JP2012051503A - System, device and method for controlling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique to make own vehicle perform appropriate vehicle control to other vehicles incoming into own-lane at a merging lane.SOLUTION: The technique detects a merging lane which joins to the lane in which the vehicle travels, and detects an object which exists in the merging lane. When detecting the object which exists in the merging lane, the technique sets the object as either the control object of ACC or the control object of PCS. Thereby, the object advancing into the own-lane from the merging lane is made the control object, before advancing into the own-lane.

Description

  The present invention relates to a vehicle control technique based on information around a vehicle.

  Conventionally, as a system using a radar apparatus and an image processing apparatus, there is an automatic cruise control system (ACC: Adaptive Cruise Control), and the inter-vehicle distance with another vehicle traveling in front of the own lane on which the host vehicle travels is a predetermined distance. When the following is detected, vehicle control is performed so that the distance between the host vehicle and the other vehicle is a predetermined distance within a preset speed range. Also, when the distance between the vehicle and the other vehicle falls below a certain distance in order to prevent a collision between the own vehicle and the other vehicle traveling in the front and rear of the own lane where the own vehicle is traveling, There has been a system that performs PCS (Pre-Crush Safety) control such as brake control for reducing the speed of the host vehicle. Note that there is Patent Document 1 as a material for explaining the technology related to the present invention.

JP 2006-321299 A

  However, when the vehicle traveling in front of the own lane is a target for ACC control and traveling within a predetermined speed range so as to maintain a certain inter-vehicle distance, the vehicle traveling in the merged lane is There are times when you enter your own lane. In such a case, even if the control unit of the ACC switches the control target from the vehicle that has been the control target until now to the vehicle that has entered the lane, and the control is performed to keep the inter-vehicle distance at a predetermined distance, the inter-vehicle distance is There is a possibility of collision with a vehicle that has entered the own lane without being able to keep up with the control for slowing down the vehicle because it is too short.

  The PCS control targets a vehicle traveling in the own lane, and does not target a vehicle traveling in a merged lane other than the own lane. For this reason, when a vehicle enters the own lane from the merging lane, there is a possibility that the control such as decelerating the vehicle in preparation for a collision may not function sufficiently because the inter-vehicle distance is too short even if the vehicle is controlled. It was.

  An object of the present invention is to allow a vehicle to perform appropriate vehicle control on an object existing in a merge lane.

  In order to solve the above-mentioned problem, the invention of claim 1 is a vehicle control system for controlling the behavior of a vehicle, wherein an object existing in front of the vehicle is set as a control target, and the object is controlled according to a relative distance from the control target. Control means for controlling the behavior of the vehicle, lane detection means for detecting a merging lane that merges with a lane in which the vehicle travels, object detection means for detecting an object existing in front of the vehicle, and the object detection means Setting means for setting an object existing in the merge lane as a control target of the control means when an object existing in the merge lane is detected.

  The invention according to claim 2 is the vehicle control system according to claim 1, wherein the control means controls the behavior of the vehicle so that the distance in the traveling direction between the vehicle and the control target is a predetermined distance. First control means for controlling is included.

  Further, the invention according to claim 3 is the vehicle control system according to claim 1 or 2, wherein the control means is configured to prepare for a collision when the vehicle has a possibility of a collision with a controlled object. Second control means for controlling the behavior is included.

  According to a fourth aspect of the present invention, in the vehicle control system according to the third aspect, the setting means is configured such that a distance in an advancing direction between the object existing in the merging lane and the vehicle is less than a first distance. When the distance in the vehicle width direction between the object existing in the merging lane and the vehicle is less than a second distance, the object existing in the merging lane is set as a control target of the second control means.

  According to a fifth aspect of the present invention, in the vehicle control system according to the fourth aspect, the setting means includes the first distance and the first distance according to a relative speed of the vehicle with respect to an object existing in the merging lane. Change at least one of the two distances.

  According to a sixth aspect of the present invention, in the vehicle control system according to any one of the first to fifth aspects, the setting means sets an object existing in the merging lane as the control target, and then performs a user operation. When it is detected that the vehicle changes lanes, the setting that controls the object existing in the merging lane is canceled.

  The invention of claim 7 is a vehicle control system for controlling the behavior of the vehicle, wherein an object existing in front of the vehicle is a control target, and the behavior of the vehicle is controlled according to a relative distance of the control target. Control means, receiving means for receiving information on a merging lane that joins a lane in which the vehicle is traveling, object detecting means for detecting an object existing in front of the vehicle, and the object detecting means are connected to the merging lane. Setting means for setting an object existing in the merge lane as a control target of the control means when an existing object is detected.

  The invention according to claim 8 is a vehicle control device for controlling the behavior of the vehicle, wherein an object existing in front of the vehicle is a control target, and the behavior of the vehicle is controlled according to a relative distance of the control target. Control means for receiving, information on a merging lane that joins a lane in which the vehicle travels, and information on an object that exists in front of the vehicle, and a receiving means that receives information on an object that exists in the merging lane Setting means for setting an object existing in the merge lane as a control target of the control means when information is received.

  The invention according to claim 9 is a vehicle control method for controlling the behavior of a vehicle, wherein an object existing in front of the vehicle is a control target, and the behavior of the vehicle is controlled according to a relative distance of the control target. A step of detecting a merging lane that merges with a lane in which the vehicle is traveling, a step of detecting an object that is traveling in front of the vehicle, and a step of detecting the object are objects existing in the merging lane. And a step of setting an object existing in the merge lane as a control target of the control means when detected.

  Further, the invention of claim 10 is a vehicle control system for controlling the behavior of a vehicle, and among objects existing in front of the vehicle, an object existing within a lane in which the vehicle travels is set as a control target. Control means for controlling the behavior of the vehicle according to the relative distance of the control object, lane detection means for detecting a merging lane that merges with a lane in which the vehicle travels, and an object that is present in front of the vehicle is detected. When the object detection means and the lane detection means detect the merge lane, the object to be controlled includes the object existing in the merge lane in addition to the object existing in the lane in which the vehicle travels Target setting means.

  The invention according to claim 11 is the vehicle control system according to claim 10, wherein the control means controls the behavior of the vehicle so that a relative distance between the vehicle and the object does not fall below a third distance. 3rd control means is included.

  Further, the invention according to claim 12 is the vehicle control system according to claim 11, wherein the control means has the vehicle when the relative distance to the object is a fourth distance shorter than the third distance. And fourth control means for controlling the behavior of the vehicle so as to prepare for a collision with the control object.

  According to the first to twelfth aspects of the present invention, when the object detection means detects an object existing in the merge lane, the object existing in the merge lane is set as a control target of the control means, thereby existing in the merge lane. The object can be controlled before the object enters the own lane.

  In particular, according to the invention of claim 2, the control means includes first control means for controlling the behavior of the vehicle so that the distance in the traveling direction of the vehicle to the controlled object is a predetermined distance. The vehicle can travel with a predetermined distance from the object after joining the object without risk of collision.

  In particular, according to the invention of claim 3, the control means controls the behavior of the vehicle so as to prepare for the collision when the vehicle is likely to collide with the object to be controlled, so that the object joining the own lane On the other hand, it is possible to reduce damage in the event of a collision by performing an early warning to the user in preparation for the collision and brake control for the vehicle.

  In particular, according to the invention of claim 4, the setting means is configured such that the distance between the object existing in the merging lane and the vehicle is less than the first distance and the vehicle between the object existing in the merging lane and the vehicle. When the distance in the width direction is less than the second distance, the object existing in the merged lane is set as the control target of the second control means, so that the distance between the vehicle and the vehicle width direction is closer On the other hand, it is possible to reduce damage in the event of a collision by performing an early warning to the user in preparation for the collision and brake control for the vehicle.

  In particular, according to the invention of claim 5, the setting means changes at least one of the first distance and the second distance in accordance with the relative speed of the vehicle with respect to the object existing in the merging lane. The vehicle can be controlled according to the speed of the vehicle.

  Further, according to the invention of claim 6, the setting means exists in the merging lane when it is detected that the vehicle changes lanes by the user's operation after setting the object existing in the merging lane as the control target. By canceling the setting that controls the object to be controlled, the vehicle will travel in a different lane from the merged object even if objects existing in the merging lane join, so the setting to the target that does not need to be controlled is canceled. it can.

  Further, according to the invention of claim 10, when the lane detection means detects the merge lane, the object to be controlled is added to the object existing in the lane in which the vehicle travels, and the merge lane By including the existing object, not only the own lane but also the object existing in the merged lane can be controlled.

  According to the invention of claim 11 in particular, the control means includes the third control means for controlling the behavior of the vehicle so that the relative distance between the vehicle and the object does not fall below the third distance. The vehicle can travel while maintaining a predetermined distance from the object.

  Furthermore, in accordance with the invention of claim 12, the control means is prepared for a collision between the vehicle and the control target when the relative distance between the vehicle and the object is a fourth distance shorter than the third distance. By including the fourth control means for controlling the behavior of the vehicle, when there is a possibility that the vehicle collides with an object, it is possible to reliably perform control in preparation for the collision.

FIG. 1 is a diagram illustrating an overall configuration of a vehicle. FIG. 2 is a block diagram of the vehicle control system. FIG. 3 is a diagram illustrating an object detection range of an image processing apparatus including a radar apparatus and a camera. FIG. 4 is a process flowchart of the vehicle control unit. FIG. 5 is a process flowchart of the vehicle control unit. FIG. 6 is a diagram illustrating a state in which the vehicle travels following a vehicle traveling in front of the own lane. FIG. 7 is a diagram illustrating a state in which a vehicle in a merged lane is a control target. FIG. 8 is a diagram illustrating detection of a longitudinal distance and a lateral distance with a vehicle in a merge lane. FIG. 9 is a diagram illustrating the lateral distance detected by the past object detection process and the lateral distance detected by the current object detection process. FIG. 10 is a diagram illustrating detection of a predicted lateral distance from the vehicle in the merge lane. FIG. 11 is a process flowchart of the vehicle control unit according to the second embodiment. FIG. 12 is a process flowchart of the vehicle control unit according to the second embodiment. FIG. 13 is a block diagram of the vehicle control system.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<First Embodiment>
<1-1. Configuration>
FIG. 1 is an overall view of the vehicle 10. The vehicle 10 is provided with a radar device 2, an image processing device 3, a vehicle control device 11, and a camera 13.

  The radar device 2 is provided at a front portion in front of the vehicle 10. The radar apparatus 2 is also referred to as “vertical distance” below the distance between the vehicle 10 and an object in front of the vehicle 10. ) And the lateral position of the vehicle 10 and the object in the vehicle width direction (hereinafter also referred to as “lateral distance”) based on the angle of the object with respect to the vehicle 10. Further, the relative speed of the vehicle 10 with respect to the object detected by the radar device 2 is detected. Note that the front of the vehicle 10 includes not only the area of the host vehicle 10 lane but also the area of the front side of the vehicle 10. That is, the range of the merge lane CR is included in addition to the range of the own lane MR of FIG. 3 described later. Further, the mounting position of the radar device 2 on the vehicle 10 is not limited to the front portion in front of the vehicle, and may be provided at any position on the vehicle body of the vehicle 10 such as the rear and side of the vehicle 10.

  The image processing device 3 is provided in the vehicle interior of the vehicle 10. The image processing apparatus 3 processes a captured image captured by the camera 13 that electronically acquires an image, and detects the position and type of an object in the captured image obtained by capturing. The camera 13 is provided near the ceiling of the windshield. The mounting position of the camera 13 is not limited to the vicinity of the ceiling of the vehicle interior of the windshield, but may be provided at any position on the vehicle body of the vehicle 10 such as rearward and laterally inside and outside the vehicle. Further, the position of the image processing device 3 is not limited to the interior of the vehicle 10, and may be arranged at other positions such as being integrated with the camera 13.

  The vehicle control device 11 is provided inside the vehicle main body of the vehicle 10, and controls the behavior of the vehicle 10 based on information output from each part of the vehicle 10.

  FIG. 2 is a block diagram of the vehicle control system 100. The vehicle control system 100 controls the vehicle 10 based on the radar device 2 that detects the position of the object, the image processing device 3 that detects the position and type of the object, and information output from each part of the vehicle. The vehicle control device 11 is provided.

  The radar apparatus 2 includes an antenna 12, a radar control unit 22, and a radar memory 32. The antenna 12 transmits a transmission wave to the outside of the vehicle 10 and receives a radio wave bounced off an object outside the vehicle as a reception wave.

  The radar control unit 22 detects information on the vertical distance, the horizontal distance, and the relative speed between the vehicle 10 and the object based on the time difference between the transmission wave and the reception wave, information on the Doppler shift, and the like, and the vehicle control device 11. Output these object information.

  The radar memory 32 records various parameters for the radar control unit 22 to detect object information and the detected object information.

  The image processing device 3 includes an image control unit 23 and an image memory 33. The image control unit 23 detects, for example, pattern matching image detection from the captured image captured by the camera 13, such as the sign 105 of the combined flow path, the white line WL 1, and the white line WL 2 (shown in FIG. 3).

  Specifically, the image processing device 3 scans an image captured by the camera 13, detects the size of the target image based on a change in the luminance of the image, and according to the type of the object recorded in the image memory 33. Pattern matching is performed based on the pattern such as the shape and size, and the object type of the target image is determined. Further, the image processing device 3 detects the position of the target image based on the size of the image. Then, the image processing device 3 outputs the detected information to the vehicle control device 11.

The image memory 33 records various parameters for the image control unit 23 to detect an object and the detected object information.
The camera 13 images the front of the vehicle 10 and outputs the shooting information to the image control unit 23. Further, the lens of the camera 13 is a monocular having a photographing range of about ± 40 degrees, where the direction in which the vehicle 10 moves straight in the position where the camera 13 is mounted (the + y direction of the xy axis shown in FIG. 3) is 0 degree. It is a lens. In addition, various lenses can be used as long as the lens can photograph the surroundings of the vehicle 10 such as a fish-eye lens having a photographing range of about ± 95 degrees, where the direction in which the vehicle 10 travels straight is 0 degrees.

  The vehicle control device 11 includes a receiving unit 21, a vehicle control unit 31, and a vehicle memory 41. The receiving unit 21 receives information on the merging lane that merges with the lane in which the vehicle 10 travels and information on an object that exists in the merging lane, which are output by the radar control unit 22 and the image control unit 23. In addition to this, the receiving unit 21 receives various information output by the radar control unit 22 and the image control unit 23. The object existing in the merge lane refers to any one of a moving object on the merge lane and a stationary object on the merge lane. Further, the moving object refers to a vehicle or the like (one of the vehicle and the motorcycle) traveling on the merge lane, and the stationary object refers to a stopped vehicle or the like on the merge lane.

  The vehicle control unit 31 controls each unit of the vehicle 10 based on the information received by the receiving unit 21. The vehicle control unit 31 includes an ACC control unit 211 and a PCS control unit 212.

  The ACC control unit 211 performs control related to ACC (Adaptive Cruise Control). Specifically, the ACC control unit 211 controls the behavior of the vehicle 10 so that the distance in the traveling direction between the vehicle 10 and the control target is a predetermined distance. When the image processing device 3 detects a merging lane that merges with the lane in which the vehicle 10 travels, and the radar device 2 detects an object that exists in the merging lane, the ACC control unit 211 detects an object that exists in the merging lane. Controlled. As a result, an object existing in the merge lane can be controlled before entering the own lane.

  Specifically, the receiving unit 21 receives information from the image control unit 23 that detects a merging lane that merges with a lane in which the vehicle 10 travels. When the receiving unit 21 receives information on an object existing in the merging lane from the radar control unit 22, the ACC control unit 211 sets the object existing in the merging lane as the control target of the ACC and sets the inter-vehicle distance within a predetermined speed. The behavior of the vehicle 10 is controlled such that the vehicle 10 travels while being maintained.

  That is, the ACC control unit 211 controls the throttle opening of the brake 27 and the accelerator 37 so that the vehicle 10 maintains a predetermined distance from an object existing in the merge lane. As a result, the vehicle 10 can travel while maintaining a predetermined distance from the object after joining the object without risk of collision.

  The PCS control unit 212 performs control related to PCS (Pre-Crash Safety). That is, in order to prepare for a collision when there is a possibility of a collision with the control target, the PCS control unit 212 sets an object existing in the merge lane as a control target of the vehicle 10. Thereby, the damage at the time of a collision can be reduced by performing an early warning to the user in preparation for the collision and a brake control to the vehicle with respect to the object joining the own lane.

Specifically, the receiving unit 21 receives information from the image control unit 23 that detects a merging lane that merges with a lane in which the vehicle 10 travels. Then, the receiving unit 21 receives information indicating the presence of an object in the merge lane from the radar control unit 22. As a result, the PCS control unit 212 controls the behavior of the vehicle 10 such as controlling the brake to prepare for a collision when there is a possibility of a collision with an object entering the own lane from the merged lane. The PCS control unit 212, for example, has a distance (vertical distance DL3 shown in FIG. 8) between the vehicle 10 and the object existing in the merging lane from the radar control unit 22 via the reception unit 21 is less than about 10 m. The information which shows that is received. Further, the PCS control unit 212 is configured such that the distance in the vehicle width direction (lateral distance DS1 shown in FIG. 8) between the object existing in the merging lane from the radar control unit 22 via the receiving unit 21 and the vehicle 10 is a predetermined distance (FIG. Information indicating that the distance is less than the total distance of the lane distance DR and the road center distance DC shown in FIG.

  The PCS control unit 212 satisfies at least the condition of the distance between the vehicle 10 and the object existing in the merged lane (the distance between the vehicle 10 and the object is less than about 10 m, and the distance in the vehicle width direction is less than the predetermined distance). In this case, when there is a possibility that the vehicle 10 may collide with an object to be controlled, brake control or the like is performed so as to prepare for the collision, and the behavior of the vehicle 10 is controlled.

  Examples of vehicle behavior in the PCS control include a warning sound to be output to the user by an alarm device 17 described later, a traveling speed of the vehicle 10 is reduced by the brake 27, and the steering wheel 47 is automatically operated to join the lane. There is a behavior of performing vehicle control to avoid a collision with an object entering the own lane from the vehicle. Thereby, it collided by performing the early warning to the user in preparation for the collision, the brake control to the vehicle, etc. with respect to the object whose distance in the traveling direction and the vehicle width direction with the vehicle 10 is approaching The damage in case can be reduced.

  As another PCS control, the seat belt of the seat is automatically pulled to fix the driver's body in the event of a collision, or the headrest of the seat is moved in the event of a collision to reduce the impact of the collision. The vehicle can be controlled to ensure the safety of passengers.

  The vehicle memory 41 records various parameters for the vehicle control unit 31 to control each unit of the vehicle 10 and vehicle control data when each control unit performs ACC control and PCS control.

  In addition, the vehicle control unit 31 sets an object existing in the lane in which the vehicle 10 travels among objects existing in front of the vehicle 10 as a control target, and changes the behavior of the vehicle 10 according to the relative distance of the control target. Control.

  That is, the vehicle control unit 31 receives the information of the merge lane detected by the image control unit 23 via the reception unit 21. Further, the vehicle control unit 31 receives object information existing in front of the vehicle 10 detected by the radar control unit 22. When the vehicle control unit 31 receives the information on the merge lane detected by the image control unit 23, the vehicle control unit 31 adds the object to be controlled to the object existing in the lane in which the vehicle 10 travels, Set to include objects in the lane. Thereby, the vehicle control unit 31 can control not only the own lane but also an object existing in the merging lane.

  Further, the ACC control unit 211 controls the behavior of the vehicle so that the relative distance between the vehicle 10 and the object existing in the merging lane does not fall below a predetermined distance. Thus, the vehicle 10 can travel with the distance from the object kept at a predetermined distance.

  Further, the PCS control unit 212 controls the behavior of the vehicle 10 so as to prepare for a collision between the vehicle 10 and the control target when the relative distance between the vehicle 10 and the object existing in the merging lane is shorter than a predetermined distance. Control. Thereby, when there is a possibility that the vehicle 10 collides with an object, it is possible to reliably perform control in preparation for the collision.

  The alarm device 17 is actuated by a signal from the PCS control unit 212. The alarm device 17 outputs a warning sound to the user in preparation for a collision when there is a possibility of collision between the vehicle 10 and an object entering the own lane from the merge lane.

  The brake 27 is actuated by signals from the ACC control unit 211 and the PCS control unit 212. The speed of the vehicle 10 is reduced so that the distance between the vehicle 10 and the object existing in the merge lane is a predetermined distance.

  The throttle opening of the accelerator 37 is controlled by a signal from the ACC control unit 211. The accelerator 37 accelerates the speed of the vehicle 10 so that the distance between the vehicle 10 and the object that merges is a predetermined distance.

  The steering wheel 47 is operated by a signal from the PCS control unit 212. The steering wheel 47 changes the traveling direction of the vehicle 10 in order to avoid a collision between the vehicle 10 and an object entering the own lane from the merge lane.

The blinker 48 outputs an operation signal (turn signal) to the vehicle control device 11 by a user operation.
<1-2. Object detection range>
FIG. 3 is a diagram illustrating an object detection range of the image processing device 3 including the radar device 2 and the camera 13. In the following, directions are appropriately indicated using xy coordinate axes shown in the drawing. The xy coordinate axes are fixed relative to the vehicle 10, and the vehicle width direction of the vehicle 10 corresponds to the x direction and the traveling direction of the vehicle 10 corresponds to the y direction. Specifically, the left direction of the vehicle 10 is the −x direction, and the right direction of the vehicle 10 is the + x direction. The direction in which the vehicle 10 moves forward is the + y direction, and the direction in which the vehicle 10 moves backward is the -y direction.

  The radar device 2 of the vehicle 10 sets the radar detection range RW as the object detection range. In FIG. 3, the radar apparatus 2 includes a vehicle TA11 that travels in the same direction (+ y direction) as the vehicle 10 within the lane MR in which the vehicle 10 including the radar apparatus 2 travels.

  Further, the vehicle 10 includes an image processing apparatus 3 including a camera 13. The camera 13 uses the image detection range CW shown in FIG. 3 as a detection range, the vehicle TA11, the sign 105 indicating the combined flow path, the white line WL1 in the left direction (−x direction) of the vehicle 10, and the right direction of the vehicle 10 ( The white line WL2 in the + x direction) is included in the detection range.

When comparing the radar detection range RW and the image detection range CW, the detectable distance (+ y direction) can be detected such that the detection distance of the radar 2 is farther than the detection distance of the camera 13. The detection angle (± x direction) when the direction in which the vehicle 10 at the position of the radar device 2 and the image processing device 3 goes straight (+ y direction) is 0 degree is such that the image detection range CW is more than the radar detection range RW. A wide angle.
<1-3-1. Processing>
4 and 5 are process flowcharts of the vehicle control unit 31. FIG. Hereinafter, the process of the vehicle control part 31 is demonstrated using FIG.4 and FIG.5.

  The ACC control unit 211 of the vehicle control unit 31 controls a vehicle TA11 (shown in FIG. 6) traveling in the own lane MR in front of the vehicle 10. That is, the vehicle 10 is traveling so that the vehicle TA11 is an ACC control target and a predetermined inter-vehicle distance is maintained within a predetermined speed. At that time, when the vehicle control unit 31 receives information indicating the presence of the merge lane (information of the sign 105 of the merge channel shown in FIG. 6) from the image processing device 3 (Yes in step S101), the process proceeds to step S102. Proceed to processing. In addition, when the vehicle control part 31 has not received the information which shows the presence of a merge lane (step S101 is No), ACC control which made the vehicle TA11 a control object is continued (step S118).

  In step S102, based on the positions of the white line WL1 and the white line WL2 (shown in FIG. 6) detected by the image processing apparatus 3 including the camera 13, the own lane MR (shown in FIG. 6) on which the vehicle 10 travels. The vehicle control unit 31 receives the position information, and the process proceeds to step S103.

  In step S103, when the vehicle TA12 (shown in FIG. 7) is present in the merge lane CR (Yes in step S103), the distance between the vehicle 10 and the vehicle TA12 present in the merge lane CR (shown in FIG. 7). Is detected to be larger than 10 m (step S104).

  When the distance between the vehicle 10 and the vehicle TA12 existing in the merge lane CR is larger than a reference distance (for example, 10 m) (step S104 is Yes), the process proceeds to step S105.

  In step S105, when the distance between the vehicle TA11 and the vehicle 10 is larger than the distance between the vehicle TA12 and the vehicle 10, that is, when the vehicle TA12 is closer to the vehicle 10 than the vehicle TA11 (step S105). In the case of Yes), the process proceeds to step S106.

  In step S103, when there is no vehicle TA12 present in the merged lane CR (No in step S103), the ACC control with the vehicle TA11 as a control target is continued (step S118).

  Further, when the distance between the vehicle TA12 and the vehicle 10 is greater than the distance between the vehicle TA11 and the vehicle 10, that is, when the vehicle TA12 is located farther from the vehicle 10 than the vehicle TA11 (No in step S105), The ACC control for controlling the vehicle TA11 is continued (step S118).

  In step S104, the case where the distance between the vehicle 10 and the vehicle TA12 is smaller than 10 m will be described in detail later.

  In step S106, when the winker 48 of the vehicle 10 is OFF (step S106 is Yes) and the user does not operate the steering wheel 47 of the vehicle 10 (step S107 is Yes), the vehicle TA11 that has been the control target so far. Cancel the setting of the control target. That is, when it is not detected that the vehicle 10 changes to the lane AR (the lane AR shown in FIG. 7), the setting of the control target of the vehicle TA11 is cancelled.

  Then, the ACC control unit 211 sets the vehicle TA12 existing in the merge lane CR as a new control target (step S108). After setting the vehicle TA12 as a control target, the ACC control unit 211 performs ACC control so as to keep the distance between the vehicle TA12 and the vehicle 10 constant (step S109).

Note that when the turn signal 48 of the vehicle 10 is ON in Step S106 (No in Step S106) and when the user operates the steering wheel 47 of the vehicle 10 (No in Step S107), the vehicle TA11 is controlled. The ACC control as described above is continued (step S119). That is, when it is detected that the vehicle 10 changes the lane to the lane AR, the ACC control as a control target of the vehicle TA11 is continued.
<1-4-1. ACC control for vehicles in merge lanes>
Hereinafter, the process described so far (the process of steps S101 to S109) will be described in detail. FIG. 6 is a diagram illustrating a state in which the vehicle TA11 in which the vehicle 10 travels in front of the own lane MR is an ACC control target.

  The ACC control unit 211 keeps a predetermined inter-vehicle distance within a predetermined speed with the vehicle TA11 traveling in the same direction (+ y direction) as the vehicle 10 in the lane MR along which the vehicle 10 travels being controlled. The behavior of the vehicle 10 is controlled.

  The ACC control unit 211 controls the throttles of the brake 27 and the accelerator 37 so that the vehicle 10 maintains a predetermined distance with the distance (y direction) from the vehicle TA11 as a longitudinal distance DL1.

  In addition, the camera 13 includes the vehicle TA11, the combined passage mark 105, the white line WL1, and the white line WL2 in the image detection range CW. The image control unit 23 outputs the positions of the white lines WL1 and WL2, the information of the sign 105 of the combined flow path, the information of the vehicle TA11, and the like from the captured image of the camera 13 to the reception unit 21 of the vehicle control device 11.

  FIG. 7 is a diagram illustrating a state in which the vehicle TA12 existing in the merge lane CR is a control target. The ACC control unit 211 detects the vehicle TA12 present in the merge lane CR based on the information indicating the presence of the merge path received by the reception unit 21, the white lines WL1 and WL2, the position information of the object of the radar device 2, and the like. To do.

  Specifically, the image control unit 23 outputs the position of the merge lane CR to the vehicle control unit 31 via the reception unit 21. The radar apparatus 2 outputs object information such as the vertical distance, the horizontal distance, and the relative speed of the vehicle TA11 and the vehicle TA12 viewed from the vehicle 10 from the radar control unit 22 to the vehicle control unit 31 via the reception unit 21.

  Based on the detection result of the radar control unit 22, the ACC control unit 211 determines the vertical distance between the vehicle 10 and the vehicle TA11 to be controlled when the value of the vertical distance between the vehicle 10 and the vehicle TA11 is greater than 10 m. DL1 is compared with the longitudinal distance DL2 between the vehicle 10 and the vehicle TA12.

When the value of the longitudinal distance DL2 of the vehicle TA12 is smaller than the value of the longitudinal distance DL1 of the vehicle TA11 and the vehicle 10 does not change the lane to the lane AR, the control target of the ACC control unit 211 is changed from the vehicle TA11 to the vehicle TA12. change. And the ACC control part 211 performs ACC control which made the vehicle TA12 the control object. As a result, the vehicle 10 can travel while maintaining a predetermined distance from the object after joining the object without risk of collision.
<1-3-2. Processing>
Returning to FIG. 4, the remaining processing performed by the vehicle control unit 31 will be described. In step S104, the case where the value of the distance between the vehicle 10 and the vehicle TA12 is smaller than 10 m (No in step S104) will be described. In this case, the process proceeds to the next process of step S110.

  In step S110, the value of the lateral distance DS1 (shown in FIG. 8) that is the distance in the vehicle width direction (± x direction) between the vehicle TA12 and the vehicle 10 is sent from the radar control unit 22 via the reception unit 21 to the vehicle control unit. 31 receives. Then, the value of the lane distance DR (shown in FIG. 8) between the white line WL1 (shown in FIG. 8) on the left side (−x direction) of the vehicle 10 and the vehicle 10 from the mounting position of the camera 13 of the vehicle 10 is image-controlled. The vehicle control unit 31 receives the signal from the unit 23 via the receiving unit 21. Further, when the width of the merging lane (± x direction) is, for example, 3.6 m, the road center distance DC (FIG. 8), which is the distance (approximately 1.8 m) from the white line WL1 of the merging lane to the approximate center of the merging lane CR The vehicle control unit 31 receives the value of (shown)) from the image control unit 23 via the reception unit 21.

  Then, when the lateral distance DS1 is smaller than the total value of the lane distance DR and the road center distance DC (step S110 is Yes), the process proceeds to the next process, step S111.

  In step S111, with respect to the value of the lateral distance DS1 between the vehicle 10 and the vehicle TA12, the lateral distance DS1 between the vehicle 10 and the vehicle TA12 when the radar control unit 22 performed the previous object detection as a past object detection (see FIG. 9) and the lateral distance DS2 (shown in FIG. 9) between the vehicle 10 and the vehicle TA12 when the current object detection is performed, and the value of the lateral distance DS2 by the current object detection is When the value is smaller than the value of the lateral distance DS1 obtained by the previous object detection (step S111 is Yes), the process proceeds to step S112.

  When the value of the lateral distance DS1 is larger than the sum of the lane distance DR and the road center distance DC in step S110, the vehicle control unit 31 controls the throttle opening of the accelerator 37 to control the vehicle. Control the speed of 10. Further, the vehicle control unit 31 performs control to maintain the speed as it is and overtake the vehicle TA12 (step S120).

  In step S111, if the current lateral distance DS2 is larger than the previous lateral distance DS1 (No in step S111), the vehicle control unit 31 controls the throttle opening of the accelerator 37 to control the vehicle 10. To control the speed. Further, the vehicle control unit 31 performs control to maintain the speed as it is and overtake the vehicle TA12 (step S120).

  In step S112, the radar control unit 22 predicts and calculates the lateral distance between the vehicle 10 and the vehicle TA12 in the next object detection process from the position of the vehicle TA12 in the current object detection process. That is, the PCS control unit 212 receives the predicted lateral distance DS3 (shown in FIG. 10) between the vehicle 10 and the TA 12 in the next object detection process from the radar control unit 22 (step S112). The PCS control unit 212 may calculate the predicted lateral distance DS3.

  If the predicted lateral distance DS3 is smaller than the lane distance DR (shown in FIG. 10) (Yes in step S113), the process proceeds to step S114.

  In step S114, when the turn signal 48 of the vehicle 10 is OFF (step S114 is Yes) and the user does not operate the steering wheel 47 of the vehicle 10 (step S115 is Yes), the vehicle TA12 present in the merge lane CR. Is set as a control target by the PCS control unit 212 (step S116). After setting the vehicle TA12 as a control target, the PCS control unit 212 performs control of controlling the brake 27 to reduce the speed of the vehicle 10 (step S117).

  When the value of the lane distance DR is smaller than the value of the predicted lateral distance DS3 in step S113, the vehicle control unit 31 controls the throttle opening of the accelerator 37 to control the speed of the vehicle 10. Further, the vehicle control unit 31 performs control to maintain the speed as it is and overtake the vehicle TA12 (step S121).

  When the winker 48 of the vehicle 10 is ON in step S114 (step S106 is No), the vehicle control unit 31 controls the throttle opening of the accelerator 37 to control the speed of the vehicle 10. Further, the vehicle control unit 31 performs control to maintain the speed as it is and overtake the vehicle TA12 (step S121).

When the user operates the steering wheel 47 of the vehicle 10 in Step S115 (No in Step S115), the vehicle control unit 31 controls the throttle opening of the accelerator 37 to control the speed of the vehicle 10. To do. Further, the vehicle control unit 31 performs control to maintain the speed as it is and overtake the vehicle TA12 (step S121).
<1-4-2. PCS control for vehicles in merge lanes>
Hereinafter, the process described so far (the process of steps S110 to S117) will be described in detail. FIG. 8 is a diagram illustrating detection of the longitudinal distance DL3 and the lateral distance DS1 of the merging lane CR with the vehicle TA12. The PCS control unit 212 detects the vehicle TA12 present in the merge lane CR based on the information indicating the presence of the merge channel received by the reception unit 21 and the information that the radar apparatus 2 detects the object.

  Then, when the value of the longitudinal distance DL3 received by the PCS control unit 212 from the radar control unit 22 via the reception unit 21 is less than a predetermined interval (for example, 10 m), it is determined whether to perform PCS control ( (Corresponding to step S110 shown in FIG. 4) is performed as follows.

  The PCS control unit 212 receives the value of the lateral distance DS1 between the vehicle TA12 and the vehicle 10 existing in the merge lane CR from the radar control unit 22.

  The value of the lane distance DR (x direction) that is the distance between the white line WL1 on the left side (−x direction) of the vehicle 10 and the vehicle 10 from the mounting position of the camera 13 of the vehicle 10 is processed based on the captured image of the camera 13. It is detected by the device 3. Further, a road center distance DC, which is a substantially central interval between the width of the white line WL1 and the merging lane CR, is detected by the image processing device 3 based on an image captured by the camera 13.

  When the value of the lateral distance DS1 calculated by the radar control unit 22 is smaller than the total value of the lane distance DR and the road center distance DC calculated by the image control unit 23, the PCS The control unit 212 performs the following condition determination (corresponding to step S111 shown in FIG. 4) for performing control.

  FIG. 9 is a diagram illustrating the lateral distance DS1 detected by the past object detection process and the lateral distance DS2 detected by the current object detection process. The lateral distance DS1 shown in FIG. 9 is a distance in the vehicle width direction (± x direction) between the vehicle 10 and the vehicle 12 detected by the radar control unit 22 in the past (for example, previous) object detection processing. The lateral distance DS2 is the vehicle width direction (the vehicle TA 12a between the vehicle 10 and the vehicle TA 12a detected by the object detection at a timing (for example, this time) when the time has elapsed from the object information detected in the past by the radar controller 22. (± x direction) distance.

  The PCS control unit 212 compares the lateral distance DS1 and the lateral distance DS2. Since the value of the lateral distance DS2 is smaller than the value of the lateral distance DS1, that is, since the vehicle TA12a detected this time is closer to the vehicle 10 than the vehicle TA12 detected last time in the vehicle width direction, the PCS control unit 212. Performs the next condition determination (corresponding to the process of step S113 shown in FIG. 5) for performing the control.

  FIG. 10 is a diagram illustrating detection of the predicted lateral distance DS3 with the vehicle TA12 in the merge lane. The predicted lateral distance DS3 shown in FIG. 10 is obtained by predicting the lateral distance between the vehicle TA12b and the vehicle 10 that are expected to be detected in the next object detection process. That is, there is a possibility that the radar control unit 22 may detect the object when the radar control unit 22 next performs the object detection process from the position information of the vehicle TA12a detected by the previous (for example, previous) object detection process by the radar control unit 22. The position of the vehicle TA12b is calculated.

  And the information PCS control part 212 which calculated the predicted value (predicted lateral distance DS3) of the value of the lateral distance between the vehicle 10 and the vehicle 12b from the predicted position of the vehicle TA 12b is received.

  Next, in FIG. 10, it is determined whether or not the value of the predicted lateral distance DS3 is smaller than the value of the lane distance DR. In FIG. 10, since the value of the predicted lateral distance DS3 is smaller than the value of the lane distance DR, the PCS control unit 212 controls the vehicle TA12 when the turn signal 48 of the vehicle 10 is OFF and the user does not operate the steering wheel 47. Set as target.

  That is, when viewed from the distance in the vehicle width direction, when the position of the vehicle TA12 approaches the vehicle 10 every time, and the vehicle 10 does not change the lane to the lane AR, the PCS control unit 212 The vehicle TA12 is set as a target for PCS control. Then, the PCS control unit 212 performs PCS control such as controlling the brake 27 to decelerate the speed of the vehicle 10.

  Note that the reference distance (for example, 10 m) described in step S <b> 104 of FIG. 4 can be changed according to the speed of the vehicle 10. For example, when the vehicle control unit 31 detects the vehicle TA12 present in the merge lane CR, the reference distance is set to 10 m when the speed of the vehicle 10 is 60 km / h. When the speed of the vehicle 10 is 70 km / h, the reference distance is 20 m, and when the speed of the vehicle 10 is 80 km / h, the reference distance is 30 m.

  That is, when the vehicle TA12 traveling on the merge lane CR is detected, the speed of the vehicle 10 among the plurality of reference distance values recorded in the vehicle memory 41 of the vehicle control device 11 according to the speed of the vehicle 10 is detected. A value corresponding to is selected and set by the vehicle control unit 31. As described above, the control by the vehicle control unit 31 is performed based on the reference distance suitable for the change in the speed of the vehicle 10.

  Further, the reference distance can be changed according to the relative speed of the vehicle 10 with respect to the vehicle TA12 existing in the merge lane CR. For example, when the vehicle TA12 is traveling at 80 km / h, the vehicle TA12 is 60 km / h and the vehicle 10 is 80 km / h than when the vehicle 10 is traveling at 80 km / h (relative speed 0 km / h). When traveling at h (relative speed 20 km / h), the reference distance value is increased.

  Since the vehicle 10 having a higher speed than the vehicle TA12 approaches the vehicle TA12 by reducing the distance in the vehicle traveling direction (longitudinal distance) as time elapses, the reference distance value is set larger than that when the relative speed is small. . Thereby, after vehicle 10 detects vehicle TA12, PCS control can be performed at an early stage.

  Therefore, when the speed of the vehicle 10 is higher than that of the vehicle TA12, the reference distance corresponding to the relative speed recorded in the vehicle memory 41 as the relative speed of the vehicle 10 with respect to an object existing in the merging lane such as the vehicle TA12 increases. The value of has increased. Thus, appropriate control of the vehicle 10 can be performed by changing the setting of the reference distance according to the relative speed of the vehicle 10 with respect to the vehicle TA12. Moreover, the vehicle control according to the speed of the vehicle 10 can be performed by changing the reference distance according to the relative speed of the vehicle 10 with respect to the vehicle TA12.

Further, in the control determination of ACC and PCS, other distance conditions can be changed according to the relative speed of the vehicle 10 with respect to the vehicle TA12.
<Second Embodiment>
Next, a second embodiment will be described. The configuration and processing of the vehicle control system 100 of the second embodiment are substantially the same as those of the first embodiment, but the processing of the vehicle control unit 31 is partially different. For this reason, the following description will focus on the differences.
<2-1. Processing>
11 and 12 are process flowcharts of the vehicle control unit 31 according to the second embodiment. One of the differences from the processing described with reference to FIGS. 4 and 5 in the first embodiment in this processing flowchart is that the processing in step S108 and step S109 in FIG. 12 is performed before the processing in step S106. That is. In other words, the difference is that the ACC control unit 211 sets the vehicle 12TA to be subject to ACC control before the vehicle control unit 31 determines whether or not the winker 48 and the steering wheel 47 of the vehicle 10 are operated. Another difference is that the processing content of step S119 has been changed.

  Specifically, when the value of the distance (vertical distance DL2) between the vehicle 10 and the vehicle TA12 is smaller than the value of the distance (vertical distance DL1) between the vehicle 10 and the vehicle TA11 in step S105 of FIG. 11 (step S105). Yes), the process of step S108 is performed instead of the process of step S106.

  In other words. The ACC control unit 211 sets the vehicle TA12 as a control target (step S108). And the ACC control part 211 performs ACC control so that the space | interval of the vehicle TA12 and the vehicle 10 may be kept constant within predetermined speed (step S109), and it progresses to the process of step S106.

  In step S106, when the winker 48 of the vehicle 10 is ON (No in step S106), that is, when it is detected that the vehicle 10 changes lanes, the setting for setting the vehicle TA12 as a control target of the ACC control is performed by ACC control. The part 211 cancels (step S119).

  When the user operates the steering wheel 47 of the vehicle 10 (No in Step S107), the ACC control unit 211 cancels the setting for setting the vehicle TA12 as a control target of the ACC control (Step S119). Thereby, even if the objects existing in the merged lane merge, the vehicle 10 travels in a different lane from the merged object, so that it is possible to cancel the setting for a target that does not need to be controlled.

  Furthermore, as another difference, as shown in FIG. 12, the process of step S116 and step S117 was performed between the process of step S113 and step S114, and the process of step S122 was newly provided. It is. That is, the difference is that the PCS control unit 212 sets the vehicle 12TA to be subject to PCS control before the vehicle control unit 31 determines whether or not the winker 48 and the steering wheel 47 of the vehicle 10 are operated.

  Specifically, in step S113, when the value of the predicted lateral distance DS3 is smaller than the value of the lane distance DR (Yes in step S113), the process proceeds to the process in step S116 instead of performing the process in step S114. That is, the PCS control unit 212 sets the vehicle TA12 as a control target (step S116).

  Then, the PCS control unit 212 performs control of the brake 27 to reduce the speed of the vehicle 10 (step S117), and proceeds to the process of step S114.

  Further, when the winker 48 of the vehicle 10 is ON in Step S114 (No in Step S114), that is, when it is detected that the vehicle 10 changes lanes, the vehicle TA12 is set as a control target for PCS control. The PCS control unit 212 cancels (step S122).

Further, when the user operates the steering wheel 47 of the vehicle 10 in Step S115 (No in Step S115), the PCS control unit 212 cancels the setting for setting the vehicle TA12 as the control target of the PCS control ( Step S122). Thereby, even if the objects existing in the merged lane merge, the vehicle 10 travels in a different lane from the merged object, so that it is possible to cancel the setting for a target that does not need to be controlled.
<Third Embodiment>
Next, a third embodiment will be described. The configuration and processing of the vehicle control system 100 according to the third embodiment are substantially the same as those of the first embodiment, except that a new navigation device 4 is provided. For this reason, the following description will focus on the differences.

  FIG. 13 is a block diagram of the vehicle control system 100a. This vehicle system 100a is a system in which a navigation device 4 is added to the vehicle control system 100 shown in FIG. 2 described in the first embodiment.

  The navigation device 4 is provided on a dashboard that can be easily reached by the user of the driver's seat and the passenger seat of the vehicle 10, and displays images and sounds by displaying the current location of the vehicle 10, route guidance to the destination, and other functions. Is output. Note that the navigation device 4 may be installed in a dashboard other than on the dashboard, or may be installed in another location as long as the user of the driver seat and the passenger seat can easily see and operate.

  The navigation device 4 includes a GPS (Global Positioning System) 14, a navigation control unit 24, and a navigation memory 34. The GPS 14 is a system that measures the position of the vehicle 10 based on radio waves from at least three or more of the many GPS satellites orbiting the earth.

  The navigation control unit 24 detects, from the map information recorded in the navigation memory 34, a merging lane that merges adjacent to the lane in which the vehicle 10 is currently traveling, and performs vehicle control on the detection information of the merging lane. Output to the device 11. In addition, guidance to the current position of the vehicle 10 and the destination set by the user is performed using images and sounds. Furthermore, the reproduction of various audio contents and broadcast waves are received, and the image and sound are output to the user.

  The navigation memory 34 records various parameters for the navigation control unit 24 to perform processing, setting values for various functions, and the like.

Then, the detection of the combined flow path by the image control unit 23 described in the first embodiment may be detected by the navigation control unit 24. That is, the navigation device 4 is recorded in the navigation memory 34 in addition to the camera 13 photographing the sign 105 of the merge channel and detecting that the vehicle 10 is located in the vicinity of the merge lane line CR by the image processing device. The position of the combined flow path may be detected based on the map information that is present and information indicating the current position of the vehicle 10 using the GPS 14. Thereby, the merge lane can be detected accurately and reliably.
<Modification>
Hereinafter, modified examples will be described. In addition, all the forms including the above-described embodiment and the forms described below can be appropriately combined.

  In the above embodiment, the vehicle control unit 31 has been described as including the ACC control unit 211 and the PCS control unit 212. However, the vehicle control unit 31 may include only the ACC control unit 211. In other words, the vehicle 10 may be set as an object to be controlled in the merge lane, and the behavior of the vehicle 10 may be controlled so that the vehicle 10 follows the object entering the own lane from the merge lane. As a result, the vehicle 10 maintains a predetermined distance within a predetermined speed with respect to the entering object after the object has entered the own lane from the merging lane in a state where there is no risk of collision with the object entering the lane from the merging lane. Can run.

  In the above embodiment, the vehicle control unit 31 is described as including the ACC control unit 211 and the PCS control unit 212. However, the vehicle control unit 31 may include only the PCS control unit 212. . That is, the vehicle 10 may be set as an object to be controlled, and the behavior of the vehicle 10 may be controlled so as to prevent the vehicle 10 from colliding with the object to be controlled. Thereby, the damage at the time of a collision can be reduced by performing an early warning to the user in preparation for the collision and a brake control to the vehicle with respect to an object entering the own lane from the merging lane.

  Further, the object detection process by the radar control unit 22 described in the above embodiment may be the object detection process by the image control unit 23. That is, information such as a vertical distance and a horizontal distance between the vehicle 10 and the vehicle TA11 and the vehicle TA12 may be detected by the image processing device 3 including the camera 13 in addition to the radar device 2.

  Further, the white lines WL1 and WL2 described in the above embodiment indicate boundaries of the own lane MR, the adjacent lane AR, and the merge lane CR. Therefore, as long as it shows the boundary of each lane other than a white line, you may be other than a white line.

  The interval between the ACC-controlled vehicle 10 and the controlled object can be arbitrarily set by the user. For example, the interval can be set to a user's arbitrary interval from a plurality of intervals such as 60 m, 80 m, and 100 m.

2... Radar device 3... Image processing device 4... Navigation device 11... Vehicle control device 13.

Claims (12)

A vehicle control system for controlling the behavior of a vehicle,
Control means for controlling an object existing in front of the vehicle as a control target and controlling the behavior of the vehicle according to a relative distance from the control target;
Lane detection means for detecting a merged lane that merges with a lane in which the vehicle travels;
Object detection means for detecting an object present in front of the vehicle;
A setting means for setting an object present in the merge lane as a control target of the control means when the object detection means detects an object present in the merge lane;
A vehicle control system comprising: The vehicle control system according to claim 1,
The control means includes first control means for controlling the behavior of the vehicle so that the vehicle has a predetermined distance from the control target in the traveling direction;
A vehicle control system. The vehicle control system according to claim 1 or 2,
The control means includes second control means for controlling the behavior of the vehicle so as to prepare for a collision when the vehicle is likely to collide with a controlled object.
A vehicle control system. In the vehicle control system according to claim 3,
The setting means is configured such that the distance in the vehicle width direction between the object existing in the merged lane and the vehicle is a second distance when the distance in the traveling direction between the object present in the merged lane and the vehicle is less than the first distance. When an object existing in the merging lane is set as a control target of the second control means when the distance is less than the distance;
A vehicle control system. The vehicle control system according to claim 4, wherein
The setting means changes at least one of the first distance and the second distance according to a relative speed of the vehicle with respect to an object existing in the merge lane;
A vehicle control system. The vehicle control system according to any one of claims 1 to 5,
The setting means sets an object existing in the merge lane as a control object when detecting that the vehicle changes lanes by a user operation after setting the object existing in the merge lane as the control target. Canceling the setting,
A vehicle control system. A vehicle control system for controlling the behavior of a vehicle,
Control means for controlling an object existing in front of the vehicle as a control target and controlling the behavior of the vehicle according to a relative distance of the control target;
Receiving means for receiving information on a merged lane that merges with a lane in which the vehicle travels;
Object detection means for detecting an object present in front of the vehicle;
A setting means for setting an object present in the merge lane as a control target of the control means when the object detection means detects an object present in the merge lane;
A vehicle control system comprising: A vehicle control device for controlling the behavior of a vehicle,
Control means for controlling an object existing in front of the vehicle as a control target and controlling the behavior of the vehicle according to a relative distance of the control target;
Receiving means for receiving information on a merged lane that merges with a lane in which the vehicle travels, and information on an object existing in front of the vehicle;
A setting means for setting an object existing in the merge lane as a control target of the control means when the receiving means receives information on an object existing in the merge lane;
A vehicle control device comprising: A vehicle control method for controlling the behavior of a vehicle,
An object existing in front of the vehicle is a control target, and the behavior of the vehicle is controlled according to the relative distance of the control target;
Detecting a merging lane that merges with a lane in which the vehicle travels;
Detecting an object traveling in front of the vehicle;
The step of detecting the object detects an object present in the merge lane, and sets the object present in the merge lane as a control target of the control means;
A vehicle control method comprising: A vehicle control system for controlling the behavior of a vehicle,
A control unit that controls an object existing in a lane in which the vehicle travels among objects existing in front of the vehicle, and controls the behavior of the vehicle according to a relative distance of the control object;
Lane detection means for detecting a merged lane that merges with a lane in which the vehicle travels;
Object detection means for detecting an object present in front of the vehicle;
When the lane detection means detects the merge lane, the object setting includes the object existing in the merge lane in addition to the object present in the lane in which the vehicle travels. Means,
A vehicle control system comprising: The vehicle control system according to claim 10, wherein
The control means includes third control means for controlling behavior of the vehicle so that a relative distance between the vehicle and the object does not fall below a third distance;
A vehicle control system. The vehicle control system according to claim 11, wherein
The control means controls a behavior of the vehicle so as to prepare for a collision between the vehicle and the control target when a relative distance to the object is a fourth distance shorter than the third distance. Including control means,
A vehicle control system.

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