of the vehicle lane (the left and right road boundaries). Center line (hereinafter also referred to as “base route”). Subsequently, the target route generation unit 5i outputs the base route as a target route for automatic travel to the target steering generation unit 5j.

  The target route generation unit 5i uses the detection results (the current location of the vehicle A, the position of the moving object, the passing point) of the own vehicle position detection unit 3b, the external information recognition unit 4, and the passing point setting unit 5h. If it is determined that the vehicle A has approached the overtaking point, and the oncoming vehicle is not detected in the vicinity of the overtaking point, the course of the own vehicle A is changed to the oncoming lane and the preceding vehicle B is overtaken. Route (hereinafter also referred to as “passing route”) is set as the automatic travel target route. As an oncoming vehicle, for example, using the position of the moving object detected by the external information recognition unit 4 and the stored contents (map information) of the map database 3a, the vehicle is on the oncoming lane ahead of the own vehicle A and the own vehicle. There is a moving object closest to A. As the overtaking route, for example, the center line passing through the center of the left and right road boundaries of the oncoming lane is calculated using the road boundaries stored in the map database 3a as in the base route.

  Further, if the target route generation unit 5i determines that the own vehicle A has overtaken the preceding vehicle B after the own vehicle A has changed to the opposite lane, the route of the own vehicle A is changed from the opposite lane to the original own lane. The route to be changed (hereinafter also referred to as “return route”) is set as the automatic travel target route. For example, when it is determined that the preceding vehicle B has moved from the front side of the own vehicle A to the rear side, it is determined that the own vehicle A has overtaken the preceding vehicle B. As the return route, for example, using the stored contents (map information) of the map database 3a, the overtaking route (the route for overtaking the preceding vehicle B) and the base route (the base route) can be defined as a clothoid curve, Calculate a smoothly connected line by combining arcs.

  The target steering generation unit 5j generates a target steering amount of the vehicle A using the detection result (automatic travel target route) of the target route generation unit 5i. As the target steering amount, for example, a steering amount that causes the own vehicle A to trace the target route for automatic travel is calculated. As a method for generating the target steering amount, for example, a control system (for example, a PID control system) that calculates a steering angle that reduces the deviation of the own vehicle A from the target route for automatic travel at the front gazing point of the own vehicle A is adopted. There is a way to do it. Subsequently, the target steering generation unit 5j outputs a command for turning the steered wheels according to the generated target steering amount (hereinafter also referred to as “steering angle command value”) to the steering angle control device 6.

  The target speed calculation unit 5k calculates the target vehicle speed of the host vehicle A using the detection results of the preceding vehicle detection unit 5a and the target route generation unit 5i (current position of the preceding vehicle B, vehicle speed Vs, target route for automatic travel). calculate. As a calculation method of the target vehicle speed, for example, the distance between the preceding vehicle B and the own vehicle A is calculated using the distance between the preceding vehicle B and the own vehicle A, the vehicle speed Vs of the preceding vehicle B, and the target route for automatic travel. There is a method that employs a control system (for example, a PID control system) that calculates a vehicle speed that is greater than a predetermined set distance. Subsequently, the target speed calculation unit 5k outputs a driving force command value for accelerating the own vehicle A to the power train controller 7 so that the vehicle speed of the own vehicle A follows the calculated target vehicle speed. In addition, the target speed calculation unit 5k outputs a braking force command value for decelerating the host vehicle A to the brake controller 8 so that the vehicle speed of the host vehicle A follows the calculated target vehicle speed.

In the present embodiment, the distance between the preceding vehicle B and the own vehicle A when the distance along the travel route (target route) from the current location of the own vehicle A to the passing point is equal to or less than a predetermined set distance. It is good also as a structure which controls the vehicle speed of the own vehicle A so that the speed of the own vehicle A may become higher than the speed of the preceding vehicle B after that. For example, when the own vehicle A passes the vicinity of the overtaking point set by the overtaking point setting unit 5h, the own vehicle A is decelerated and the distance between the preceding vehicle B and the own vehicle A is temporarily increased. Thereafter, the vehicle A may be accelerated to return the distance between the preceding vehicle B and the vehicle A to the original. As a result, the own vehicle A is accelerated, a speed difference is provided between the preceding vehicle B and the own vehicle A (the speed of the own vehicle A> the speed of the preceding vehicle B), and the own vehicle A arrives at the overtaking point. Can do. At that time, the distance Dt to be added to the target distance is calculated according to the following equation (4) using the predetermined speed difference Vt and the vehicle speed V0 at the time of starting overtaking of the own vehicle A. Thereby, when the preceding vehicle B comes before Dt with respect to the overtaking point, the target distance is temporarily increased by Dt.

  As described above, in the first embodiment, the distance along the target route from the current location of the own vehicle A to the overtaking point is calculated, and when the calculated distance is equal to or less than a predetermined set distance, The vehicle speed of the own vehicle A is controlled so that the distance from the own vehicle A increases and then the vehicle speed of the own vehicle A becomes higher than the vehicle speed of the preceding vehicle B. Therefore, preparation for overtaking can be made early, and the travel distance required for overtaking can be shortened. Therefore, the number of scenes that can be overtaken can be increased, and the time for following the slow preceding vehicle B can be shortened, so that discomfort for the occupant can be reduced.

The turning angle control device 6 uses the turning angle command value output by the controller 5 to control the turning angle control device 9 so that the turning angle represented by the turning angle command value is generated. As the turning angle control device 9, for example, there is a drive source (motor, hydraulic device) for turning the steered wheels.
The power train controller 7 uses the driving force command value output from the controller 5 to control the driving force control device 10 so that the driving force represented by the driving force command value is generated. As the driving force control device 10, for example, there is a driving source (engine, motor) for driving driving wheels.
The brake controller 8 controls the braking force control device 11 using the braking force command value output from the controller 5 so that the braking force represented by the braking force command value is generated. As the braking force control device 11, for example, there is a wheel cylinder that generates a braking force hydraulically at each wheel.

(Private vehicle overtaking support processing)
Next, the preceding vehicle overtaking support process executed by the controller 5 will be described with reference to the drawings. The preceding vehicle overtaking support process is performed at predetermined intervals.
As shown in FIG. 6, first, in step S101, the controller 5 (the preceding vehicle detection unit 5a, the preceding vehicle current position detection unit 5aa) detects the preceding vehicle B from the own vehicle forward path. Subsequently, the controller 5 (the passing point candidate setting unit 5b) determines whether or not the preceding vehicle B has been detected from the route ahead of the host vehicle. If the controller 5 (passing point candidate setting unit 5b) determines that the preceding vehicle B has been detected from the route ahead of the host vehicle (Yes), the process proceeds to step S102. On the other hand, when the controller 5 (passing point candidate setting unit 5b) determines that the preceding vehicle B cannot be detected from the route ahead of the host vehicle (No), the preceding vehicle passing support process is terminated.

In step S102, the controller 5 (passing spot candidate setting unit 5b) sets a plurality of passing spot candidates (passing spot candidates for passing the preceding vehicle B) on the route ahead of the host vehicle.
Then, it transfers to step S103 and the controller 5 (preceding vehicle position estimation part 5c) selects the variable i-th passing point candidate from the some passing point candidates set by step S102. The variable i is set to an initial value “1” at the start of the preceding vehicle overtaking support process. Subsequently, the controller 5 (preceding vehicle position estimation unit 5c) adds “1” to the variable i.

Subsequently, the process proceeds to step S104, where the controller 5 (preceding vehicle position estimation unit 5c) determines the variable i-th overtaking point candidate selected in step S103 after the expected arrival time (the own vehicle A is the overtaking point candidate). The position of the preceding vehicle B (future preceding vehicle position) is calculated.
Subsequently, the process proceeds to step S105, and the controller 5 (the preceding preceding vehicle current position detection unit 5d) starts from the own vehicle forward path and the preceding preceding vehicle C ahead of the preceding vehicle B (exists on the own vehicle forward path and from the own vehicle A). The surrounding moving object present at the second closest position) and the position and vehicle speed of the preceding vehicle C are detected. Subsequently, the controller 5 (probability distribution setting unit 5e) uses the detection result to estimate the preceding vehicle state (the initial position of the preceding vehicle C, the preceding vehicle speed probability distribution f (v)).

Subsequently, the process proceeds to step S106, and the controller 5 (the preceding preceding vehicle position estimation unit 5f) uses the preceding preceding vehicle state estimated in step S105, and after the predicted arrival time (the vehicle A reaches the overtaking point candidate). The position of the preceding vehicle C (probability distribution of the preceding vehicle).
Subsequently, the process proceeds to step S107, where the controller 5 (preceding vehicle forward space determination unit 5g) compares the i-th overtaking point candidate selected in step S103 after the expected arrival time (the own vehicle A is the overtaking point candidate). It is determined whether or not a sufficient space is secured in front of the preceding vehicle B (estimated preceding vehicle forward distance Le> preceding vehicle forward required distance La).

  Subsequently, the process proceeds to step S108, and if it is determined in step S107 that sufficient space is secured in front of the preceding vehicle B, the controller 5 (the passing point setting unit 5h) is the i-th passing point. The candidate is set as an overtaking point where the preceding vehicle B is to be overtaken. On the other hand, if it is determined in step S107 that sufficient space is not secured in front of the preceding vehicle B, the controller 5 (the passing point setting unit 5h) does not set a passing candidate point.

  Subsequently, the process proceeds to step S109, where the controller 5 (overtaking point setting unit 5h) determines whether or not the flow of steps S103 to S108 has been executed for all of the plurality of overtaking point candidates set in step S102. To do. If the controller 5 (the overtaking point setting unit 5h) determines that the flow of steps S103 to S108 has been executed for all of the plurality of overtaking point candidates (Yes), the process proceeds to step S110. On the other hand, if the controller 5 (the overtaking point setting unit 5h) determines that the flow of steps S103 to S108 is not executed for all of the plurality of overtaking point candidates (No), the process returns to step S03.

  In step S110, the controller 5 (target route generation unit 5i) detects the overtaking point set in step S109 and the detection results of the map database 3a, the vehicle position detection unit 3b, the target route setting unit 3c, and the external information recognition unit 4. Is used to generate a target route (automatic travel target route) for automatic traveling of the vehicle A. In addition, the controller 5 (target steering production | generation part 5j) uses one passing point selected from several passing points, when a several passing point is set by step S108. Subsequently, the controller 5 (target steering generation unit 5j) calculates a steering amount (target steering amount) for causing the own vehicle A to trace the generated automatic traveling target route. Subsequently, the controller 5 (target steering generating unit 5j) outputs a command (steering angle command value) for turning the steered wheels according to the calculated target steering amount to the steering angle control device 6.

  Subsequently, the controller 5 (target speed calculation unit 5k) predetermines the distance between the preceding vehicle B and the own vehicle A using the current location of the preceding vehicle B, the vehicle speed Vs of the preceding vehicle B, and the target route for automatic travel. The vehicle speed (target vehicle speed) that is greater than the set distance is calculated. Subsequently, the controller 5 (target speed calculation unit 5k) outputs a driving force command value for accelerating the host vehicle A to the power train controller 7 so that the vehicle speed of the host vehicle A follows the calculated target vehicle speed, or After the braking force command value for decelerating the host vehicle A is output to the brake controller 8, the preceding vehicle overtaking support process is terminated.

  In the first embodiment, an example in which the turning angle, the driving force, and the braking force of the vehicle A are controlled using the set overtaking point is shown, but other configurations may be employed. For example, the set overtaking point may be presented to the driver of the vehicle A. Specifically, the monitor of the target route setting unit 3c may be configured to display the overtaking point in addition to the image in which the target route is superimposed on a map around the host vehicle A. Thereby, the overtaking point can be notified to the driver of the vehicle A.

(Operation other)
Next, the operation of the vehicle equipped with the preceding vehicle overtaking support device 1 of this embodiment will be described.
The steering angle, driving force, and braking force of the vehicle A are controlled so that the vehicle travels along a target route for automatic driving (target route for automatic driving) on a road that faces each other in one lane. It is assumed that the preceding vehicle B appears on the target route ahead of the own vehicle A when the vehicle is traveling. Then, the controller 5 detects the preceding vehicle B from the host vehicle forward route and determines that the preceding vehicle B has been detected (step S101 “Yes” in FIG. 6). Subsequently, the controller 5 sets a plurality of overtaking point candidates (a plurality of overtaking point candidates) for overtaking the detected preceding vehicle B (step S102 in FIG. 6).

  Subsequently, the controller 5 initializes the variable i to “1”, and selects the variable i-th (first) overtaking point candidate from the set overtaking point candidates (step S103 in FIG. 6). ). Subsequently, the controller 5 selects the position of the preceding vehicle B after the expected arrival time (when the own vehicle A reaches the passing point candidate) for the selected variable i-th (first) passing point candidate (future The preceding vehicle position is calculated (step S104 in FIG. 6). Subsequently, the controller 5 detects the preceding preceding vehicle C, the position and the vehicle speed of the preceding preceding vehicle C, and uses the detection result to determine the preceding preceding vehicle state (the initial position of the preceding preceding vehicle C, the estimated vehicle speed distribution f (v )) Is estimated (step S105 in FIG. 6). Subsequently, the controller 5 uses the estimated preceding preceding vehicle state to estimate the preceding preceding vehicle position probability distribution after the expected arrival time (when the vehicle A reaches the overtaking point candidate) (step in FIG. 6). S106).

Here, the controller 5 secures sufficient space ahead of the preceding vehicle B after the expected arrival time (when the own vehicle A reaches the overtaking point candidate) for the i-th (first) overtaking point candidate. Suppose that it was done (step S107 of FIG. 6). Then, the controller 5 determines that a sufficient space is secured in front of the preceding vehicle B, and sets the i-th (first) passing point candidate as the passing point candidate of the preceding vehicle B ( Steps S108 and S109 “No” in FIG. 5).
Then, the controller 5 repeatedly executes the flow of steps S103 to S109, and sets one or more overtaking candidate points (step S108 in FIG. 6). In addition, when the controller 5 sets two or more passing points, one passing point selected from a plurality of passing points is used as the set passing point (step S110 in FIG. 6). .

  Subsequently, the controller 5 generates an overtaking route (automatic traveling target route) for overtaking the preceding vehicle B at the set overtaking point, and traces the generated automatic traveling target route to the own vehicle A. A steering amount (target steering amount) to be calculated is calculated (step S110 in FIG. 6). Subsequently, the controller 5 outputs a command (steering angle command value) for turning the steered wheels according to the calculated target steering amount to the turning angle control device 6 (step S110 in FIG. 6). Subsequently, the controller 5 calculates a vehicle speed (target vehicle speed) that makes the distance between the preceding vehicle B and the host vehicle A larger than a predetermined set distance (step S110 in FIG. 6). Subsequently, the controller 5 outputs a command (driving force command value) for accelerating the host vehicle A so that the vehicle speed of the host vehicle A follows the calculated target vehicle speed, or the host vehicle A A command for decelerating (braking force command value) is output to the brake controller 8 (step S110 in FIG. 6). As a result, the own vehicle A traces the overtaking path (automatic traveling target path) for overtaking the preceding vehicle B.

  Thus, in the first embodiment, a plurality of overtaking point candidates are set on the target route. Subsequently, for each of the plurality of overtaking point candidates, the current location of the preceding vehicle B, the vehicle speed of the preceding vehicle B, and the time it takes for the vehicle A to reach the overtaking point candidate from the current location (expected arrival time) Is used to estimate the position of the preceding vehicle B after the expected arrival time. Next, using the current location of the preceding preceding vehicle C and the vehicle speed probability distribution of the preceding preceding vehicle C after the estimated arrival time (the preceding preceding vehicle speed probability distribution), the position of the preceding preceding vehicle C after the estimated reaching time is determined. presume. Subsequently, using the position of the preceding vehicle B after the estimated arrival time and the position of the preceding preceding vehicle C after the estimated arrival time, the preceding vehicle B after the estimated arrival time is selected from the plurality of overtaking point candidates. A passing point candidate whose distance from the preceding vehicle C is a predetermined distance or more is set as a passing point. Therefore, the estimated arrival time is considered in consideration of the vehicle speed probability distribution of the preceding preceding vehicle C (the preceding preceding vehicle vehicle speed probability distribution) when the own vehicle A reaches the overtaking point candidate from the current location. The position of the subsequent preceding preceding vehicle C is estimated. Therefore, after the estimated arrival time, it can be appropriately determined in advance whether or not there is an appropriate space enough for the host vehicle A to enter the front of the preceding vehicle B. Thereby, the overtaking of the preceding vehicle B can be supported more appropriately.

  In the first embodiment, the target route setting unit 3c in FIG. 2 constitutes a target route setting unit. Similarly, the overtaking point candidate setting unit 5b of FIG. 2 constitutes an overtaking point candidate setting unit. Further, the preceding vehicle current position detection unit 5aa in FIG. 2 constitutes a preceding vehicle current position detection unit. Further, the preceding vehicle speed detector 5ab of FIG. 2 constitutes the preceding vehicle speed detector. Further, the preceding vehicle position estimating unit 5c in FIG. 2 constitutes a preceding vehicle position estimating unit. Further, the preceding preceding vehicle current position detection unit 5d in FIG. 2 constitutes a preceding preceding vehicle current position detection unit. Further, the probability distribution setting unit 5e in FIG. 2 constitutes a probability distribution setting unit. Further, the preceding preceding vehicle position estimating unit 5f in FIG. 2 constitutes the preceding preceding vehicle position estimating unit. The overtaking point setting unit 5h in FIG. 2 constitutes an overtaking point setting unit. Furthermore, the target speed calculation unit 5k in FIG. 2 constitutes a vehicle speed control unit. Further, the route display unit 3d in FIG. 2 constitutes an overtaking point presenting unit.

(Effect of 1st Embodiment)
The preceding vehicle overtaking support device 1 according to the first embodiment has the following effects.
(1) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 sets a plurality of overtaking point candidates on the target route. Subsequently, the controller 5 determines, for each of the plurality of overtaking point candidates, the current location of the preceding vehicle B, the vehicle speed of the preceding vehicle B, and the time it takes for the own vehicle A to reach the overtaking location candidate from the current location. The position of the preceding vehicle B after the expected arrival time is estimated using the (arrival time). Subsequently, the controller 5 uses the current location of the preceding preceding vehicle C and the vehicle speed probability distribution of the preceding preceding vehicle C after the estimated arrival time (the preceding preceding vehicle speed probability distribution) to determine the preceding preceding vehicle after the estimated reaching time. Estimate the position of C. Subsequently, the controller 5 uses the position of the preceding vehicle B after the estimated arrival time and the position of the preceding vehicle C after the estimated arrival time, from among a plurality of overtaking point candidates, A passing point candidate in which the distance between the preceding vehicle B and the preceding preceding vehicle C is equal to or greater than a predetermined set distance is set as the passing point.

  According to such a configuration, the probability distribution of the vehicle speed of the preceding vehicle C (the preceding vehicle speed probability distribution) when the own vehicle A reaches the overtaking point candidate from the current location after the estimated arrival time is taken into consideration. Thus, the position of the preceding vehicle C after the estimated arrival time is estimated. Therefore, after the expected arrival time, it can be appropriately determined in advance whether or not there is an appropriate space for the host vehicle A to enter in front of the preceding vehicle B. Thereby, the overtaking of the preceding vehicle B by the own vehicle A can be supported more appropriately.

(2) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 determines the current location of the preceding preceding vehicle C and the probability distribution of the vehicle speed of the preceding preceding vehicle C after the expected arrival time (the preceding preceding vehicle). Vehicle speed probability distribution), the probability distribution of the position of the preceding vehicle C after the estimated arrival time (the preceding vehicle position probability distribution) is estimated as the position of the preceding vehicle C.
According to such a configuration, the front distance secured ahead of the preceding vehicle B can be determined using the probability distribution of the position of the preceding preceding vehicle C (the preceding preceding vehicle position probability distribution).

(3) According to the preceding vehicle overtaking support device 1 according to the first embodiment, the controller 5 increases the variation of the preceding preceding vehicle vehicle speed probability distribution as the distance between the preceding preceding vehicle C and the host vehicle A increases. .
According to such a configuration, when the distance between the preceding vehicle C and the host vehicle A is long and the detection accuracy of the current position of the preceding vehicle C by the preceding vehicle current position detection unit 5d decreases, In the position probability distribution (previous vehicle position probability distribution), the range of positions where the preceding vehicle C may exist can be expanded. Thereby, an overtaking point can be set more appropriately.

(4) According to the preceding vehicle overtaking support device 1 according to the first embodiment, the controller 5 increases the variation of the preceding preceding vehicle vehicle speed probability distribution as the change amount of the current vehicle speed of the host vehicle A increases.
According to such a configuration, when the amount of change in the current vehicle speed of the host vehicle A is large, pitching occurs, and the detection accuracy of the current location of the preceding vehicle C by the preceding preceding vehicle current location detection unit 5d decreases. In the probability distribution of the position of the preceding vehicle C (the preceding preceding vehicle position probability distribution), the range of positions where the preceding preceding vehicle C may exist can be expanded. Thereby, an overtaking point can be set more appropriately.

(5) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 increases the variation in the preceding preceding vehicle vehicle speed probability distribution as the expected arrival time is longer.
According to such a configuration, when the expected arrival time (the time until the vehicle A reaches the overtaking point candidate from the current location) is long, and the reliability of the detection result of the position of the preceding vehicle C decreases, In the probability distribution of the position of the preceding vehicle C (the preceding preceding vehicle position probability distribution), the range of positions where the preceding preceding vehicle C may exist can be expanded. Thereby, an overtaking point can be set more appropriately.

(6) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 determines that the variation of the preceding preceding vehicle speed probability distribution is equal to or greater than a predetermined set value, or the preceding preceding vehicle position probability. When the variation in the distribution is equal to or greater than a predetermined set value, the estimation of the preceding preceding vehicle vehicle speed probability distribution is temporarily stopped. After that, when the current location of the preceding preceding vehicle C is detected, the preceding preceding vehicle vehicle speed probability distribution is estimated. Resume.
According to such a configuration, when the reliability of the detection result of the vehicle speed of the preceding vehicle C is lowered, or when the reliability of the detection result of the position of the preceding vehicle C is lowered, the estimation of the vehicle speed probability distribution of the preceding vehicle is reduced. To stop. Thereby, an overtaking point can be set more appropriately.

(7) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 determines in advance the amount of change in the curvature of the route from the current location of the vehicle A to the overtaking point candidate in the target route. When it is determined that the value is greater than or equal to the set value, the variation in the vehicle speed probability distribution of the preceding preceding vehicle is made larger than when it is determined that the value is less than the set value.
According to such a configuration, when the road shape is complicated and the vehicle speed of the preceding vehicle C is likely to change due to a change in curvature, the probability distribution of the position of the preceding vehicle C (the preceding vehicle position probability distribution). ), The range of positions where the preceding vehicle C may be present can be widened.

(8) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 determines that there is a branch point on the route from the current location of the vehicle A to the overtaking point candidate in the target route. In this case, the variation in the vehicle speed probability distribution of the preceding preceding vehicle is made larger than when it is determined that there is no branch point.
According to such a configuration, when the road shape is complicated and the leading vehicle C tends to deviate from the target route at the branch point, the probability distribution of the position of the leading vehicle (the leading vehicle position probability distribution). The range of the position where the preceding preceding vehicle C may exist can be widened.

(9) According to the preceding vehicle overtaking support device 1 according to the first embodiment, when the preceding preceding vehicle C is not detected, the controller 5 automatically detects when the own vehicle A is stopped in front of the traffic light. When the distance from the stop line ahead of the car A to the current location of the host vehicle A is detected and the detected distance is equal to or larger than a predetermined set distance, it is assumed that the preceding preceding car C exists in front of the preceding car B. The current location of the preceding vehicle C is set.
According to such a configuration, the presence of the preceding vehicle C can be estimated even when the preceding vehicle C cannot be directly detected. Therefore, the number of scenes that can be overtaken can be increased, and the time required to follow the slow preceding vehicle B can be shortened, so that passenger discomfort can be reduced.

(10) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the controller 5 calculates the distance along the target route from the current location of the host vehicle A to the overtaking point, and the calculated distance is calculated in advance. When the distance is less than the predetermined set distance, the distance between the preceding vehicle B and the own vehicle A increases, and then the own vehicle so that the speed difference between the preceding vehicle B and the own vehicle A is equal to or greater than the predetermined speed difference. A vehicle speed is controlled.
According to such a configuration, preparation for overtaking can be made early and the travel distance required for overtaking can be shortened. Therefore, the number of scenes that can be overtaken can be increased, and the time required to follow the slow preceding vehicle B can be shortened, so that passenger discomfort can be reduced.

(11) According to the preceding vehicle overtaking support apparatus 1 according to the first embodiment, the route display unit 3d may be configured to present the set overtaking point to the driver of the own vehicle A.
Specifically, according to such a configuration, the monitor of the target route setting unit 3c may display a passing point in addition to an image in which the target route is superimposed on a map around the host vehicle A. Thereby, the driver can be notified of the overtaking point.

(Second Embodiment)
Next, a second embodiment according to the present invention will be described with reference to the drawings. In addition, about the structure similar to the said embodiment, the same code | symbol is used and the detail is abbreviate | omitted.
In the second embodiment, the distance between the position of the preceding vehicle B after the estimated arrival time and the position of the preceding vehicle C after the estimated arrival time is less than a predetermined set distance (for example, the total length lv of the host vehicle). If the determination is made, a point that sets a passing point candidate capable of continuously overtaking the preceding vehicle B and the preceding preceding vehicle C among the plurality of passing point candidates as the passing point is the same as in the first embodiment. Different.

  In this case, the controller 5 has the internal configuration shown in FIG. 7 in addition to the internal configuration of FIG. 2 of the first embodiment. In the internal configuration shown in FIG. 7, the overtaking point candidate setting unit 5b, the preceding vehicle position estimating unit 5c, the preceding preceding vehicle current position detecting unit 5d, the probability distribution setting unit 5e, and the preceding preceding vehicle position estimating unit shown in FIG. 5f and a preceding vehicle forward space determination unit 5g are partially changed, an overtaking point candidate setting unit 5b *, a preceding vehicle position estimation unit 5c *, a forward vehicle current position detection unit 5d *, and a probability distribution setting unit 5e *, A forward vehicle position estimation unit 5f *, a preceding vehicle forward space determination unit 5g *, and an overtaking point setting unit 5h *. In each of these components 5b *, 5c *, 5d *, 5e *, 5f *, 5g *, and 5h *, the preceding vehicle C * is used instead of the preceding preceding vehicle C. As the forward vehicle C *, for example, there are all the surrounding moving objects that exist on the route ahead of the host vehicle and in front of the preceding vehicle B.

For example, the overtaking point candidate setting unit 5b * sets a plurality of overtaking point candidates that are candidates for overtaking points for successively overtaking the preceding vehicle B and the preceding vehicle C * on the route ahead of the vehicle. . Here, as the required overtaking distance Lo, the speed vsn of the target forward vehicle C *, the legal speed Vlim of the road on which the own vehicle A and the preceding vehicle B are traveling, and the own vehicle A at the time of overtaking start. The distance calculated by the following equation (5) is used using the vehicle speed V0, the relative distance xn between the target forward vehicle C * and the subject vehicle A, and the target inter-vehicle time Ts.

Here, similarly to the internal configuration shown in FIG. 2, for example, a relatively short time (for example, about 2 seconds) is used as the target inter-vehicle time Ts. Further, as the target acceleration a0, for example, an acceleration (for example, 1.5 [m / s ² ]) that does not make the occupant of the vehicle A feel uncomfortable is used.
In addition, the preceding vehicle position estimation unit 5c *, for each of a plurality of set overtaking point candidates, for the preceding vehicle B after the expected arrival time (time until the vehicle A reaches the overtaking point candidate from the current location). Estimate the position. Further, the preceding preceding vehicle current position detection unit 5d * detects all the preceding vehicles C *. In addition, the probability distribution setting unit 5e * estimates the traveling state of all the detected forward vehicles C * (hereinafter also referred to as “forward vehicle state”) for each of the plurality of overtaking point candidates. Further, the preceding preceding vehicle position estimation unit 5f * uses the estimated preceding vehicle state to determine the positions of all the preceding vehicles C * after the estimated arrival time (for the preceding vehicle C *) for each of the plurality of overtaking point candidates. (Probability distribution of position). Further, the preceding vehicle forward space determination unit 5g * uses the positions of all the forward vehicles C * after the estimated expected arrival time, and at least one forward vehicle after the estimated arrival time for each of the plurality of overtaking point candidates. It is determined whether sufficient space is secured in front of the car C *. Further, the overtaking point setting unit 5h * determines the overtaking point candidate that has been determined that a sufficient distance is secured ahead of the preceding vehicle C * from among the set overtaking point candidates, that is, the expected arrival point. An overtaking point candidate is selected in which the distance between the preceding vehicle C * after the time is equal to or greater than the predetermined distance La ahead of the preceding vehicle.
The other internal configuration is the same as the internal configuration of FIG.

(Effect of 2nd Embodiment)
The preceding vehicle overtaking support apparatus 1 according to the second embodiment has the following effects in addition to the effects (1) to (11) of the preceding vehicle overtaking support apparatus 1 according to the first embodiment.
(1) According to the preceding vehicle overtaking support device 1 according to the second embodiment, the controller 5 determines the distance between the position of the preceding vehicle B after the estimated arrival time and the position of the preceding vehicle C after the estimated arrival time. Is determined to be less than a predetermined set distance, an overtaking point candidate capable of continuously overtaking the preceding vehicle B and the preceding preceding vehicle C among the plurality of overtaking point candidates is determined as the overtaking point. Set as.
According to such a configuration, when it is not possible to secure an appropriate space for allowing the host vehicle A to enter between the preceding vehicle B and the preceding preceding vehicle C, the preceding vehicle B and the preceding preceding vehicle C are simultaneously set. Overtake. Therefore, the number of scenes that can be overtaken can be increased, and the time required to follow the slow preceding vehicle B can be shortened, so that passenger discomfort can be reduced.

3c target route setting unit 3d route display unit 5b overtaking point candidate setting unit 5aa preceding vehicle current location detection unit 5ab preceding vehicle vehicle speed detection unit 5c preceding vehicle position estimation unit 5d ahead preceding vehicle current location detection unit 5e probability distribution setting unit 5f ahead preceding vehicle Position estimation unit 5h Passing point setting unit 5k Target speed calculation unit

Claims (11)

A target route setting unit for setting the target route of the vehicle;
A preceding vehicle speed detecting unit for detecting a vehicle speed of the vehicle ahead of the preceding vehicle,
Using the vehicle speed of the preceding vehicle, an overtaking point candidate setting unit that sets a plurality of overtaking point candidates that are candidates for overtaking the overtaking of the preceding vehicle on the target route;
A preceding vehicle current position detection unit for detecting a current position of the preceding vehicle;
For each of the plurality of overtaking point candidates, the current location of the preceding vehicle, the vehicle speed of the preceding vehicle, and the expected arrival time that is the time it takes for the vehicle to reach the overtaking point candidate from the current location. Using a preceding vehicle position estimating unit that estimates the position of the preceding vehicle after the expected arrival time;
A preceding preceding vehicle current location detection unit for detecting a current location of a preceding preceding vehicle ahead of the preceding vehicle;
A probability distribution setting unit that sets a probability distribution of the vehicle speed of the preceding preceding vehicle after the expected arrival time;
Using the current location of the preceding preceding vehicle and the probability distribution of the vehicle speed of the preceding preceding vehicle after the estimated arrival time, the probability distribution of the position of the preceding preceding vehicle after the estimated arrival time is calculated after the estimated arrival time. the previous preceding vehicle position estimating section for estimating a position of the destination preceding vehicle,
Using the position of the preceding vehicle after the estimated arrival time and the position of the preceding preceding vehicle after the estimated arrival time, the preceding vehicle after the estimated arrival time from among a plurality of the overtaking point candidates And an overtaking point setting unit for setting the overtaking point candidate whose distance from the preceding preceding vehicle is equal to or greater than a predetermined set distance as the overtaking point. apparatus. 2. The preceding vehicle follow-up according to claim 1 , wherein the probability distribution setting unit increases the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle as the distance between the preceding preceding vehicle and the host vehicle increases. Yue support device. The preceding vehicle according to claim 1 or 2 , wherein the probability distribution setting unit increases the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle as the amount of change in the current vehicle speed of the host vehicle increases. Overtaking support device. The preceding vehicle follow-up according to any one of claims 1 to 3 , wherein the probability distribution setting unit increases the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle as the predicted arrival time is longer. Yue support device. The probability distribution setting unit is configured such that when the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle is equal to or larger than a predetermined setting value, or the variation in the probability distribution of the position of the preceding preceding vehicle is equal to or larger than the predetermined setting value If it is, the estimation of the vehicle speed probability distribution of the preceding preceding vehicle is temporarily stopped, and then when the current position of the preceding preceding vehicle is detected by the preceding preceding vehicle current position detection unit, the probability distribution of the vehicle speed of the preceding preceding vehicle The preceding vehicle overtaking support device according to claim 4 , wherein the estimation of the vehicle is resumed. If the probability distribution setting unit determines that the amount of change in the curvature of the target route from the current location of the host vehicle to the overtaking point candidate is greater than or equal to a predetermined set value, 6. The preceding vehicle overtaking support apparatus according to claim 4 or 5 , wherein the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle is made larger than that in the case of determination. If the probability distribution setting unit determines that there is a branch point on the route from the current location of the vehicle to the overtaking point candidate in the target route, than the case where it is determined that there is no branch point, The preceding vehicle overtaking support apparatus according to any one of claims 4 to 6 , wherein the variation in the probability distribution of the vehicle speed of the preceding preceding vehicle is increased. When the preceding preceding vehicle is not detected, the preceding preceding vehicle position estimating unit is a distance from the stop line ahead of the own vehicle to the current location of the own vehicle when the own vehicle is stopped in front of the traffic light. When the detected distance is equal to or greater than a predetermined set distance, the current location of the preceding preceding vehicle is set assuming that the preceding preceding vehicle exists in front of the preceding vehicle. Item 8. The preceding vehicle overtaking support device according to any one of Items 1 to 7 . When the overtaking point setting unit determines that the distance between the position of the preceding vehicle after the estimated arrival time and the position of the preceding preceding vehicle after the estimated arrival time is less than a predetermined set distance, 2. The overtaking point candidate capable of continuously overtaking the preceding vehicle and the preceding preceding vehicle among the plurality of overtaking point candidates is set as the overtaking point. The preceding vehicle overtaking support device according to any one of 1 to 8 . When the distance along the target route from the current location of the host vehicle to the overtaking point is equal to or less than a predetermined set distance, the distance between the preceding vehicle and the host vehicle increases, and then the host vehicle The preceding vehicle overtaking support according to any one of claims 1 to 9 , further comprising a vehicle speed control unit that controls a vehicle speed of the host vehicle so that a vehicle speed of the vehicle is higher than a vehicle speed of the preceding vehicle. apparatus. Prior according to any one of claims 1 to 10, characterized in that it comprises a passing-point presentation unit for presenting the overtaking point set by the overtaking point setting unit to the driver of the vehicle Car overtaking support device.

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