JP7434866B2 - Vehicle travel control method and travel control device - Google Patents

Description

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

When the vehicle speed is limited by a steering support system that has a function to limit the vehicle speed so that it does not exceed the upper limit vehicle speed determined according to the curve shape when the vehicle enters a curve. Alternatively, a system is known in which lane change support control is not started if it is predicted that a restriction will be imposed on the speed of the vehicle within a predetermined time (Patent Document 1).

Japanese Patent Application Publication No. 2018-203120

However, the above-mentioned prior art only discloses that when the vehicle enters a curve, the speed of the vehicle is limited so that excessive understeer does not occur while traveling on the curve. That is, the above-mentioned prior art does not disclose anything about controlling the driving operation of the own vehicle in relation to the legal speed of the road on which the own vehicle travels and the traveling speed of the own vehicle set by the driver. For example, when your vehicle overtakes a preceding vehicle in the lane in front of you on a straight road, during the overtaking process, the speed limit is either the legal speed of the road the vehicle is traveling on or the speed set by the driver. When the vehicle's running speed is about to exceed the speed, the vehicle has no choice but to decelerate. Such vehicle travel control deteriorates the ride comfort for the occupants.

The problem to be solved by the present invention is to perform lane change control that suppresses deterioration of passenger comfort in relation to the legal speed of the road on which the vehicle is traveling and the travel speed of the vehicle set by the driver. An object of the present invention is to provide a vehicle travel control method and a vehicle travel control device.

The present invention prohibits lane changes when it is determined that the driving operation to overtake the preceding vehicle cannot be completed within a predetermined time at the legal speed of the road on which the host vehicle is traveling or the travel speed of the host vehicle set by the driver. This solves the above problems. Further, in the present invention, at the legal speed of the road on which the host vehicle is traveling or at the travel speed of the host vehicle set by the driver, the predetermined driving operation, which is at least one of changing lanes and changing the driving direction, is performed within a predetermined time. The above problem is solved by prohibiting lane changes when it is determined that the process is not completed.

According to the present invention, when performing lane change control for the own vehicle, deterioration of passenger comfort is suppressed in relation to the legal speed of the road on which the own vehicle travels and the traveling speed of the own vehicle set by the driver. be able to.

1 is a block diagram showing one embodiment of a vehicle travel control device according to the present invention. 2 is a front view showing a part of the input device of FIG. 1. FIG. FIG. 2 is a plan view showing an example of automatic lane change control using a lane change support function of the control device in FIG. 1; FIG. 2 is a plan view showing an example of automatic lane change control to an adjacent lane by the overtaking support function of the control device in FIG. 1; FIG. 2 is a plan view showing an example of automatic lane change control to the original driving lane by the lane change support function of the control device in FIG. 1; FIG. 2 is a plan view showing an example of automatic lane change control using the route driving support function of the control device shown in FIG. 1; FIG. 2 is a plan view (part 1) showing one of the traveling operations of the host vehicle controlled by the vehicle traveling control device according to the present invention. FIG. 2 is a plan view (part 2) showing one of the traveling operations of the host vehicle controlled by the vehicle traveling control device according to the present invention. FIG. 3 is a plan view (Part 3) showing one of the traveling operations of the host vehicle controlled by the vehicle traveling control device according to the present invention. FIG. 3 is a plan view showing another running operation of the own vehicle controlled by the vehicle running control device according to the present invention. FIG. 7 is a plan view showing still another running operation of the host vehicle controlled by the vehicle running control device according to the present invention. 2 is a block diagram showing state transitions of the control device in FIG. 1. FIG. 1 is a flowchart (part 1) showing an example of a travel control process of the vehicle travel control device according to the present invention. 2 is a flowchart (Part 2) showing an example of the travel control process of the vehicle travel control device according to the present invention. 11A is a flowchart (part 1) illustrating an example of a subroutine of step S10 in FIG. 11A. FIG. 11A is a flowchart (part 2) illustrating an example of the subroutine of step S10 in FIG. 11A. FIG.

FIG. 1 is a block diagram showing the configuration of a travel control device 1 for a vehicle (hereinafter also referred to as own vehicle) according to the present embodiment. The vehicle travel control device 1 of this embodiment is also an embodiment for implementing the vehicle travel control method according to the present invention. As shown in FIG. 1, the vehicle travel control device 1 according to the present embodiment includes a sensor 11, a vehicle position detection device 12, a map database 13, an on-vehicle device 14, a navigation device 15, and a presentation device 16. , an input device 17 , a drive control device 18 , and a control device 19 . These devices are connected by, for example, a CAN (Controller Area Network) or other in-vehicle LAN in order to mutually transmit and receive information.

The sensor 11 detects the driving state of the host vehicle. For example, the sensor 11 includes cameras such as a front camera that images the front of the own vehicle, a rear camera that images the rear of the own vehicle, and a side camera that images the left and right sides of the own vehicle. The sensors 11 also include a front radar that detects obstacles in front of the vehicle, a rear radar that detects obstacles behind the vehicle, and a side radar that detects obstacles on the left and right sides of the vehicle. Including radar such as. Further, the sensor 11 includes a vehicle speed sensor that detects the speed of the host vehicle, a touch sensor (capacitance sensor) that detects whether the driver is holding the steering wheel, a driver monitor that captures an image of the driver, and the like. Note that the sensor 11 may be configured to use one of the plurality of sensors described above, or may be configured to use a combination of two or more types of sensors. The sensor 11 outputs detection results to the control device 19 at predetermined time intervals.

The vehicle position detection device 12 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like. The own vehicle position detection device 12 detects radio waves transmitted from a plurality of satellite communications using a GPS unit, and periodically acquires position information of the target vehicle (own vehicle). Further, the own vehicle position detection device 12 detects the current position of the target vehicle based on the acquired position information of the target vehicle, the angle change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The own vehicle position detection device 12 outputs the detected position information of the target vehicle to the control device 19 at predetermined time intervals.

The map database 13 is a memory that stores three-dimensional high-precision map information including position information of various facilities and specific points, and is accessible from the control device 19. The three-dimensional high-precision map information is three-dimensional map information based on the road shape detected when driving on an actual road using a data acquisition vehicle. Along with map information, 3D high-precision map information provides detailed and high-precision information such as curved roads and the size of their curves (e.g. curvature or radius of curvature), road merging points, branching points, toll plazas, locations where the number of lanes is reduced, etc. The location information is map information associated as three-dimensional information.

The on-vehicle equipment 14 is various types of equipment mounted on the vehicle, and is operated by the driver's operation. Such in-vehicle devices include steering wheels, accelerator pedals, brake pedals, turn signals, wipers, lights, horns, and other specific switches. When operated by the driver, the in-vehicle device 14 outputs operation information to the control device 19.

The navigation device 15 acquires the current position information of the own vehicle from the own vehicle position detection device 12, superimposes the position of the own vehicle on navigation map information, and displays the superimposed position on a display or the like. The navigation device 15 also has a navigation function that, when a destination is set, sets a route to the destination and guides the driver along the set route. This navigation function displays the route on a map on the display and informs the driver of the route through audio or other means. The route set by the navigation device 15 is also used by a route travel support function provided by the control device 19. The route travel support function is a function that allows the control device 19 to autonomously travel the own vehicle to a destination based on a set route.

The presentation device 16 includes various displays, such as a display included in the navigation device 15, a display built into a room mirror, a display built into a meter section, and a head-up display projected on a windshield. Further, the presentation device 16 includes devices other than a display, such as a speaker of an audio device and a seat device in which a vibrating body is embedded. The presentation device 16 notifies the driver of various presentation information under the control of the control device 19.

The input device 17 is, for example, a button switch that allows manual input by the driver, a touch panel placed on a display screen, or a microphone that allows input by the driver's voice. In this embodiment, the driver can input setting information for the presentation information presented by the presentation device 16 by operating the input device 17 . FIG. 2 is a front view showing a part of the input device 17 of this embodiment, and shows an example consisting of a group of button switches arranged on a spoke part of a steering wheel or the like. The illustrated input device 17 is a button switch used to turn ON/OFF the autonomous running control functions (autonomous speed control function and autonomous steering control function) provided in the control device 19. The input device 17 includes a main switch 171, a resume/accelerate switch 172, a set/coast switch 173, a cancel switch 174, a distance adjustment switch 175, and a lane change assist switch 176.

The main switch 171 is a switch that turns on/off the power of a system that implements the autonomous speed control function and autonomous steering control function of the control device 19. The resume/accelerate switch 172 is used to stop (turn off) the autonomous speed control function and then restart the autonomous speed control function at the set speed before turning it off, increase the set speed, or control the function after following the preceding vehicle and stopping. This is a switch for restarting the vehicle using the device 19. The set/coast switch 173 is a switch that starts the autonomous speed control function at the speed at which the vehicle is traveling or lowers the set speed. The cancel switch 174 is a switch that turns off the autonomous speed control function. The inter-vehicle distance adjustment switch 175 is a switch for setting the inter-vehicle distance from the preceding vehicle, and is a switch for selecting one from a plurality of settings, such as short distance, medium distance, and long distance, for example. The lane change support switch 176 is a switch for instructing (accepting) the start of a lane change when the control device 19 confirms with the driver that the lane change is to be started. Note that, by operating the lane change support switch 176 for longer than a predetermined period of time after consenting to the start of the lane change, it is possible to cancel the consent of the lane change proposal made by the control device 19.

In addition to the button switch group shown in FIG. 2, a direction indicator lever of a direction indicator or a switch of other in-vehicle equipment 14 can be used as the input device 17. For example, if the driver operates the direction indicator lever when the control device 19 proposes whether or not to automatically change lanes, the driver will move in the direction in which the direction indicator lever was operated instead of the proposed lane change. Make a lane change. Note that the input device 17 outputs the input setting information to the control device 19.

The drive control device 18 controls the running of the own vehicle. For example, when the own vehicle travels at a constant speed with the autonomous speed control function, the drive control device 18 accelerates and decelerates, and maintains the traveling speed so that the own vehicle reaches the set speed. Controls the operation of the drive mechanism and the brake operation. Further, the drive control device 18 similarly controls the operation of the drive mechanism and the brakes when the own vehicle follows a preceding vehicle using the autonomous speed control function. Note that the operation control of the drive mechanism includes the operation of the internal combustion engine in the case of an engine vehicle, and the operation of the travel motor in the case of an electric vehicle. In the case of a hybrid vehicle, this also includes torque distribution between the internal combustion engine and the driving motor.

Further, the drive control device 18 performs steering control of the own vehicle by controlling the operation of the steering actuator in addition to controlling the operation of the drive mechanism and brakes described above using the autonomous steering control function. For example, when performing lane keep control using the autonomous steering control function, the drive control device 18 detects a lane marker of the own lane in which the own vehicle is traveling, and controls the drive control device 18 so that the own vehicle runs at a predetermined position within the own lane. Controls the running position of the own vehicle in the width direction. Further, the drive control device 18 uses the autonomous steering control function to control the width direction of the own vehicle so that the own vehicle changes lanes when executing a lane change support function, an overtaking support function, or a route driving support function, which will be described later. Controls the traveling position in. Furthermore, when executing the right/left turn support function using the autonomous steering control function, the drive control device 18 performs travel control to turn right or left at an intersection or the like. Note that the drive control device 18 controls the running of the host vehicle according to instructions from a control device 19, which will be described later. Further, other known methods can also be used as the travel control method by the drive control device 18.

The control device 19 includes a ROM (Read Only Memory) that stores a program for controlling the running of the host vehicle, a CPU (Central Processing Unit) that executes the program stored in this ROM, and an accessible storage device. Equipped with functional RAM (Random Access Memory), etc. Note that the operating circuit may be an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. instead of or in addition to the CPU (Central Processing Unit). can be used.

The control device 19 has a driving information acquisition function that acquires information regarding the driving state of the own vehicle by executing a program stored in the ROM by the CPU, a driving scene determination function that determines the driving scene of the own vehicle, and a driving scene determination function that determines the driving scene of the own vehicle. The autonomous driving control function autonomously controls the traveling speed and/or steering of the vehicle.

The driving information acquisition function of the control device 19 is a function for the control device 19 to acquire driving information regarding the driving state of the host vehicle. For example, the control device 19 uses the driving information acquisition function to acquire image information of the exterior of the vehicle captured by the front camera, rear camera, and side camera of the sensor 11 as the driving information. Further, the control device 19 uses the driving information acquisition function to acquire detection results by the front radar, rear radar, and side radar as driving information. Further, the control device 19 uses the driving information acquisition function to acquire vehicle speed information of the own vehicle detected by the vehicle speed sensor of the sensor 11 and image information of the driver's face captured by the in-vehicle camera as driving information.

Further, the control device 19 uses the driving information acquisition function to acquire current position information of the own vehicle from the own vehicle position detection device 12 as driving information. Furthermore, the control device 19 uses the travel information acquisition function to acquire the set destination and the route to the destination from the navigation device 15 as travel information. Further, the control device 19 uses the driving information acquisition function to collect positional information such as a curved road and the size of the curve (for example, curvature or radius of curvature), merging points, branching points, toll gates, and positions where the number of lanes is reduced. It is acquired from the map database 13 as . In addition, the control device 19 uses the driving information acquisition function to acquire operation information of the in-vehicle device 14 by the driver from the in-vehicle device 14 as driving information.

The driving scene determination function of the control device 19 is a function of determining a driving scene in which the own vehicle is traveling by referring to a table stored in the ROM of the control device 19. In the table stored in the ROM of the control device 19, driving scenes suitable for lane changes or overtaking, and conditions for determining the driving scenes are stored for each driving scene. The control device 19 uses a driving scene determination function to refer to a table stored in the ROM and determines whether the driving scene of the host vehicle is a driving scene suitable for, for example, changing lanes or overtaking.

For example, the judgment conditions for a "scene of catching up with a preceding vehicle" are: "There is a preceding vehicle ahead," "Vehicle speed of the preceding vehicle < Set vehicle speed of own vehicle," "Reaching the preceding vehicle within a predetermined time," and It is assumed that four conditions are set: "The direction of lane change is not a lane change prohibition condition." In this case, the control device 19 uses the driving scene determination function to detect, for example, the detection results from the front camera and the front radar included in the sensor 11, the vehicle speed detected by the vehicle speed sensor, and the vehicle position detected by the vehicle position detection device 12. It is determined whether or not the own vehicle satisfies the above conditions based on vehicle position information and the like. If the above conditions are met, the control device 19 determines that the host vehicle is "catching up to the preceding vehicle".

The autonomous driving control function of the control device 19 is a function for the control device 19 to autonomously control the driving of the own vehicle without depending on the driver's operation. The autonomous driving control function of the control device 19 includes an autonomous speed control function that autonomously controls the traveling speed of the own vehicle, and an autonomous steering control function that autonomously controls the steering of the own vehicle. The autonomous speed control function and autonomous steering control function of this embodiment will be explained below.

《Autonomous speed control function》
The autonomous speed control function is such that when a preceding vehicle is detected, the control device 19 follows the preceding vehicle while controlling the inter-vehicle distance to maintain an inter-vehicle distance according to the vehicle speed, with the vehicle speed set by the driver as the upper limit. This is a function for controlling the driving operation of the own vehicle so that the vehicle runs. On the other hand, if the preceding vehicle is not detected, the control device 19 uses the autonomous speed control function to control the driving operation of the own vehicle so that the vehicle runs at a constant speed set by the driver. The former is also called distance control, and the latter is also called constant speed control. The autonomous speed control function detects the speed limit of the road on which the vehicle is traveling from a road sign using the sensor 11, or obtains the speed limit from map information in the map database 13, and automatically changes the speed limit to the set vehicle speed. It may also include a function to

To start the autonomous speed control function, the driver first operates the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 shown in FIG. 2 to input a desired traveling speed. For example, if the set/coast switch 173 is pressed while the vehicle is traveling at 70 km/h, the current traveling speed is set as is, but if the driver's desired speed is 80 km/h, the resume/accelerate The set speed can be increased by pressing the switch 172 multiple times. Conversely, if the driver's desired speed is 60 km/h, the set coast switch 173 may be pressed multiple times to lower the set speed. Further, the driver can determine the desired inter-vehicle distance by operating the inter-vehicle distance adjustment switch 175 of the input device 17 shown in FIG. 2, and select one from a plurality of settings such as short distance, medium distance, and long distance.

The constant speed control is executed when the forward radar of the sensor 11 or the like detects that there is no preceding vehicle in front of the vehicle's own lane. In constant speed control, the control device 19 controls the operation of drive mechanisms such as the engine and brakes using the drive control device 18 while feeding back vehicle speed data from the vehicle speed sensor so as to maintain a set running speed.

The inter-vehicle distance control is executed when the forward radar of the sensor 11 or the like detects that a preceding vehicle is present in front of the vehicle's own lane. In inter-vehicle distance control, the control device 19 controls the engine and the engine using the drive control device 18 while feeding back the inter-vehicle distance data detected by the forward radar so as to maintain the set inter-vehicle distance with the set traveling speed as the upper limit. Controls the operation of drive mechanisms such as brakes. Note that if the preceding vehicle stops while driving under distance control, the own vehicle also stops following the preceding vehicle. Furthermore, if the preceding vehicle starts, for example, within 30 seconds after the host vehicle has stopped, the host vehicle also starts and starts following the vehicle again using distance control. If your vehicle has been stopped for more than 30 seconds, it will not start automatically even if the vehicle in front starts, and after the vehicle in front starts, press the resume/accelerate switch 172 or press the accelerator pedal. , the vehicle starts tracking again using distance control.

《Autonomous steering control function》
The autonomous steering control function is a function for the control device 19 to execute steering control of the own vehicle by controlling the operation of the steering actuator when a predetermined condition is satisfied during execution of the autonomous speed control function described above. It is. This autonomous steering control function includes, for example, a lane keeping function, a lane change support function, an overtaking support function, a route driving support function, and the like. The lane keeping function is a function for supporting the driver's steering operation by controlling the steering actuator by the control device 19 so that the vehicle travels near the center of the lane, for example. The lane keep function is also called a lane width direction maintenance function.

《Lane change support function》
As shown in FIG. 3, when the driver operates the direction indicator lever, the direction indicator turns on, and when preset lane change start conditions are met, the control device 19 uses the lane change support function to change the lane to the vehicle. A lane change operation (hereinafter referred to as "LCP"), which is a series of processes, is started. The control device 19 uses the lane change support function to determine whether lane change start conditions are satisfied based on various types of driving information acquired by the driving information acquisition function. Conditions for starting a lane change include, but are not limited to, being in lane keep mode in hands-on mode, being in hands-on judgment, driving at a speed of 60 km/h or more, having a lane in the direction of the lane change, and There must be space in the destination lane to allow lane changes, the type of lane marker must be such that lane change is possible, and the radius of curvature of the road must be 250 m or more. Within 1 second after the driver operates the direction indicator lever. It is possible to exemplify that all conditions such as . If the control device 19 determines that the lane change start condition is satisfied by the lane change support function even without an instruction from the driver, the control device 19 notifies the driver using the presentation device 16 to suggest a lane change to the driver. Good too.

The lane keep mode of the hands-on mode is a state in which the autonomous speed control function and the lane keep function of the autonomous steering control function are being executed, and the driver's hold on the steering wheel is detected, as will be described in detail later. say. In addition, the hands-on determination refers to a state in which the driver continues to hold the steering wheel.

When the lane change start condition is satisfied, the control device 19 starts LCP using the lane change support function. LCP includes a lateral movement of the own vehicle to an adjacent lane and a lane change maneuver (hereinafter referred to as "LCM") in which the vehicle actually moves to the adjacent lane. Using the lane change support function, the control device 19 uses the presentation device 16 to present information indicating that the vehicle is automatically changing lanes to the driver while the LCP is being executed, and urges the driver to pay attention to the surroundings. When the LCM by the lane change support function is completed, the control device 19 turns off the turn signal and starts executing the lane keep function in the adjacent lane.

《Overtaking support function》
As shown in FIG. 4, when there is a preceding vehicle in front of the host lane that is slower than the host vehicle and a predetermined overtaking suggestion condition set in advance is satisfied, the control device 19 uses the overtaking support function to Overtaking information is presented to the driver by the presentation device 16. Here, the overtaking information is information for suggesting to the driver that he overtake the preceding vehicle. In addition, the control device 19 determines that the driver accepts the presentation of the overtaking information by operating the lane change support switch 176 of the input device 17 (equivalent to an input of consent), and that preset overtaking start conditions are met. In this case, LCP using the overtaking support function is started. The control device 19 uses the overtaking support function to determine whether the overtaking proposal condition and the overtaking start condition are satisfied based on various driving information acquired by the driving information acquisition function.

Conditions for overtaking suggestions include, but are not limited to, being in lane-keeping mode in hands-off mode, driving at a speed of 60 km/h or more, having a lane in the direction of the lane change, and remaining in the lane to which you are changing for 5 seconds. There must be space to change lanes behind the vehicle, the type of lane marker must be such that lane change is possible, the radius of curvature of the road must be 250 m or more, the vehicle's speed must be at least 5 km/h slower than the set speed, and the vehicle in front must The speed is at least 10km/h slower than the set speed, the distance between the own vehicle and the preceding vehicle is less than a preset threshold based on the speed difference between the own vehicle and the preceding vehicle, and the lane change destination For example, all conditions are satisfied, such as the speed of a preceding vehicle existing in a lane that satisfies a predetermined condition.

The lane keep mode of the hands-off mode is a mode in which the autonomous speed control function and the lane keep function of the autonomous steering control function are in progress, and the driver does not need to hold the steering wheel, which will be described in detail later. To tell. Further, the condition that the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition is applied depending on the type of lane to which the lane is to be changed. For example, when changing lanes from the left lane to the right lane on a multi-lane road with left-hand traffic, the speed of the preceding vehicle in the left lane is approximately 5 km/h faster than the speed of the preceding vehicle in the right lane. The condition is to be faster than h. Conversely, when changing lanes from the right lane to the left lane on a multi-lane road with left-hand traffic, the speed difference between your vehicle and the preceding vehicle in the left lane must be within approximately 5 km/h. This is a condition. Note that the conditions regarding the relative speed difference between the host vehicle and the preceding vehicle are reversed on roads where traffic is on the right side.

When the driver agrees to the presentation of the overtaking information and satisfies predetermined overtaking start conditions, the control device 19 uses the overtaking support function to turn on the turn signal and start LCP. Conditions for starting overtaking include, but are not limited to, being in lane keep mode in hands-on mode, being in hands-on judgment, driving at a speed of 60 km/h or more, having a lane in the direction of the lane change, and changing lanes. There must be space in the lane ahead to allow lane changes, the lane marker type must be set to allow lane changes, the radius of curvature of the road must be 250 m or more, and the vehicle's speed must be at least 5 km/h slower than the set speed (left side). (When changing lanes to the right lane in traffic), the speed of the preceding vehicle is at least 10 km/h slower than the set speed (when changing lanes to the right lane in left-hand traffic), and For example, all the conditions such as the speed of the vehicle satisfying a predetermined condition and the fact that the lane change support switch 176 is operated within 10 seconds are satisfied.

Note that the condition that the speed of the preceding vehicle is 10 km/h or more slower than the set speed can be changed by the driver's settings, and the changed set speed becomes the overtaking start condition. As the changeable speed, for example, in addition to 10 km/h, 15 km/h and 20 km/h can be selected. Further, the condition that the speed of the preceding vehicle existing in the lane to which the lane is to be changed satisfies a predetermined condition is the same as the overtaking proposal condition described above.

When the overtaking start condition is satisfied, the control device 19 starts LCP using the overtaking support function, and executes lateral movement to the adjacent lane and LCM. Using the overtaking support function, the control device 19 uses the presentation device 16 to present information indicating that the vehicle is automatically changing lanes to the driver while executing the LCP, and urges the driver to pay attention to the surroundings. When the LCM by the overtaking support function is completed, the control device 19 turns off the turn signal and starts executing the lane keeping function in the adjacent lane. Further, when the overtaking proposal condition is again satisfied after overtaking the preceding vehicle, the control device 19 uses the overtaking support function to suggest to the driver to return to the original lane using the presentation device 16, as shown in FIG. . If the driver accepts this proposal by operating the lane change support switch 176 of the input device 17 and the overtaking start conditions are met, the control device 19 uses the overtaking support function to return the own vehicle to the original position. Initiate LCP to return to lane.

《Route driving support function》
The set route has a branching point, merging point, exit, toll booth, or other point where the driving direction is changed, the distance to the point where the driving direction is changed is within a specified distance, and the specified route travel proposal conditions are met. In this case, the control device 19 uses the route driving support function to present route driving information using the presentation device 16 and proposes a lane change to a driving direction change point. Further, when the lane change proposal is accepted by operating the lane change support switch 176 and a predetermined route travel start condition is satisfied, the control device 19 starts LCP from the route travel support function. The control device 19 uses the route travel support function to determine whether the route travel proposal condition and the route travel start condition are satisfied based on various travel information acquired by the travel information acquisition function.

Note that if the route is set on the navigation device 15, but the route travel support function is not executed or is disabled in the settings, the navigation device 15 will not be able to use the normal route guidance function. Navigation functions are performed.

In the example shown in Figure 6, while the vehicle is driving in the right lane on a road with left-hand traffic and three lanes on each side, the vehicle changes lanes twice in sequence toward a branch point in the left lane, and from the branch point to the left side. An example of moving to a branch road extending to the left side of the lane is shown. If the branch point is within the first predetermined distance (for example, approximately 2.5 km to 1.0 km before the branch point) and the route travel proposal conditions are satisfied, the control device 19 uses the route travel support function to: Suggests a lane change from the right lane to the center lane based on route information. Note that the first predetermined distance (also referred to as a proposed lane change section) is preset according to the number of lane changes required to move to the lane where the driving direction change point exists. For example, as shown in Figure 6, if it is necessary to change lanes twice from the right lane to the center lane and then to the left lane, as shown in the example, the lane change is approximately 2.5 km to 1.0 km before the branch point. The section becomes the first predetermined distance (lane change proposed section).

Conditions for route travel suggestions include, but are not limited to, a destination being set on the navigation device 15, a hands-off lane keep mode, traveling at a speed of 60 km/h or more, and a lane change direction. For example, all conditions such as there being a lane in the road, the type of lane marker being able to change lanes, and the radius of curvature of the road being 250 m or more are met. Note that under the route driving proposal conditions, even if there is no space available for lane change at the lane change destination, route driving information is presented to notify the driver that a lane change is necessary along the route.

When the driver agrees to change lanes to head to the branch point and the route travel start conditions are satisfied, the control device 19 uses the route travel support function to turn on the direction indicator and start LCP. Conditions for starting route travel include, but are not limited to, being in lane keep mode in hands-on mode, being in hands-on judgment, traveling at a speed of 60 km/h or more, having a lane in the direction of the lane change, and The driver must ensure that there is space in the lane to which the driver can change, that the lane marker type is set to allow lane changes, that the driver is driving in the proposed lane change section, and that the radius of curvature of the road is 250 m or more. It is possible to exemplify that all conditions are met.

When the route travel start conditions are met, the control device 19 starts LCP using the route travel support function, and executes lateral movement to the center lane and LCM. When the LCM by the route driving support function is completed, the control device 19 turns off the turn signal and starts executing the lane keeping function in the center lane. The control device 19 uses the presentation device 16 to present information indicating that a lane change is being automatically performed to the driver while executing the LCP using the route driving support function, and urges the driver to pay attention to the surroundings.

Further, as shown in FIG. 6, the control device 19 controls the control device 19 when the lane keeping function is executed in the center lane when the branch point is within a second predetermined distance (for example, approximately 2.3 km to 700 meters before the branch point). , and when the route travel start conditions are met, the route travel support function turns on the direction indicator, starts the second LCP, and changes lanes from the center lane to the left lane. When the second LCM by the route driving support function is completed, the control device 19 turns off the turn signal and starts executing the lane keeping function in the left lane.

Furthermore, while executing the lane keep function in the left lane, the control device 19 determines that the branch point is within a third predetermined distance (for example, about 800 m to 150 m before the branch point) and the route travel start condition is satisfied. The route driving support function will turn on the turn signals when the vehicle is running. Furthermore, the control device 19 uses the route travel support function to start autonomous steering control from a point beyond the branch point to the branch road. The vehicle changes lanes from the left lane to the branch road using autonomous steering control. When the lane change to the branch road using the route driving support function is completed, the control device 19 turns off the direction indicator and starts executing the lane keeping function on the branch road.

The control device 19 of this embodiment controls a predetermined running operation of the host vehicle using an autonomous steering control function. In controlling a predetermined running operation of the own vehicle, the control device 19 of this embodiment uses an autonomous steering control function to determine whether the predetermined running operation is completed at a specified vehicle speed within a predetermined time. If it is determined that the predetermined running operation will be completed within a predetermined time at the specified vehicle speed, the control device 19 of this embodiment starts controlling the predetermined running operation of the host vehicle. On the other hand, if it is determined that the predetermined driving operation is not completed within a predetermined time at a predetermined vehicle speed, the control device 19 of this embodiment prohibits the own vehicle from changing lanes, as an exception.

Here, the specified vehicle speed in this embodiment refers to the upper limit of the vehicle's traveling speed, which is determined by at least one of the legal speed of the road on which the vehicle is traveling or the vehicle's traveling speed set by the driver. shall be taken as a thing. The legal speed of the road on which the host vehicle is traveling is determined by information on the driving environment of the road on which the host vehicle is traveling obtained from the sensor 11, and driving position information of the host vehicle obtained from the vehicle speed sensor (sensor 11) and the host vehicle position detection device 12. The control device 19 of this embodiment determines the speed limit based on the information on the speed limit of the road on which the vehicle is traveling, which is obtained from the map database (13). The control device 19 of this embodiment acquires this information using a driving information acquisition function. The legal speeds obtained include not only normal speeds, but also speeds during rain or snowfall, speeds when lane restrictions are imposed due to construction, and other non-normal speeds. On the other hand, the traveling speed of the own vehicle set by the driver is input by the driver by operating the input device 17 (for example, the resume/accelerate switch 172 or the set/coast switch 173) when disclosing the autonomous speed control function. desired travel speed. The autonomous steering control function is activated when a predetermined condition is satisfied during execution of the autonomous speed control function. Therefore, when the control device 19 of this embodiment controls a predetermined running operation using the autonomous steering control function, the running speed of the own vehicle has already been set by the driver.

The predetermined driving operations in this embodiment are various driving operations including at least one of changing lanes, overtaking, and changing the driving direction. The predetermined driving operation includes at least a driving operation in which, for example, when a preceding vehicle is detected in front of the own lane in which the own vehicle is traveling, the own vehicle overtakes the preceding vehicle. Further, the predetermined driving operation includes at least a driving operation in which the own vehicle changes lanes to the adjacent lane when the own lane in which the own vehicle is traveling merges into an adjacent lane adjacent to the own lane. Furthermore, the predetermined driving operation includes at least a driving operation in which, when there is a branching road on the right side of the overtaking lane, the own vehicle changes the driving direction toward the branching road.

FIGS. 7A to 7C show an example of control of traveling operation according to this embodiment. In the driving scene shown in FIG. 7A, when there is a preceding vehicle V2 traveling at a speed slower than the specified speed of the own vehicle V1 in front of the own vehicle V1 traveling in the left driving lane L1, the own vehicle V1 is The scenario is assumed to be overtaking the preceding vehicle V2.

When the host vehicle V1 catches up with the preceding vehicle V2 as shown in FIG. 7A, the control device 19 of this embodiment uses an autonomous steering control function to enable the host vehicle V1 to overtake the preceding vehicle V2 at a specified speed within a predetermined time. Determine whether it is possible. The control device 19 of this embodiment determines whether the own vehicle V1 can overtake the preceding vehicle V2 within a predetermined time based on the specified vehicle speed of the own vehicle V1 and the traveling speed of the preceding vehicle V2 detected by the sensor 11. to judge. The traveling speed of the preceding vehicle V2 is detected by a forward radar (sensor 11). The predetermined time is, for example, the general time required to overtake the preceding vehicle V2 (for example, 15 to 20 seconds), which has been determined through experience or experimentation. Furthermore, in the case where the traveling speed of the own vehicle V1 is limited due to a curved road or the like, the predetermined time may be the time until the running speed of the own vehicle V1 is limited, or the predetermined time may be the time until the running speed of the own vehicle V1 is limited. When the host vehicle V1 merges into an adjacent lane in front of the vehicle V1, it may be the time until the host vehicle V1 reaches the merging point.

For example, if the specified vehicle speed is sufficiently faster than the traveling speed of the preceding vehicle V2, the own vehicle V1 can overtake the preceding vehicle V2 within the typical time required for overtaking. In this case, the control device 19 of this embodiment determines that the traveling operation will be completed within a predetermined time using the autonomous steering control function, and starts controlling the traveling operation. First, the control device 19 of the present embodiment controls the lane change driving operation of the own vehicle V1 using the overtaking support function of the autonomous steering control function. As shown in FIG. 7A, the own vehicle V1 changes lanes from the left driving lane L1 to the right passing lane L2 at a specified vehicle speed, and travels in the right passing lane L2 at the specified vehicle speed. Here, if the current traveling speed of the host vehicle V1 is less than the specified vehicle speed, the host vehicle V1 can accelerate to the specified vehicle speed during the lane change driving operation.

Next, the control device 19 of the present embodiment controls a driving operation in which the host vehicle V1 travels in the right overtaking lane L2 and overtakes the preceding vehicle V2 by using the overtaking support function. As shown in FIG. 7B, the host vehicle V1 travels in the right overtaking lane L2 after changing lanes. Since the difference between the specified vehicle speed and the traveling speed of the preceding vehicle V2 is large, the own vehicle V1 traveling in the right passing lane L2 is unable to overtake the preceding vehicle V2 traveling in the left traveling lane L1 at the specified vehicle speed in a short time. can. Then, the control device 19 of the present embodiment controls a driving operation in which the host vehicle V1 changes lanes to the original own lane using the overtaking support function. As shown in FIG. 7C, after overtaking the preceding vehicle V2, the host vehicle V1 changes lanes from the right-hand passing lane L2 to the left-hand driving lane L1 and enters in front of the preceding vehicle V2. In this way, the overtaking operation of the host vehicle V1 is completed.

On the other hand, if the difference between the specified vehicle speed and the traveling speed of the preceding vehicle V2 is small, the host vehicle V1 may not be able to complete overtaking the preceding vehicle V2 within the general time required for overtaking. . If it is determined that the host vehicle V1 will not complete overtaking the preceding vehicle V2 within the general time required for overtaking, the control device 19 of this embodiment uses the autonomous steering control function to complete the driving operation within a predetermined time. I decide not to. Based on this determination, the control device 19 of the present embodiment prohibits the vehicle V1 from changing lanes using the autonomous steering control function. The host vehicle V1 follows the preceding vehicle V2 without performing the lane change driving operation shown by the arrow in FIG. 7A. As a result, it is possible to suppress autonomous driving operations such as driving at a speed contrary to the driver's wishes or driving at a speed that violates the legal speed limit.

FIG. 8 shows another example of control of traveling operation according to this embodiment. In the driving scene shown in FIG. 8, when the left driving lane L1 in which the own vehicle V1 is traveling merges with the right passing lane L2 in front of the own vehicle V1, another vehicle V5 exists in the right passing lane L2. This is based on a scenario like this. As the number of lanes in front of the host vehicle V1 decreases, the host vehicle V1 needs to change lanes from the left driving lane L1 to the adjacent right passing lane L2. This lane change operation needs to be completed by the time the host vehicle V1 reaches the confluence point P1 of the left driving lane L1 and the adjacent right passing lane L2.

The control device 19 of this embodiment has an autonomous steering control function, and based on the traveling speed of the other vehicle V5 traveling in the right overtaking lane L2 and the remaining distance from the current position of the own vehicle V1 to the merging point P1, It is determined whether the lane change of the host vehicle V1 is completed within a predetermined time. The predetermined time of this driving scene is, for example, the time required for the host vehicle V1 to reach the junction point P1 from the current position. The traveling speed of another vehicle V5 traveling in the right overtaking lane L2 is detected by a sensor 11 (for example, a side camera and a side radar).

For example, if the specified vehicle speed of the own vehicle V1 is sufficiently faster than the traveling speed of the other vehicle V5 traveling in the right overtaking lane L2, the own vehicle V1 may complete the lane change before reaching the merging point P1. can. In this case, the control device 19 determines that the traveling operation will be completed within a predetermined time using the autonomous steering control function. The control device 19 uses a lane change support function or a route travel support function to control the lane change driving operation so that the host vehicle V1 enters in front of the other vehicle V5 at a specified vehicle speed, as shown in FIG. In this way, the host vehicle V1 completes the lane change to the right overtaking lane L2 by the merging point P1.

On the other hand, if the difference between the specified vehicle speed and the traveling speed of the other vehicle V5 is small, even if the own vehicle V1 accelerates, the specified vehicle speed remains, so by the merging point P1, the own vehicle V1 cannot move into the right overtaking lane L2. You may be unable to complete a lane change. In this case, the control device 19 uses the autonomous steering control function to determine that the traveling operation will not be completed within the predetermined time. Based on this determination, the control device 19 of this embodiment prohibits the vehicle V1 from changing lanes using the autonomous steering control function. In this case, the lane change is not performed by acceleration, but if the host vehicle V1 is decelerated, the lane change to the right overtaking lane L2 can be completed by the merging point P1, so the autonomous driving control will decelerate. The vehicle changes lanes while the vehicle is moving, or transitions to manual operation by the driver and completes the lane change through manual operation by the driver.

FIG. 9 shows yet another example of control of a series of traveling operations according to the present embodiment. In the driving scene shown in FIG. 9, a vehicle V1 traveling in the left driving lane L1 changes its driving direction toward a branch road L3 on the right overtaking lane L2 side in order to travel according to a set route. This assumes a situation where another vehicle V6 is present in the right overtaking lane L2 when changing. On roads with left-hand traffic, most branch roads such as exits from motorways are located on the left driving lane L1, but as shown in Figure 9, there are branch roads such as exits on the right overtaking lane L2. It may exist. In order to change the driving direction toward the branching road L3, the own vehicle V1 needs to change lanes from the left driving lane L1 to the adjacent passing lane L2 on the right side, and then change the driving direction toward the branching road L3. There is. This series of traveling operations needs to be completed by the time the host vehicle V1 reaches the branch point P2 of the branch road L3. Even in such a case, the control device 19 of the present embodiment controls the occupant when controlling the traveling motion of the own vehicle V1, as in the case of controlling the traveling motion as shown in FIGS. 7A to 7C and FIG. suppresses deterioration of ride comfort.

The control device 19 of this embodiment has an autonomous steering control function, and based on the traveling speed of the other vehicle V6 traveling in the right overtaking lane L2 and the remaining distance from the current position of the host vehicle V1 to the branch point P2, It is determined whether the change in traveling direction is completed within a predetermined time. The predetermined time of this driving scene is, for example, the time required for the own vehicle V1 to reach the branch point P2 from the current position. The traveling speed of another vehicle V6 traveling in the right overtaking lane L2 is detected by a sensor 11 (for example, a side camera and a side radar).

For example, if the specified speed of the host vehicle V1 is sufficiently faster than the traveling speed of the other vehicle V6 traveling in the right overtaking lane L2, the host vehicle V1 may complete the lane change before reaching the branch point P2. can. In this case, the control device 19 determines that the series of travel operations will be completed within a predetermined time using the autonomous steering control function. The control device 19 uses the lane change support function and the route travel support function to control the lane change operation so that the host vehicle V1 enters in front of the other vehicle V6 at a specified vehicle speed, as shown in FIG. Then, the control device 19 controls the traveling operation of the host vehicle V1 to change the traveling direction of the host vehicle V1 toward the branch road L3 before the host vehicle V1 reaches the branch point P2. In this way, by the branch point P2, the host vehicle V1 completes changing the running direction toward the branch road L3.

On the other hand, if the difference between the specified vehicle speed and the traveling speed of the other vehicle V6 is small, the own vehicle V1 cannot complete the change in the traveling direction toward the branch road L3 by the branch point P2. There is. In this case, the control device 19 uses the autonomous steering control function to determine that the traveling operation will not be completed within the predetermined time. Based on this determination, the control device 19 of the present embodiment prohibits the vehicle V1 from changing lanes using the autonomous steering control function. In this case, a lane change and a change in the driving direction due to acceleration are not performed, but if the host vehicle V1 is decelerated, the change in the driving direction toward the branch road L3 can be completed by the branch point P2. , the vehicle changes lanes to the right overtaking lane L2 while decelerating under autonomous driving control. Alternatively, the process transitions to the driver's manual operation, and the driving direction change is completed by the driver's manual operation.

In the predetermined driving operation shown in FIGS. 7A to 7C, FIG. 8, and FIG. , the driving operation of changing lanes of the host vehicle V1 may be prohibited automatically without any intervention by the driver. In this case, when the control device 19 automatically prohibits the lane change driving operation of the own vehicle V1, the control device 19 may output the prohibition of the lane change driving operation through the presentation device 16 to notify the driver. . Alternatively, the control device 19 of the present embodiment may obtain the driver's consent before prohibiting the lane change driving operation of the host vehicle V1 using the autonomous steering control function. In this case, the request to the driver for consent can be made by notifying the driver using the presentation device 16, such as a display included in the navigation device 15. The driver operates the lane change support switch 176 of the input device 17 and inputs a response of consent, permission, or refusal to the control device 19. If the driver refuses to prohibit the driving operation of changing lanes, the host vehicle V1 shifts to the driver's control and changes lanes under the driver's control.

By the way, in the driving control device 1 of this embodiment, a plurality of support levels in a driving support mode that supports driving of the driver are set. This support level is a level indicating how much the control device 19 intervenes in controlling the driving operation of the own vehicle (in other words, how much the driver's manual operation intervenes). The control device 19 of this embodiment realizes a driving support mode defined at each support level using an autonomous driving control function. Then, in the predetermined driving operation shown in FIGS. 7A to 7C, FIG. 8, and FIG. Lane changes may be prohibited.

The support level is, for example, the driving automation defined in SAE J3016: SEP2016, Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles published by the Society of Automotive Engineers (SAE). Can be set based on level. For example, assistance level 0 is a level at which the driver performs all driving tasks necessary for driving operation. At support level 1, the control device 19 continuously executes either autonomous speed control or autonomous steering control (but not both at the same time) in a specific limited area, and the driver controls the own vehicle's running speed or steering control of the own vehicle. This is the level at which one of the steering operations (but not both at the same time) is performed. At support level 2, the control device 19 continuously executes autonomous speed control and autonomous steering control in a specific limited area, and the driver controls either the traveling speed of the own vehicle or the steering of the own vehicle (but not both at the same time). ). Assistance level 3 is a level at which the control device 19 continuously performs all driving tasks in a limited area. Support level 4 is a level at which the control device 19 executes all driving tasks, and responds to cases where it is difficult to continue control continuously in a limited area. Assistance level 5 is a level at which the control device 19 continuously and indefinitely performs all driving tasks and responses to cases where continuation of control is difficult.

Support level 1 corresponds to, for example, the control device 19 of this embodiment controlling the traveling speed of the own vehicle by autonomous speed control. Support level 2 corresponds to, for example, the control device 19 of this embodiment executing the lane keep mode of the hands-off mode by autonomous steering control. Therefore, in the control device 19 of the present embodiment, a situation in which the support level of the driving support mode decreases is, for example, when the host vehicle V1 changes lanes to overtake the preceding vehicle V2, or the driving environment of the host vehicle V1 changes. However, the conditions for continuing control in the hands-off mode are no longer satisfied, and the control device 19 is unable to maintain the lane keep mode of the hands-off mode, and shifts to travel speed control using autonomous speed control. If the control device 19 of this embodiment determines that such a reduction in the support level will occur, the control device 19 prohibits the driving operation of the host vehicle V1 to change lanes because the driving load on the driver increases against the driver's will. do. On the other hand, if the control device 19 of the present embodiment determines that the support level will not decrease even if the host vehicle V1 changes lanes, it controls the driving operation of the host vehicle V1 to change lanes.

Further, the control device 19 of the present embodiment is configured to detect the difference between the current running speed of the own vehicle and the specified vehicle speed after acceleration in predetermined running operations as shown in FIGS. 7A to 7C, FIGS. 8, and 9. If the value is less than a predetermined value, the own vehicle may be prohibited from changing lanes. This is to prevent the occurrence of a situation in which the travel speed required to complete a predetermined travel operation within a predetermined time cannot be obtained and the predetermined travel operation cannot be completed. The method of setting the predetermined value is not particularly limited, but for example, it may be set in a range of 1 km/h to 15 km/h, 1 km/h to 10 km/h, 1 km/h to 5 km/h, or 1 km/h, The speed may be set at values such as 5 km/h, 10 km/h, and 15 km/h.

Furthermore, the control device 19 of this embodiment controls the own lane in which the own vehicle V1 is traveling, as illustrated in FIG. 7A, in the predetermined driving operation shown in FIGS. When a preceding vehicle V2 is detected ahead and another preceding vehicle V3 is detected in the own lane further ahead of the preceding vehicle V2, the autonomous steering control function may prohibit the driving operation of changing lanes of the own vehicle V1. When the preceding vehicle V2 and the preceding vehicle V3 approach each other and there is no space for the own vehicle V1 that has overtaken the preceding vehicle V2 to return to its own lane, the own vehicle V1 cannot complete the overtaking operation and the preceding vehicle This is to prevent the occurrence of a situation where the vehicle runs parallel to V2 and the preceding vehicle V3. The preceding vehicle V2 and the preceding vehicle V3 can be detected by a forward radar (sensor 11) such as a millimeter wave radar of the own vehicle.

Furthermore, in the predetermined driving operations shown in FIGS. 7A to 7C, FIG. 8, and FIG. When another vehicle V4 is detected, and the traveling speed of the other vehicle V4 is equal to or higher than the specified vehicle speed of the own vehicle V1, the autonomous steering control function may prohibit the lane change driving operation of the own vehicle V1. This is to ensure an inter-vehicle distance between the own vehicle V1 and another vehicle V4 traveling in the adjacent lane to which the lane is to be changed.

FIG. 10 is a block diagram showing state transitions of each function established in the control device 19. The system shown in the figure means an autonomous driving control system realized by the control device 19. When the main switch 171 shown in FIG. 2 is turned on from the system OFF state shown in the figure, the system enters a standby state. From this standby state, by turning on the set/coast switch 173 or the resume/accelerate switch 172 shown in FIG. 2, autonomous speed control is started. As a result, the above-described constant speed control or inter-vehicle distance control is started, and the driver can drive his/her own vehicle simply by operating the steering wheel without stepping on the accelerator or brake.

If condition (1) in FIG. 10 is satisfied while autonomous speed control is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode. Conditions (1) include, but are not limited to, the lane markers on both sides of the vehicle are detected, the driver is holding the steering wheel, the driver is driving near the center of the lane, and the turn signal is not activated. All conditions such as: the driver is not driving at high speed (HI), the wipers are not operating at high speed (HI), there is a high-definition map, and there are no toll gates, exits, merges, intersections, or lane reduction points within approximately 200 meters in front of the vehicle. It can be exemplified that the following holds true. Note that hands-on mode refers to a mode in which autonomous steering control does not operate unless the driver holds the steering wheel, and hands-off mode refers to a mode in which autonomous steering control operates even if the driver takes his hands off the steering wheel.

If condition (2) in FIG. 10 is satisfied while the lane keep mode of the autonomous steering control/hands-on mode is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-off mode. Condition (2) includes, but is not limited to, that the vehicle is traveling on a motorway, that the vehicle is traveling on a road that is structurally separated from the oncoming lane, and that the vehicle is driven on a road that has a high-definition map. The driver must be driving at a speed less than the speed limit, the GPS signal must be valid, the driver must have the steering wheel, the driver must be facing forward, and there must be a toll booth within approximately 800 meters in front of the driver. , There are no exits, merges, intersections, or points where the number of lanes is reduced. There are no sharp curves of 100R or less within approximately 500m in front of the vehicle. The vehicle is not traveling within a tunnel more than 500m from the tunnel entrance. The accelerator pedal is not depressed. For example, all conditions such as "no" are satisfied.

Conversely, if condition (3) in FIG. 10 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode. Condition (3) includes, but is not limited to, that the vehicle is traveling on a road other than a motorway, in a two-way traffic section, or on a road without high-definition maps. , The vehicle was traveling at a speed that exceeded the speed limit, the GPS signal could not be received, the driver did not look ahead within 5 seconds after the forward look warning was activated, and the driver monitor camera If there is a toll gate, exit, merge, or reduced number of lanes approximately 800m ahead, or if the vehicle speed is less than 40km/h, there is a 100R within approximately 200m ahead. If the vehicle is traveling at a speed of approximately 40km/h or more, there is a sharp curve of 170R or less within approximately 200m in front of the vehicle, and the vehicle is traveling within a tunnel that is more than 500m from the tunnel entrance. For example, the driver holds the steering wheel and presses the accelerator pedal, or the proximity warning is activated.

If condition (4) in FIG. 10 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, the autonomous steering control is stopped and a transition is made to autonomous speed control. Condition (4) includes, but is not limited to, any of the following: lane markers on both sides of the vehicle are not detected for a certain period of time, the driver operates the steering wheel, or the wipers operate at high speed (HI). It can be exemplified that a condition is met. Further, when the condition (5) in FIG. 10 is satisfied while executing the lane keep mode of the autonomous steering control/hands-off mode, the autonomous steering control and the autonomous speed control are stopped and a transition is made to the standby state. Condition (5) includes, but is not limited to, the driver operating the brake, the driver operating the cancel switch 174 in FIG. 2, the driver's door opening, and the driver's seat belt being released. The vehicle seat sensor detects that the driver is no longer in the driver's seat, the select lever is set to a position other than "D" or "M," the parking brake is activated, or the vehicle's stability control system is turned off. , the stability control system has been activated, the snow mode has been turned on, the emergency brake has been activated, the vehicle has stopped for approximately 3 minutes after being stopped by vehicle speed control, and the front camera has stopped. detects poor visibility, such as dirt, backlight, rain, fog, etc., making it impossible to correctly recognize objects; the front radar detects occlusion or radio interference; the front radar detects axis misalignment; the side radar detects Examples include the fulfillment of any of the following conditions: shielding, detection of radio wave interference, and detection of axis deviation by side radar.

If condition (6) in FIG. 10 is satisfied while the autonomous steering control/hands-on mode is being executed, the autonomous steering control is stopped and a transition is made to autonomous speed control. Condition (6) includes, but is not limited to, the lane markers on both sides of the vehicle are no longer detected, the driver operates the steering wheel, the driver operates the turn signals, and the wipers operate at high speed (HI). One of the following conditions is met: the vehicle is in a tollgate section when a high-definition map is available, or the front camera detects poor visibility that prevents it from correctly recognizing objects due to dirt, backlight, rain, fog, etc. Can give examples of things to do. Further, when the condition (7) in FIG. 10 is satisfied while the autonomous steering control/hands-on mode is being executed, the autonomous steering control and the autonomous speed control are stopped and a transition is made to the standby state. Condition (7) includes, but is not limited to, the driver operating the brake, the driver operating the cancel switch 174 in FIG. 2, the driver's door opening, and the driver's seat belt being released. The vehicle seat sensor detects that the driver is no longer in the driver's seat, the select lever is set to a position other than "D" or "M," the parking brake is activated, or the vehicle's stability control system is turned off. , the stability control device was activated, the snow mode was turned on, the emergency brake was activated, the vehicle remained stopped for approximately 3 minutes after being stopped by vehicle speed control, and the front radar For example, one of the conditions may be satisfied, such as that the radar has detected shielding or radio wave interference, or that the front radar has detected an axis shift.

If condition (8) in FIG. 10 is satisfied while autonomous speed control is being executed, a transition is made to the standby state. Condition (8) includes, but is not limited to, the driver operating the brake, the driver operating the cancel switch 174 in FIG. 2, the driver's door opening, and the driver's seat belt being released. The vehicle seat sensor detects that the driver is no longer in the driver's seat, the select lever is set to a position other than "D" or "M," the parking brake is activated, or the vehicle's stability control system is turned off. , the stability control system was activated, the snow mode was turned on, the emergency brake was activated, the vehicle remained stopped for approximately 3 minutes after being stopped by vehicle speed control, and the front radar For example, one of the conditions may be satisfied, such as that the radar has detected shielding or radio wave interference, or that the front radar has detected an axis shift.

If condition (9) in FIG. 10 is satisfied while the lane keep mode of the autonomous steering control/hands-off mode is being executed, a transition is made to the lane change mode of the autonomous steering control/hands-on mode. Condition (8) includes, but is not limited to, the driver pressing the lane change assist switch 176 in FIG. 2 or the driver operating a turn signal when the system proposes a lane change. It can be exemplified that the following holds true.

If the condition (10) in FIG. 10 is satisfied while the lane change mode of the autonomous steering control/hands-on mode is being executed, a transition is made to the lane keep mode of the autonomous steering control/hands-on mode. Condition (10) includes, but is not limited to, exceeding the speed limit before starting LCP, the driver holding the steering wheel and pressing the accelerator pedal before starting LCP, and the presence of a slower vehicle in front. In this case, LCP could not be started within 10 seconds after pressing the lane change support switch 176 during a lane change proposal, and after pressing the lane change support switch 176 during a lane change proposal for driving according to the route. Failure to start LCP and getting too close to a fork, failure to start actual LCM within 5 seconds after activation of LCP, and vehicle speed reaching approximately 50 km/h before starting LCP. the driver has performed a cancellation operation before starting LCM, the driver has performed a cancellation operation before starting LCM, and the lane marker is disabled before starting LCM. It has been determined that there is no adjacent lane in the direction of the lane change or that there will be no adjacent lane within a certain distance ahead before the start of LCM.The radius of curvature is determined to be within a certain distance ahead before the start of LCM. It has been determined that there is a curve of 250m or less, it has been determined that there is a section within a certain distance ahead of the vehicle where the type of marking line prohibits lane changes to the adjacent lane, and before the start of LCM, The side radar detected occlusion or radio interference, the side radar detected axis deviation before LCM started, and the hands-on warning was activated (the driver must take hold of the steering wheel within approximately 2 seconds after LCP is activated). The driver did not hold the steering wheel within about 2 seconds after pressing the lane change assist switch 176 during a lane change proposal when there was a slow vehicle ahead.While a lane change was proposed to follow the route. The driver does not hold the steering wheel within approximately 2 seconds after pressing the lane change assist switch 176), the driver turns off the turn signal, or the LCP is completed. It can be exemplified that a condition is satisfied.

Note that when the main switch 171 is turned off in any of the autonomous steering control/hands-off mode, autonomous steering control/hands-on mode, autonomous speed control, or standby state, the system is turned off.

Next, driving control processing according to this embodiment will be described with reference to FIGS. 11A to 12B. 11A to 12B are flowcharts showing travel control processing according to this embodiment. 11A to 11B show the basic process of the travel control process according to this embodiment, and FIGS. 12A to 12B show the subroutine of step S10 in FIG. 11A. The steps will be explained below in order from step S1 in FIG. 11A. Note that the travel control process described below is executed by the control device 19 at predetermined time intervals. In addition, in the following, the autonomous driving control function of the control device 19 executes autonomous speed control and autonomous steering control, so that the own vehicle travels within the lane at the speed set by the driver. The following explanation assumes that lane keep control is being performed to control the driving position.

In step S1 of FIG. 11A, the control device 19 determines whether the main switch 171 is ON. If the main switch 171 is OFF (step S1: No), the control device 19 repeats step S1 until the main switch 171 is turned ON. On the other hand, if the main switch 171 is ON (step S1: Yes), the process advances to step S2.

In step S2, the control device 19 determines whether the driver has set the traveling speed. If the traveling speed has not been set (step S2: No), the process returns to step S1, and the control device 19 repeats steps S1 and S2 until the traveling speed is set. On the other hand, if the traveling speed is set (step S2: Yes), the process advances to step S3. The driving speed is set by the driver by inputting a desired driving speed by operating the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 shown in FIG.

When the driver sets the traveling speed, the control device 19 starts autonomous speed control. In step S3, the control device 19 uses a forward radar (sensor 11) that detects obstacles in front of the host vehicle to detect whether a preceding vehicle exists in front of the lane in which the host vehicle is traveling. If a preceding vehicle is detected (step S3: Yes), the process proceeds to step S4, and the control device 19 executes inter-vehicle distance control. On the other hand, if the preceding vehicle is not detected (step S3: No), the process proceeds to step S5, and the control device 19 executes constant speed control. This allows the driver to drive the vehicle at a desired speed simply by operating the steering wheel, without stepping on the accelerator or brake.

While the inter-vehicle distance control in step S4 or the constant speed control in step S5 is being executed, in step S6, the control device 19 satisfies the condition (1) for transitioning to the lane keep mode of the autonomous steering control/hands-on mode described above. Decide whether or not to do so. If condition (1) is not satisfied (step S6: No), the process returns to step S3 and the distance control or constant speed control is continued. On the other hand, if condition (1) is satisfied (step S6: Yes), the process advances to step S7.

In step S7, the control device 19 uses a forward radar (sensor 11) that detects obstacles in front of the host vehicle to detect whether a preceding vehicle exists in front of the lane in which the host vehicle is traveling. If a preceding vehicle is detected (step S7: Yes), the control device 19 proceeds to step S8 and executes inter-vehicle distance control/lane keeping mode. On the other hand, if the preceding vehicle is not detected (step S7: No), the control device 19 proceeds to step S9 and executes constant speed control/lane keep mode. Note that in this state, execution processing of the lane change support function, overtaking support function, or route driving support function in step S10 is performed. Details of step S10 will be described later.

While the inter-vehicle distance control/lane keeping mode of step S8 or the constant speed control/lane keeping mode of step S9 is being executed, in the subsequent step S11 of FIG. It is determined whether condition (2) for transitioning to is satisfied. If condition (2) is satisfied (step S11: Yes), the process advances to step S12. On the other hand, if condition (2) is not satisfied (step S11: No), the process proceeds to step S15, which will be described later.

In step S12 when the condition (2) for transitioning to the automatic steering control/hands-off mode is satisfied, the control device 19 uses a forward radar (sensor 11) that detects obstacles in front of the vehicle to detect obstacles in front of the vehicle. detects whether there is a preceding vehicle in front of the lane. If a preceding vehicle is detected (step S12: Yes), the control device 19 proceeds to step S13 and executes inter-vehicle distance control, lane keep mode, and hands-off. On the other hand, if the preceding vehicle is not detected (step S12: No), the control device 19 proceeds to step S14 and executes constant speed control, lane keep mode, and hands-off.

In step S15, the control device 19 uses the forward radar (sensor 11) that detects obstacles in front of the host vehicle to detect whether or not there is a preceding vehicle in front of the lane in which the host vehicle is traveling. If the preceding vehicle is not detected (step S15: No), the process returns to step S1, and the control device 19 continues the subsequent processing. On the other hand, if a preceding vehicle is detected (step S15: Yes), the control device 19 proceeds to step S16.

In step S16, similarly to step S6, the control device 19 determines whether condition (1) for transitioning to the lane keep mode of the autonomous steering control/hands-on mode is satisfied. If condition (1) is not satisfied (step S16: No), the process returns to step S1, and the control device 19 continues the subsequent processing. On the other hand, if condition (1) is satisfied (step S16: Yes), the process advances to step S17.

In step S17, similarly to step S11, the control device 19 determines whether condition (2) for transitioning to automatic steering control/hands-off mode is satisfied. If condition (2) is satisfied (step S17: Yes), the process returns to step S12 and the subsequent processes are continued. On the other hand, if condition (2) is not satisfied (step S17: No), the process returns to step S1, and the control device 19 continues the subsequent processing.

12A and 12B show the travel control processing of the lane change support function, route travel support function, and overtaking support function in step S10. FIG. 12A is a flowchart showing the steps before starting the lane change operation (LCP), and FIG. 12B is a flowchart showing the steps from the start to the end of the lane change operation.

First, the steps in FIG. 12A will be explained.
In step S21, the control device 19 determines whether a control start condition for any one of the lane change support function, overtaking support function, and route travel support function is satisfied. The control device 19 uses the running speeds of the own vehicle and other vehicles obtained from the sensor 11 and the inter-vehicle distance between the own vehicle and the other vehicle, the position information of the own vehicle obtained from the own vehicle position detection device 12, and the map database 13. This judgment is made based on the map information obtained from. If none of the control start conditions for these functions is satisfied (step S21: No), the process proceeds to step S11 in FIG. 11B without performing a predetermined driving operation such as changing lanes. On the other hand, if the control start conditions for any of the functions are satisfied (step S21: Yes), the process advances to step S22.

In step S22, the control device 19 determines whether the function that satisfies the control start condition is an overtaking support function. If the function that satisfies the start condition is the overtaking support function (step S22: Yes), the process advances to step S25, which will be described later. On the other hand, if the function that satisfies the start condition is the lane change support function or the route travel support function (step S22: No), the process advances to step S23.

In step S23, before changing lanes using the lane change support function or the route driving support function, the sensor 11 (front camera, rear camera, and side radar) is used to detect the presence of another vehicle traveling in the lane to which the lane is to be changed. Decide whether or not to do so. If no other vehicle is detected in the lane to which the lane is to be changed in step S23 (step S23: No), the process proceeds to step S26 of FIG. 12B, and a lane change operation is started at the current traveling speed of the host vehicle. On the other hand, if another vehicle is detected in the lane to which the lane is to be changed in step S23 (step S23: Yes), the process proceeds to step S24.

In step S24, the control device 19 determines whether the lane change driving operation is completed within a predetermined time at a specified vehicle speed. The control device 19 detects the traveling speed of the own vehicle and other vehicles obtained from the sensor 11 and the distance between the own vehicle and the other vehicle, the position information of the own vehicle obtained from the own vehicle position detection device 12, and the map database 13. Make decisions based on map information. If it is determined that the lane change driving operation will be completed within the predetermined time at the specified vehicle speed (step S24: Yes), the process proceeds to step S27 in FIG. 12B. On the other hand, if it is determined that the lane change driving operation is not completed within the predetermined time at the specified vehicle speed (step S24: No), the process proceeds to step S25.

In step S22, if the function that satisfies the start condition is the overtaking support function, the process advances to step S26. The control device 19 starts driving control using the overtaking support function when there is a preceding vehicle traveling at a slower speed than the own vehicle in front of the own vehicle. Therefore, the driving scene in step S26 is a scene in which there is a preceding vehicle traveling at a speed less than the current travel speed of the own vehicle in front of the own vehicle traveling at a travel speed less than the specified vehicle speed.

In step S26, the control device 19 determines whether a series of driving operations to overtake the preceding vehicle can be completed within a predetermined time at a specified vehicle speed. The control device 19 makes judgments based on the traveling speeds of the own vehicle and the preceding vehicle obtained from the sensor 11, the position information of the own vehicle obtained from the own vehicle position detection device 12, and the map information obtained from the map database 13. . If it is determined that the series of traveling operations will be completed within the predetermined time at the specified vehicle speed (step S26: Yes), the process proceeds to step S27 in FIG. 12B. On the other hand, if it is determined that the series of driving operations will not be completed within the predetermined time at the specified vehicle speed (step S26: No), the process proceeds to step S25.

In step S25, the control device 19 prohibits a lane change driving operation. The control device 19 proceeds to step S11 in FIG. 11B without performing a predetermined driving operation such as changing lanes or overtaking. Note that when automatically prohibiting the lane change of the own vehicle V1 without intervention by the driver, the control device 19 outputs a message on the presentation device 16 that the lane change of the own vehicle V1 is prohibited in step S25. The driver may also be notified. Alternatively, if the driver's consent is obtained before prohibiting the lane change of the own vehicle V1, the control device 19 notifies the driver using the presentation device 16 before step S25, and informs the driver whether or not the driver can consent. may be requested.

Next, the steps in FIG. 12B will be explained.
In step S27, the control device 19 determines whether a lane change is prohibited even if it is determined in step S24 or step S26 that the series of driving operations will be completed within a predetermined time at a specified vehicle speed. to decide. For example, the control device 19 determines whether the support level of the driving support mode is reduced when the own vehicle changes lanes. Further, the control device 19 determines whether the difference between the current traveling speed of the own vehicle (below the specified vehicle speed) and the specified vehicle speed after acceleration is equal to or less than a predetermined value. The control device 19 also determines whether or not at least two other vehicles traveling in tandem in front of the lane in which the vehicle is traveling are detected. Furthermore, the control device 19 detects another vehicle traveling behind the adjacent lane adjacent to the own lane in which the own vehicle is traveling, and determines whether the traveling speed of the other vehicle is equal to or higher than the specified vehicle speed of the own vehicle. Even if it is determined that the series of driving operations will be completed within a predetermined time at the specified vehicle speed, if it is determined that lane change is prohibited (step S27: Yes), no lane change operation is performed and the The process advances to step S11 of step 11B. On the other hand, even if it is determined that the series of driving operations will be completed within a predetermined time at the specified vehicle speed, if it is determined that lane change is not prohibited (step S27: No), step S28 Proceed to and begin the lane change maneuver. Note that step S27 is an optional step in this embodiment.

In step S28, the control device 19 starts a lane change operation at the current traveling speed of the vehicle, which is less than the specified vehicle speed, and proceeds to step S29. In step S29, the control device 19 starts the driving operation of lateral movement and subsequent lane change, and proceeds to step S30. In step S30, the control device 19 completes the lane change driving operation, and proceeds to step S31.

In step S31, the control device 19 determines whether the lane change operation currently being performed is based on the overtaking support function. If the lane change operation is not based on the overtaking support function, that is, the lane change operation is performed using the lane change support function or the route driving support function (step S31: No), the process proceeds to step S36, where the lane change operation ends, and the process proceeds to step S11 in FIG. 11B. . On the other hand, if the lane change operation is due to the overtaking support function (step S31: Yes), the process proceeds to step S32.

In step S32, the control device 19 instructs the drive control device 18 to cause the own vehicle to travel at a constant speed in the overtaking lane at a traveling speed below the specified vehicle speed, and the process proceeds to step S33.

In step S33, the control device 19 determines whether the host vehicle traveling at a constant speed has overtaken the preceding vehicle. The control device 19 detects the preceding vehicle using the sensor 11 (rear camera and side radar) and determines whether overtaking has been completed. If it is determined that overtaking the preceding vehicle has not been completed (step S33: No), the process returns to step S32, and the own vehicle continues to travel at a constant speed. On the other hand, if it is determined that overtaking the preceding vehicle has been completed (step S33: Yes), the process proceeds to step S34.

In step S34, the control device 19 instructs the drive control device 18 to perform steering control. As a result, the host vehicle starts a lateral movement and a subsequent lane change so as to move in front of the preceding vehicle. After starting the lane change driving operation, the process advances to step S35. In step S35, the control device 19 completes the lane change driving operation, and proceeds to step S36. In step S36, the control device 19 ends the lane change operation and proceeds to step S11 in FIG. 11B.

As described above, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, the predetermined travel operation of the own vehicle, which is at least one of lane change, overtaking, and change of travel direction, is controlled. In this case, the system determines whether a predetermined driving operation can be completed within a predetermined time at a specified vehicle speed determined by at least one of the legal speed of the road on which the host vehicle is traveling or the travel speed of the host vehicle set by the driver. When it is determined that the predetermined running operation is completed within a predetermined time at the specified vehicle speed, control of the predetermined running operation is started. On the other hand, if it is determined that the predetermined driving operation will not be completed within a predetermined time at a predetermined vehicle speed, the own vehicle is prohibited from changing lanes. Thereby, when performing lane change control for the own vehicle, it is possible to prevent the vehicle from traveling at a speed that is contrary to the driver's wishes or from traveling at a speed that violates the legal speed limit. As a result, in relation to the specified vehicle speed, deterioration of passenger comfort can be suppressed.

Further, according to the vehicle running control device 1 and the running control method according to the present embodiment, the driver can drive using autonomous running control including autonomous control of the running speed of the own vehicle and autonomous control of lane changes of the own vehicle. In the driving support mode to be supported, when a plurality of support levels of the driving support mode are set and the support level decreases when the own vehicle changes lanes, the lane change of the own vehicle is prohibited. Thereby, it is possible to suppress an increase in the driving load on the driver and to suppress a deterioration in ride comfort.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, when the difference between the current travel speed of the host vehicle and the specified vehicle speed after acceleration is equal to or less than a predetermined value, the lane change of the host vehicle is performed. Therefore, it is possible to suppress the occurrence of a situation in which the travel speed required to complete a predetermined travel operation within a predetermined time cannot be obtained and the predetermined travel operation cannot be completed.

Further, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, another vehicle traveling in an adjacent lane adjacent to the own lane in which the own vehicle is traveling is detected, and the traveling speed of the other vehicle is determined to be the specified vehicle speed. Since the lane change of the own vehicle is prohibited in the above case, it is possible to secure the inter-vehicle distance between the own vehicle and another vehicle traveling in the adjacent lane to which the lane is to be changed.

Further, according to the vehicle running control device 1 and the running control method according to the present embodiment, a preceding vehicle is detected in front of the own lane in which the own vehicle is traveling, and further, the vehicle traveling in the own lane is detected in front of the preceding vehicle. Prevents the vehicle from changing lanes when another vehicle in front is detected. As a result, during overtaking, the inter-vehicle distance between multiple preceding vehicles changes, and the own vehicle that is overtaking the preceding vehicle has no space to return to its own lane, making it impossible for the own vehicle to overtake. It is possible to suppress the occurrence of a situation where the vehicle runs parallel to the preceding vehicle.

Furthermore, according to the vehicle travel control device 1 and the travel control method according to the present embodiment, when automatically prohibiting the own vehicle from changing lanes, the prohibition of lane changes is output to the presentation device to notify the driver. Therefore, it is possible to prevent the prohibition of lane changes from being a surprise to drivers.

Further, according to the vehicle driving control device 1 and the driving control method according to the present embodiment, before prohibiting the own vehicle from changing lanes, the prohibition of lane changing is outputted to the presentation device to inform the driver, and the driver can Since the vehicle is prohibited from changing lanes if the prohibition of change is approved, it is possible to prevent lane changes from being prohibited against the driver's will.

1... Travel control device 11... Sensor 12... Own vehicle position detection device 13... Map database 14... In-vehicle equipment 15... Navigation device 16... Presentation device 17... Input device 171... Main switch 172... Resume/accelerate switch 173... Set/ Coast switch 174...Cancel switch 175...Distance adjustment switch 176...Lane change support switch 18...Drive control device 19...Control device V1... Own vehicle V2... Leading vehicle V3... Leading vehicle V4... Other vehicle V5... Other vehicle V6... Other vehicle L1... Driving lane L2... Passing lane L3... Branch road P1... Merging point P2... Branching point

Claims (14)

In a vehicle driving control method that autonomously controls the driving speed of the own vehicle and autonomously controls the lane change of the own vehicle when a predetermined condition is satisfied,
When controlling driving behavior to overtake a preceding vehicle traveling in front of the own vehicle in the own lane in which the own vehicle is traveling , the minimum of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. also determines whether the traveling operation is completed within a predetermined time at a specified vehicle speed determined on the other hand;
When determining that the traveling operation is completed within the predetermined time at the specified vehicle speed, starting control of the traveling operation;
A vehicle running control method that prohibits the own vehicle from changing lanes when it is determined that the running operation is not completed within the predetermined time at the specified vehicle speed. In a driving support mode that supports driving of a driver using autonomous driving control including autonomous control of the traveling speed of the own vehicle and autonomous control of lane changes of the own vehicle, a plurality of support levels of the driving support mode are set. 2. The vehicle driving control method according to claim 1, further comprising: prohibiting the own vehicle from changing lanes if the support level decreases when the own vehicle changes lanes. 3. The vehicle running control method according to claim 1, wherein the vehicle is prohibited from changing lanes when the difference between the current running speed of the own vehicle and the specified vehicle speed after acceleration is equal to or less than a predetermined value. detecting another vehicle traveling in an adjacent lane adjacent to the own lane;
4. The vehicle driving control method according to claim 1, wherein the vehicle is prohibited from changing lanes when the speed of another vehicle traveling in the adjacent lane is equal to or higher than the specified vehicle speed. According to any one of claims 1 to 4, when the preceding vehicle is detected and another preceding vehicle is detected in the own lane further ahead of the preceding vehicle, the own vehicle is prohibited from changing lanes. Vehicle driving control method. According to any one of claims 1 to 5, when automatically prohibiting the lane change of the own vehicle, the driver is notified that the lane change of the own vehicle is prohibited by outputting it to a presentation device. A driving control method for the described vehicle . Before prohibiting the own vehicle from changing lanes, the driver is notified by outputting to the presentation device that the own vehicle is prohibited from changing lanes, and if the driver consents, the request is made to prohibit the own vehicle from changing lanes. The vehicle running control method according to any one of items 1 to 5. An autonomous speed control function that autonomously controls the driving speed of the own vehicle,
In a vehicle travel control device comprising an automatic steering control function that autonomously controls lane changes of the own vehicle when predetermined conditions are met,
When controlling driving behavior to overtake a preceding vehicle traveling in front of the own vehicle in the own lane in which the own vehicle is traveling , the minimum of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. also determines whether the traveling operation is completed within a predetermined time at a specified vehicle speed determined on the other hand;
When determining that the traveling operation is completed within the predetermined time at the specified vehicle speed, starting control of the traveling operation;
A vehicle travel control device that prohibits the own vehicle from changing lanes when it is determined that the travel operation is not completed within the predetermined time at the specified vehicle speed. In a vehicle driving control method that autonomously controls the driving speed of the own vehicle and autonomously controls the lane change of the own vehicle when a predetermined condition is satisfied,
When controlling a predetermined driving operation of the own vehicle that is at least one of changing lanes and changing the driving direction, at least one of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. determining whether the predetermined traveling operation is completed within a predetermined time at a specified vehicle speed determined by;
When it is determined that the predetermined running operation is completed within the predetermined time at the specified vehicle speed, control of the predetermined running operation is started;
When it is determined that the predetermined driving operation is not completed within the predetermined time at the predetermined vehicle speed, prohibiting the own vehicle from changing lanes;
In a driving support mode that supports a driver's driving using autonomous driving control including autonomous control of the traveling speed of the own vehicle and autonomous control of lane changes of the own vehicle, a plurality of support levels of the driving support mode are set. In this case, when the support level decreases when the own vehicle changes lanes, the vehicle travel control method prohibits the own vehicle from changing lanes. In a vehicle driving control method that autonomously controls the driving speed of the own vehicle and autonomously controls the lane change of the own vehicle when a predetermined condition is satisfied,
When controlling a predetermined driving operation of the own vehicle that is at least one of changing lanes and changing the driving direction, at least one of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. determining whether the predetermined traveling operation is completed within a predetermined time at a specified vehicle speed determined by;
When it is determined that the predetermined running operation is completed within the predetermined time at the specified vehicle speed, control of the predetermined running operation is started;
When it is determined that the predetermined driving operation is not completed within the predetermined time at the predetermined vehicle speed, prohibiting the own vehicle from changing lanes;
A vehicle driving control method that prohibits the own vehicle from changing lanes when the difference between the current traveling speed of the own vehicle and the specified vehicle speed after acceleration is less than or equal to a predetermined value. In a vehicle driving control method that autonomously controls the driving speed of the own vehicle and autonomously controls the lane change of the own vehicle when a predetermined condition is satisfied,
When controlling a predetermined driving operation of the own vehicle that is at least one of changing lanes and changing the driving direction, at least one of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. determining whether the predetermined traveling operation is completed within a predetermined time at a specified vehicle speed determined by;
When it is determined that the predetermined running operation is completed within the predetermined time at the specified vehicle speed, control of the predetermined running operation is started;
When it is determined that the predetermined driving operation is not completed within the predetermined time at the predetermined vehicle speed, prohibiting the own vehicle from changing lanes;
A vehicle running control method that prohibits the own vehicle from changing lanes when a preceding vehicle is detected in front of the own lane in which the own vehicle is traveling, and another preceding vehicle is detected in the own lane further ahead of the preceding vehicle. . In a vehicle driving control method that autonomously controls the driving speed of the own vehicle and autonomously controls the lane change of the own vehicle when a predetermined condition is satisfied,
When controlling a predetermined driving operation of the own vehicle that is at least one of changing lanes and changing the driving direction, at least one of the legal speed of the road on which the own vehicle is traveling or the traveling speed of the own vehicle set by the driver. determining whether the predetermined traveling operation is completed within a predetermined time at a specified vehicle speed determined by;
When it is determined that the predetermined running operation is completed within the predetermined time at the specified vehicle speed, control of the predetermined running operation is started;
When it is determined that the predetermined driving operation is not completed within the predetermined time at the predetermined vehicle speed, prohibiting the own vehicle from changing lanes;
Before prohibiting the own vehicle from changing lanes, the driver is notified by outputting to the presentation device that the own vehicle is prohibited from changing lanes, and if the driver consents, the vehicle is prohibited from changing lanes. driving control method. According to any one of claims 9 to 11, when automatically prohibiting the lane change of the own vehicle, the driver is notified that the lane change of the own vehicle is prohibited by outputting it to a presentation device. A driving control method for the described vehicle. Detects other vehicles traveling in adjacent lanes adjacent to the own lane in which the own vehicle is traveling,
14. The vehicle driving control method according to claim 9, wherein the vehicle is prohibited from changing lanes when the speed of another vehicle traveling in the adjacent lane is equal to or higher than the specified vehicle speed.

Images