JP2016004425A - Lane change assist system and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving support system in which a lane change due to interruption can be appropriately performed.SOLUTION: An interruption request from a driver is detected by an interruption request detection part 34. When the interruption request is detected, a traveling track for transmitting an interruption intention is generated by an interruption intention transmission part 36. When a subsequent vehicle permits the interruption by an interruption permit determination part 38, an approach distance between a preceding vehicle and an own vehicle is calculated by an interruption track generation part 40, and the travelling track represented by monotonous increase function is generated so that an outline of the own vehicle is not overlapped with a collusion area determined based on the calculated approach distance, and driving is assisted according to the travelling track generated by a lane change assist part 42.

Description

  The present invention relates to a lane change support device and program, and more particularly, to a lane change support device and program for supporting lane change by interruption.

  Conventionally, the intention of changing the lane is transmitted to the surroundings by using a turn signal etc., and at the same time, the behavior change of the rear vehicle of the lane change destination is observed, the lane change is determined based on the causal relationship with the intention to change the lane, and presented to the driver The technique to do is known (for example, patent document 1).

JP 2005-258822 A

  However, in the technique of the conventional patent document 1, the position of the own vehicle when transmitting the intention to change the lane to the surroundings is not considered, and the rear vehicle to which the lane is changed may not notice the turn signal of the own vehicle. . If the rear vehicle decelerates at the timing determined to have a causal relationship with the intention to change lanes, an erroneous determination occurs, and the driver of the rear vehicle is surprised when the vehicle changes lanes at the erroneous determination timing. There is a problem of sudden braking.

  Also, the track at the time of lane change is left to the operation of the driver of the own vehicle, and in some cases the driver of the rear vehicle feels uncomfortable or feels dangerous There is a problem that a driver of a vehicle behind the vehicle may cause a traffic jam in the rear by excessive deceleration.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a lane change support device and a program that can provide driving support so as to appropriately perform lane change by interruption.

  In order to achieve the above object, the lane change assisting device according to the present invention includes an interrupt request detecting means for detecting an interrupt request to an interrupt destination lane by a driver, a speed of a preceding vehicle traveling in each lane, Vehicle detection means for detecting a relative position of the preceding vehicle with respect to the own vehicle; and the interrupt request detection means detects the interrupt request, and the vehicle detection means detects a preceding vehicle in the interrupt destination lane. Between the preceding vehicle and the host vehicle capable of avoiding a collision with the preceding vehicle in the interruption destination lane based on the speed of the preceding vehicle in the interruption destination lane detected by the vehicle detection means. An approach distance is calculated, and based on the relative position of the preceding vehicle detected by the vehicle detection means, the outer shape of the host vehicle does not overlap with the collision area determined based on the calculated approach distance. In addition, with reference to the position of the preceding vehicle, an interrupt locus generating means for generating a traveling locus of the own vehicle for interrupting the rear of the preceding vehicle, and the own vehicle generated by the interrupt locus generating means Lane change support means for supporting driving of the host vehicle so as to change the lane according to the travel locus.

  Further, in the lane change assist device according to the present invention, when the interrupt request is detected by the interrupt request detector, the relative position of the preceding vehicle of the interrupted lane detected by the vehicle detector is detected. Based on the boundary line between the interrupted lane and the host vehicle traveling lane in which the host vehicle is traveling, a position that is a first distance behind the preceding vehicle of the interrupted destination lane. It further includes an interrupt intention transmission means for generating a travel trajectory of the host vehicle up to a position away from the host vehicle travel lane by two distances, and the lane change support means is in accordance with the travel trajectory generated by the interrupt intention transmission means. You may make it perform further the driving assistance of the own vehicle so that it may drive | work.

  The lane change assisting device according to the present invention further includes an interrupt permission determining means, wherein the vehicle detecting means is a speed of a preceding vehicle and a following vehicle traveling in each lane, and a relative position of the following vehicle with respect to the own vehicle. The interrupt permission determining means further detects the speed of the preceding vehicle and the speed of the subsequent vehicle detected by the vehicle detecting means when the interrupt request is detected by the interrupt request detecting means. Whether or not the subsequent vehicle permits an interruption based on the difference between the relative position of the preceding vehicle and the relative position of the subsequent vehicle on the interrupted lane detected by the vehicle detection means. And when the interrupt permission determining means determines that the succeeding vehicle has permitted interruption, the interrupt trajectory generating means interrupts behind the preceding vehicle in the interrupt destination lane. The lane change assisting means generates the interrupt trajectory generating means when it is determined by the interrupt permission determining means that the succeeding vehicle has permitted interruption. The driving assistance of the host vehicle may be performed so as to change the lane according to the traveling locus of the host vehicle generated by the above.

  Further, in the lane change assisting device according to the present invention, the interrupt trajectory generating means is a travel trajectory represented by a monotonically increasing function as a travel trajectory of the host vehicle for interrupting behind the preceding vehicle in the interrupt destination lane. May be generated.

  The lane change assisting apparatus according to the present invention may further include an interrupt state notifying unit that notifies the driver of the host vehicle of the state of the host vehicle or the other vehicle related to the interrupt.

  Further, the program according to the present invention allows a computer to detect an interrupt request detecting means for detecting an interrupt request to an interrupt destination lane by a driver, a speed of a preceding vehicle traveling in each lane, and the vehicle of the preceding vehicle. Vehicle detection means for detecting a relative position, and when the interrupt request is detected by the interrupt request detection means, based on the speed of the preceding vehicle detected by the vehicle detection means, the interrupt destination lane The approach distance between the preceding vehicle and the host vehicle that can avoid a collision with the preceding vehicle is calculated, and based on the calculated approach distance based on the relative position of the preceding vehicle detected by the vehicle detection means A travel locus of the host vehicle is generated for interrupting the rear of the preceding vehicle on the basis of the position of the preceding vehicle so that the outer shape of the host vehicle does not overlap with a predetermined collision area. Interrupt trajectory generating means, and a program for functioning as lane change assisting means for supporting driving of the host vehicle so as to change lanes according to the travel trajectory of the host vehicle generated by the interrupt trajectory generating means It is.

  According to the lane change assist device of the present invention, when an interrupt request from the driver is detected, the approach distance between the preceding vehicle and the host vehicle is calculated, and the collision area determined based on the calculated approach distance is calculated. As a result, it is possible to generate driving trajectories so that the outer shapes of the vehicles do not overlap, and to support driving according to the generated driving trajectories, so that driving support can be made to appropriately change lanes by interruption. It is done.

It is a block diagram which shows the structure of the lane change assistance apparatus which concerns on embodiment of this invention. It is an image figure which shows the content of a vehicle detection area. It is an image figure which shows a relative position with the preceding vehicle which performs determination in an interruption intention transmission part. It is an image figure which shows an example of the running track produced | generated in an interruption intention transmission part. It is an image figure which shows an example of the collision area by the approach distance calculated in an interruption track | orbit production | generation part, and the calculation of an approach distance. It is an image figure which shows an example of the running track | orbit produced | generated in an interruption track | orbit production | generation part, and a monotone increase function. It is a flowchart which shows the content of the lane detection process routine in the lane detection part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the vehicle detection process routine in the vehicle detection part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the interruption request detection process routine in the interruption request detection part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the interruption intention transmission process routine in the interruption intention transmission part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the interruption permission determination processing routine in the interruption permission determination part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the interrupt track generation process routine in the interrupt track generation part of the lane change assistance apparatus which concerns on embodiment of this invention. It is a flowchart which shows the content of the lane change assistance process routine in the lane change assistance part of the lane change assistance apparatus which concerns on embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the present embodiment, a case where the present invention is applied to a lane change support device that is mounted on a vehicle and that supports lane change of the host vehicle will be described as an example.

<Configuration of Lane Change Support Device According to this Embodiment>

  As shown in FIG. 1, the lane change assisting device 100 according to the embodiment of the present invention includes a turn signal sensor 10, a laser radar that detects the position of a vehicle around the host vehicle by reflection of a laser or millimeter wave, A radar sensor 12 composed of a millimeter wave radar, a sonar sensor 14 that detects the position of a vehicle existing around the vehicle by reflection of sound waves, and a camera incorporated in a vehicle interior, a bumper, a side mirror, etc. An in-vehicle camera 16 that captures an image, a control unit 20, an actuator 50, and an output unit 52 are provided.

  The control unit 20 includes a lane detection unit 30 that detects lane candidates, a vehicle detection unit 32 that detects vehicles existing around the host vehicle, and an interrupt request that detects an interrupt request to the interrupt destination lane by the driver. Whether the detection unit 34, the interrupt intention transmission unit 36 that generates a travel locus for transmitting the lane change intention to the vehicle in the interrupt destination lane, and whether the subsequent vehicle in the interrupt destination lane permits interruption An interrupt permission determining unit 38 for determining, an interrupt track generating unit 40 for generating a travel track of a lane change to an interrupt destination lane, and a lane change supporting unit for supporting driving of the host vehicle so as to change the lane 42 and an interrupt state notifying unit 44 for notifying the driver of the vehicle of a state related to interrupt support.

  The actuator 50 operates the steering, the accelerator pedal, and the brake pedal according to the control by the lane change assisting unit 42.

  The output unit 52 outputs an interrupt notification to the driver via a blinker lamp, a monitor, a speaker, a lamp, and the like.

  The lane detection unit 30 detects a lane candidate based on the camera image captured by the in-vehicle camera 16, and gives a label for identifying the lane to the detected lane candidate. A lane label in the running lane is assigned to the lane closest to the host vehicle. Also, if one or more lanes are detected on the right side, the right lane label is assigned to the right lane closest to the running lane, and one or more lanes are detected on the left side. The left lane label is assigned to the left lane closest to the driving lane.

  In addition, the lane detection unit 30, when an interrupt request flag is turned on by an interrupt request detection unit 34 to be described later, for the lane closest to the lane to which the label of the running lane is given in the previous process. , Label the running lane. This is, for example, when interrupting the right lane, to prevent the right lane from being detected as a driving lane at the moment of entering the right lane, the label of the lane should not change until the interruption is completed. It is to do.

As described below, the vehicle detection unit 32 is based on the output of the radar sensor 12, the output of the sonar sensor 14, the output of the in-vehicle camera 16, and the lane detected by the lane detection unit 30. Every time, the speed of the vehicle existing in each of the vehicle detection areas and the relative position with respect to the host vehicle are detected. First, as shown in FIG. 2, the vehicle detection area is divided into a maximum of 8 is set according to the forward distance L _F and the rear distance L _R determined in advance from the center of the vehicle, the vehicle for each vehicle detection area The presence or absence of is detected. Here, the vehicle detection flag is turned ON in the vehicle detection area where the vehicle is detected.

  And the vehicle detection part 32 selects one vehicle nearest to the own vehicle as a preceding vehicle among the vehicles detected in the vehicle detection area ahead of the own vehicle for every vehicle detection area. The speed and the relative position with respect to the host vehicle with respect to the rear end of the preceding vehicle are acquired. Similarly, in the case of the following vehicle, for each vehicle detection area, one vehicle closest to the own vehicle is selected as the following vehicle among the vehicles detected in the vehicle detection area behind the own vehicle. The vehicle speed and the relative position with respect to the host vehicle with respect to the leading edge of the following vehicle are acquired.

As described below, the interrupt request detection unit 34 detects an interrupt request to the interrupt destination lane by the driver based on the winker operation by the driver received by the winker sensor 10. First, it is determined that the driver when the turn signal lever to the same direction, within T _W seconds predetermined for that was twice ON is detected, there is an interrupt request. If it is determined that there has been an interrupt request, then the turn signal is detected based on the lane information detected by the lane detection unit 30, the vehicle speed detected by the vehicle detection unit 32, and the relative position with respect to the host vehicle. the lever there is a preceding vehicle and a following vehicle in the direction of the lane that is twice oN, and determines whether the speed difference of the preceding vehicle and the following vehicle is within ± V _R determined in advance. If the condition is satisfied as a result of the determination, the interrupt request flag is set to ON. If the condition is not satisfied, a message indicating that interrupt support is not possible is displayed on the monitor via the output unit 52 or a warning sound or the like is sent to the driver.

  Further, when the interrupt request detection unit 34 detects that the turn signal lever is turned on in the opposite direction to the interrupt request when the interrupt request flag is ON, the interrupt is canceled. As a result, the interrupt request flag is turned OFF.

As will be described below, the interrupt intention transmission unit 36 is configured to detect the relative position of the preceding vehicle in the interrupt destination lane detected by the vehicle detection unit 32 with respect to the host vehicle, and the interrupt detected by the interrupt request detection unit 34. Based on the request, blinking control of the blinker lamp for transmitting the intention of the driver of the host vehicle to the vehicle in the destination lane and generation of a travel locus are performed. First, the interrupt request flag is turned ON by the interrupt request detection unit 34, and the preceding vehicle in the interrupt destination lane is detected, and as shown in FIG. It is determined whether the relative position between the vehicle and the host vehicle satisfies the condition of L _F1 ≧ L _P ≧ L _F2 . Here, L _F1 and L _F2 are positions that serve as indices for determining whether a predetermined relative position between the host vehicle and the preceding vehicle is within a certain distance, and L _P is a value in the vehicle detection unit 32. The relative position from the center of the detected vehicle to the rear end of the preceding vehicle.

As a result of the determination, the interrupt intention transmission unit 36 performs control to start blinking of the blinker lamp, and turns on the interrupt intention transmission flag. Next, as shown in FIG. 4, left the interrupt intention of the vehicle for transmitting to the vehicle of the interrupt destination lane, a distance X _A determined in advance behind the preceding vehicle rear end of the interrupt destination lane the position and running by the straight line to a position spaced the host vehicle traveling lane side at a distance Y _a a predetermined from the boundary line between the host vehicle traveling lane interrupt destination lane and the host vehicle is traveling Generate a trajectory. Here, the distance X _A is an example of the first distance, the distance Y _A is an example of the second distance. After generating the travel locus, the speed of movement on the locus is determined based on the traffic conditions such as the distance between the preceding vehicle and the following vehicle in the interrupted lane and the speed of the preceding vehicle and the following vehicle. Then, the target point on the travel locus at the current time is output.

  Note that driving assistance related to lane change based on the travel locus generated by the interrupt intention transmission unit 36, the determined moving speed, and the output target point is performed by a lane change assistance unit 42 described later. For example, by adjusting the speed of the own vehicle and positioning it behind the preceding vehicle in the destination lane, and then blinking the blinker, the vehicle is slightly offset from the center of the lane where the vehicle is running to the destination lane. stand by. By doing in this way, it is possible to transmit the lane change for the interruption of the own vehicle, and there are few oversights of the own vehicle for the following vehicle of the interruption lane.

As will be described below, the interrupt permission determination unit 38 detects the preceding vehicle and the speed and relative position of the preceding vehicle and the subsequent vehicle of the interrupted lane detected by the vehicle detection unit 32, and the interrupt request detection unit 34. Based on the interrupt request made and the target point output by the interrupt intention transmission unit 36, after the start of the processing of the interrupt intention transmission unit 36, the behavior of the vehicle following the interrupt destination lane is observed, It is determined whether the following vehicle permits interruption. First, when the interrupt request flag is ON, the position of the host vehicle is within ± L _A [m] from the target point output by the interrupt intention transmission unit 36, and the preceding vehicle in the interrupt destination lane The difference in speed from the following vehicle is (preceding vehicle speed−following vehicle speed) ≧ V _FR , the distance between the preceding vehicle and the following vehicle in the interruption destination lane is _LPF or more, and the interruption destination It is determined whether there is a side vehicle in the lane. Here, L _A , V _FR , and L _PF are predetermined values according to the respective conditions. And the interruption permission determination part 38 will set an interruption permission flag to ON, if the conditions are satisfy | filled as a result of the said determination. When the interrupt request flag is turned off, the interrupt permission flag is returned to OFF because the interrupt is canceled or the interrupt is completed.

  As will be described below, the interrupt locus generation unit 40 is based on the speed of the preceding vehicle in the interrupt destination lane detected by the vehicle detection unit 32 when the interrupt permission determination unit 38 permits the interrupt. The approach distance between the preceding vehicle and the host vehicle that can avoid a collision with the preceding vehicle in the interrupted lane is calculated, and the approach distance calculated based on the relative position of the preceding vehicle detected by the vehicle detection unit 32 is calculated. As a travel locus of the host vehicle for interrupting the rear of the preceding vehicle based on the position of the preceding vehicle so that the outer shape of the host vehicle does not overlap with the collision area determined based on A travel locus represented is generated.

  First, as shown in FIG. 5, the interrupt trajectory generation unit 40 changes the lane of the host vehicle based on the speed of the preceding vehicle of the interrupt destination lane detected by the vehicle detection unit 32 and the speed of the host vehicle. In this case, an approach distance (hereinafter referred to as LCx) that can avoid a collision with the preceding vehicle even if the preceding vehicle decelerates is calculated, and a collision area is derived from the LCx and the vehicle width of the preceding vehicle. The vehicle width of the preceding vehicle uses a specified value in the present embodiment, but the vehicle width may be specified by vehicle detection using an in-vehicle camera or the like. An example of LCx calculation is shown in the lower graph of FIG. In FIG. 5, the time lag from when the speed difference from the preceding vehicle is detected to when the own vehicle starts to decelerate is set to 0.5 [sec]. It is assumed that the vehicle can decelerate 1 [m / sec2] stronger than the deceleration G of the preceding vehicle until it catches up with the deceleration G of the preceding vehicle. LCx can be calculated from the speed V and the maximum deceleration G of the preceding vehicle. For example, assuming that the maximum deceleration G of the preceding vehicle is 5 [m / sec2] (= about 0.5 G), V = 40 [km / LCx = 3.5 [m] at H], and LCx = 3.75 [m] at V = 100 [km / H].

  Then, as shown in FIG. 6, the interrupt locus generation unit 40 is determined by the coordinates S based on the relative position of the preceding vehicle and the outer shape of the own vehicle, where the outer shape of the own vehicle does not overlap the collision area. A traveling locus represented by a monotonically increasing function is generated so as to pass through the point P. For example, when the initial position of the host vehicle is assumed to be (0, -3) and the point P is (6, -2) with respect to the coordinate S, the monotonically increasing function is expressed as (1) to (3) below. Consider the formula.

  Here, the expressions (1) and (2) depend on the position of the host vehicle in the X-axis direction. For example, if the vehicle moves backward at a relative speed of 1.3 [m / sec] with respect to the preceding vehicle, y = 0 at 8 [sec] in equation (1) and 9 [sec] in equation (2), and an interrupt occurs. Complete. Expression (3) depends on time, and the interrupt is completed in 10 [sec]. In the present embodiment, a travel locus in which interruption is completed in the shortest time is adopted, but any monotonically increasing function may be adopted depending on the vehicle in the interrupted lane, the situation of the host vehicle, and the like. By using such a monotonically increasing function, it becomes easier for the following vehicle in the interrupted lane to grasp the behavior of the own vehicle, and excessive deceleration of the driver of the following vehicle can be eliminated. After generating the travel locus, the speed of movement on the locus is determined from the traffic conditions such as the inter-vehicle distance between the preceding vehicle and the following vehicle and the speed of the preceding vehicle and the following vehicle. Then, the target point on the travel locus at the current time is output.

  As described below, the lane change support unit 42 sets the interrupt permission flag to ON when the interrupt intention transmission flag is set ON by the interrupt intention transmission unit 36 or when the interrupt permission determination unit 38 sets the interrupt permission flag to ON. When this is done, the driving assistance of the host vehicle is performed so that the lane change is performed according to the travel locus generated by the interrupt intention transmission unit 36 or the interrupt locus generation unit 40. First, the movement speed of the host vehicle with respect to the target point output from the interrupt intention transmitting unit 36 or the interrupt locus generating unit 40 is determined by the X axis determined by the interrupt intention transmitting unit 36 or the interrupt locus generating unit 40. The actuator 50 is controlled to be the same as the moving speed with respect to the direction. Then, the target trajectory is a path that is translated from the target point existing on the lane center line of the interrupted lane by the Y-axis direction component of the travel trajectory generated by the interrupt intention transmitting unit 36 or the interrupt trajectory generating unit 40. Then, the steering angle of the host vehicle is controlled by the actuator 50 in accordance with the forward gaze type steering model.

  The interruption state notification unit 44 notifies the driver of the own vehicle through the output unit 52 of the state related to driving support of the own vehicle related to the lane change by the lane change support unit 42 or the traveling state of the other vehicle. . For example, when an interrupt is supported, notification is made by displaying or playing back an interrupt message such as “Interrupt supported” on the screen in the meter console, HUD, voice, or the like. In addition, the positional relationship between the host vehicle and the vehicle in the destination lane is notified. In this way, by notifying the interrupt state, it is possible to assist in changing the lane without giving anxiety to the driver of the host vehicle.

<Operation of Lane Change Support Device According to this Embodiment>

  Next, the operation of the lane change support device 100 according to the present embodiment will be described. First, the lane detection processing routine shown in FIG.

  In step S100, lane candidates are detected from the camera image.

  In step S102, it is determined whether the interrupt request flag is ON. If OFF, the process proceeds to step S104. If ON, the process proceeds to step S106.

  In step S104, the label of the running lane is given to the lane closest to the host vehicle based on the lane candidate detected in step S100. In step S106, the label of the running lane is assigned to the lane closest to the lane to which the label of the running lane is given in the previous execution of the lane detection processing routine.

  In step S108, it is determined whether the right lane exists in the lane candidate detected in step S100. If it exists, the process proceeds to step S110, and if it does not exist, the process proceeds to step S112.

  In step S110, the right lane label is assigned to the right lane closest to the traveling lane.

  In step S108, it is determined whether or not the right lane exists in the lane candidate detected in step S100. If it exists, the process proceeds to step S114. If not, the process returns to step S100, and the process is repeated.

  In step S114, the right lane label is assigned to the right lane closest to the traveling lane. And it returns to step S100 and repeats a lane detection processing routine.

  Moreover, in the vehicle detection part 32, the vehicle detection process routine shown in FIG. 8 is performed for every vehicle detection area.

  First, in step S200, the presence / absence of a vehicle around the host vehicle is acquired based on the output of the radar sensor 12, the output of the sonar sensor 14, and the output of the in-vehicle camera 16.

  In step S201, a vehicle is detected from the vehicle detection area based on the presence or absence of the vehicle acquired in step S200.

  In step S202, it is determined whether a vehicle exists in the vehicle detection area. If there is a vehicle, the process proceeds to step S204. If no vehicle exists, the process returns to step S200, and the next lane is selected.

  In step S204, if a vehicle is detected in step S201, the vehicle detection flag in the vehicle detection area is set to ON.

  Next, in step S206, it is determined whether or not the vehicle is detected in the front vehicle detection area in step S201. If it is the front vehicle detection area, the process proceeds to step S210, and must be in the front vehicle detection area. If so, the process proceeds to step S212.

  In step S208, among the vehicles detected in the vehicle detection area ahead of the host vehicle in step S204, one vehicle closest to the host vehicle is selected as the preceding vehicle, the speed of the preceding vehicle, and the rear end of the preceding vehicle. The relative position with respect to the host vehicle is acquired with reference to.

  In step S210, it is determined whether the vehicle is detected in the rear vehicle detection area in step S201. If it is the rear vehicle detection area, the process proceeds to step S212. Returning to S200, the vehicle detection processing routine is repeated.

  In step S212, among the vehicles detected in the vehicle detection area behind the own vehicle in step S204, one vehicle closest to the own vehicle is selected as the following vehicle, and the speed of the following vehicle and the leading end of the following vehicle are selected. The relative position with respect to the vehicle as a reference is acquired. And it returns to step S200 and repeats a process.

  Further, the interrupt request detection unit 34 executes an interrupt request processing routine shown in FIG.

In step S300, the determining whether the driver has twice turned ON winker lever to the same direction, within T _W seconds determined in advance. If it is turned on twice, the process proceeds to step S302. If not, the process returns to step S300, and the process is repeated until it is turned on twice.

In step S302, the preceding vehicle and the following vehicle are in the lane in the direction in which the turn signal lever is turned ON twice based on the speed of the preceding vehicle and the following vehicle detected in the vehicle detection processing routine and the relative position with the own vehicle. and determines whether the speed difference of the preceding vehicle and the following vehicle is within ± V _R determined in advance. If the condition is satisfied, the process proceeds to step S304. If the condition is not satisfied, the process proceeds to step S306.

  In step S304, the interrupt request flag is set to ON.

  In step S306, the driver is notified of an interrupt support impossible message, and the process returns to step S300 to repeat the interrupt request processing routine.

  In step S308, it is determined whether or not the winker lever is turned on opposite to the direction where it was turned on twice in step S300. If it is turned on on the opposite side, the process proceeds to step S310 and turned on on the opposite side. If not, the process proceeds to step S312.

  In step S310, the interrupt request flag is changed to OFF, and the process returns to step S300 to repeat the interrupt request processing routine.

  In step S312, it is determined whether or not the interrupt request flag is ON. If the flag is ON, the process returns to step S308 to repeat the process. If not, the process returns to step S300 to repeat the interrupt request processing routine. .

  Further, the interrupt intention transmission unit 36 executes an interrupt intention transmission processing routine shown in FIG.

First, in step S400, the interrupt request flag is turned on based on the relative position of the preceding vehicle in each lane detected by the vehicle detection processing routine and the interrupt request detected by the interrupt request detection processing routine. In addition, it is determined whether a preceding vehicle is detected in the interruption destination lane and the relative position between the preceding vehicle in the interruption destination lane and the host vehicle is L _F1 ≧ L _P ≧ L _F2 . If the condition is satisfied, the process proceeds to step S402. If the condition is not satisfied, the process returns to step S400 and the process is repeated.

  In step S402, control is performed so as to start blinking of the blinker lamp of the host vehicle with respect to the vehicle in the interrupt destination lane. In step S404, the interrupt intention transmission flag is set to ON.

In step S406, a position apart a distance X _A behind the preceding vehicle rear end of the interrupt destination lane and the distance from the boundary line between the host vehicle traveling lane interrupt destination lane and the host vehicle is traveling _A travel locus is generated by a straight line up to a position away from the own vehicle travel lane separated by YA.

  In step S408, the moving speed on the travel locus generated in step S406 is determined. In step S410, the target point on the travel locus at the current time is output.

  In step S412, it is determined whether the interrupt permission flag is ON. If the flag is ON, the process proceeds to step S414. If not, the process returns to step S410 to repeat the process.

  In step S414, it is determined whether the interrupt request flag is ON. If it is ON, the process proceeds to step S416. If not, the process returns to step S414 to repeat the process.

  In step S416, the turn signal lamp is turned off, and the process returns to step S400 to repeat the interrupt intention transmission processing routine.

  Further, the interrupt permission determination unit 38 executes an interrupt permission determination processing routine shown in FIG.

  First, in step S500, it is determined by the above-described interrupt request detection processing routine whether the interrupt request flag is ON. If it is ON, the process proceeds to step S502, and if not, the process proceeds to step S504.

In step S502, the vehicle detection result of each lane detected by the vehicle detection processing routine, the speed and relative position of the preceding vehicle and the subsequent vehicle, the interrupt request detected by the interrupt request detection processing routine, Based on the target point output in the interrupt intention transmission processing routine, the position of the host vehicle is within ± L _A [m] from the target point, and the speed difference between the preceding vehicle and the following vehicle is (preceding Vehicle speed−following vehicle speed) ≧ V _FR , the distance between the preceding vehicle and the following vehicle is _LPF or more, and whether there is no side vehicle in the interrupted lane, If the condition is satisfied, the process proceeds to step S506. If the condition is not satisfied, the process returns to step S500 and the process is repeated.

  In step S504, the interrupt permission flag is changed to OFF, and the process returns to step S500 to repeat the process.

  In step S506, the interrupt permission flag is set to ON.

  In step S508, it is determined whether the interrupt request flag is ON based on the interrupt request detected by the above-described interrupt request detection processing routine. If it is not ON, the process proceeds to step S510. Returning to S508, the processing is repeated.

  In step S510, the interrupt permission flag is changed to OFF, and the process returns to step S500 to repeat the interrupt permission determination processing routine.

  Further, the interrupt trajectory generation unit 40 executes an interrupt trajectory generation processing routine shown in FIG.

  First, in step S600, it is determined by the above-described interrupt permission determination processing routine whether or not the interrupt permission flag is ON. If it is ON, the process proceeds to step S602, and if not ON, the process returns to step S600 and processed. repeat.

  In step S602, when the own vehicle changes lanes based on the speed of the preceding vehicle in the interrupted lane detected by the vehicle detection processing routine and the speed of the own vehicle, the preceding vehicle in the interrupted lane LCx that can avoid a collision with the vehicle is calculated, and a collision area is derived from the calculated LCx and the vehicle width of the preceding vehicle.

  In step S604, the contour of the host vehicle does not overlap the collision area derived in step S602, and passes through a point P determined by the coordinate S based on the relative position of the preceding vehicle and the contour of the host vehicle. A travel locus represented by an increasing function is generated.

  In step S606, the moving speed on the travel locus generated in step S604 is determined. In step S608, the target point on the travel locus at the current time is output.

At step S610, the determination whether the horizontal deviation between the vehicle and the interrupt destination lane is within ± _{L a,} the process proceeds to step S612 if it is within ± _{L a,} to step S614 if not within ± _{L a} Transition.

  In step S612, the interrupt permission flag is changed to OFF, and the process returns to step S600 to repeat the interrupt locus processing routine.

  In S614, it is determined whether the interrupt request flag is ON. If the flag is ON, the process returns to step S608 and the process is repeated. If not, the process returns to step S600 and the interrupt locus generation process routine is repeated.

  Further, the lane change support unit 42 executes a lane change support process routine shown in FIG.

  First, in step S700, it is determined whether the interrupt intention transmission flag is ON by the interrupt permission determination processing routine described above, and whether the interrupt permission flag is ON by the interrupt permission determination processing routine. If neither the intention transfer flag nor the interrupt permission flag is ON, the process proceeds to step S702, and if either is ON, the process proceeds to step S706.

  In step S702, the speed of the host vehicle is controlled by a technique such as AAC. In step S704, the steering angle is controlled using the route to which the traveling label is attached in the lane detection processing routine as a target route, and the process returns to step S700 to repeat the lane change support processing routine.

  In step S706, when it is determined in step S700 that the interrupt intention transmission flag is ON, the moving speed of the host vehicle with respect to the target point output in the interrupt intention transmission processing routine is determined as the interrupt intention transmission. The actuator 50 is controlled to be the same as the moving speed in the X-axis direction determined in the processing routine. On the other hand, if it is determined that the interrupt permission flag is ON, the moving speed of the host vehicle with respect to the target point output in the interrupt locus generation processing routine is determined in the interrupt locus generation processing routine. The actuator 50 is controlled so as to be the same as the moving speed in the X-axis direction.

  In step S708, when it is determined in step S700 that the interrupt intention transmission flag is ON, from the target point on the lane center line of the interrupt destination lane output in the interrupt intention transmission processing routine, The steering angle of the host vehicle is controlled by the actuator 50 according to the forward gaze type steering model, with the path traveled by the component in the Y-axis direction of the travel locus generated in the interrupt intention transmission processing routine as the target locus. On the other hand, when it is determined that the interrupt permission flag is ON, from the target point on the lane center line of the interrupted lane output in the interrupt trajectory generation processing routine, in the interrupt trajectory generation processing routine The steering angle of the host vehicle is controlled by the actuator 50 in accordance with the forward gaze type steering model, with the path traveled by the Y-axis direction component of the generated travel locus as a target locus.

  In step S710, the interrupt state notification unit 44 notifies the state related to driving support of the host vehicle related to the lane change in step S706 and step S708, or the traveling state of the other vehicle via the output unit 52. And it returns to step S700 and repeats a lane change assistance process routine.

  As described above, according to the lane change support device according to the embodiment of the present invention, when an interrupt request from the driver is detected, a travel locus for transmitting the interrupt intention is generated, When the succeeding vehicle permits interruption, calculate the approach distance between the preceding vehicle and the host vehicle, so that the outer shape of the host vehicle does not overlap the collision area determined based on the calculated approach distance. By generating a travel locus represented by a monotonically increasing function and assisting driving according to the generated travel locus, it is possible to obtain an effect that driving assistance can be performed so as to appropriately change the lane by interruption.

  Note that the present invention is not limited to the above-described embodiment, and various modifications and applications are possible without departing from the gist of the present invention.

  For example, in the above-described embodiment, the interrupt trajectory generation unit 40 has been described as an example of generating a travel trajectory that passes through the point P represented by a monotonically increasing function. However, the present invention is not limited to this. A traveling locus that passes through the vicinity of the point P or a traveling locus that does not pass through the point P may be generated.

  In the lane change support unit 42, the case where the actuator 50 is controlled to support driving of the host vehicle has been described. However, the present invention is not limited to this, and the generated travel locus is presented to the driver. Driving assistance may be performed.

  In addition, the lane change support unit 42 stops the interrupt and returns to the original lane when the following vehicle accelerates and closes the gap while performing driving support so as to change the lane by interruption. Driving assistance may be performed. In this case, if the lane has been changed by a certain percentage or more, the driving assistance may be performed so as to change the lane by interruption without stopping.

DESCRIPTION OF SYMBOLS 10 Winker sensor 12 Radar sensor 14 Sonar sensor 16 Car-mounted camera 20 Control part 30 Lane detection part 32 Vehicle detection part 34 Interrupt request detection part 36 Interrupt intention transmission part 38 Interrupt permission determination part 40 Interrupt locus generation part 42 Lane change support Unit 44 Interruption state notification unit 50 Actuator 52 Output unit 100 Lane change support device

Claims (6)

An interrupt request detection means for detecting an interrupt request to the interrupt destination lane by the driver;
Vehicle detection means for detecting the speed of the preceding vehicle traveling in each lane and the relative position of the preceding vehicle with respect to the own vehicle;
The interrupt destination lane detected by the vehicle detection means when the interrupt request is detected by the interrupt request detection means and a preceding vehicle of the interrupt destination lane is detected by the vehicle detection means Based on the speed of the preceding vehicle, an approach distance between the preceding vehicle and the own vehicle that can avoid a collision with the preceding vehicle on the interrupted lane is calculated, and the preceding vehicle detected by the vehicle detecting means is detected. Based on the relative position, the rear area of the preceding vehicle is interrupted with respect to the position of the preceding vehicle so that the outer shape of the host vehicle does not overlap with the collision area determined based on the calculated approach distance. Interrupt trajectory generating means for generating a travel trajectory of the own vehicle for
Lane change support means for supporting driving of the host vehicle so as to change lanes according to the travel path of the host vehicle generated by the interrupt track generating means;
Lane change support device including When the interrupt request is detected by the interrupt request detection means, based on the relative position of the preceding vehicle in the interrupt destination lane detected by the vehicle detection means, from the preceding vehicle in the interrupt destination lane A position that is separated by a first distance rearward and that is separated from the boundary line between the interrupted lane and the own vehicle traveling lane on which the own vehicle is traveling to the own vehicle traveling lane side by a second distance Further includes an interrupt intention transmission means for generating a travel locus of the host vehicle until
The lane change support device according to claim 1, wherein the lane change support means further supports driving of the host vehicle so as to travel according to a travel locus generated by the interrupt intention transmission means. It further includes an interrupt permission judging means,
The vehicle detection means further detects the speed of the preceding vehicle and the following vehicle traveling in the interrupted lane, and the relative position of the following vehicle with respect to the own vehicle,
The interrupt permission determining means, when the interrupt request detecting means detects the interrupt request, the difference between the speed of the preceding vehicle detected by the vehicle detecting means and the speed of the subsequent vehicle; and Based on the distance between the relative position of the preceding vehicle and the relative position of the subsequent vehicle detected by the vehicle detection means, it is determined whether or not the subsequent vehicle permits interruption.
The own vehicle for interrupting the rear of the preceding vehicle in the interrupted lane when the interrupt trajectory generating unit determines that the subsequent vehicle permits an interrupt by the interrupt permission determining unit Generate a trajectory of
The lane change assisting means follows the traveling trajectory of the host vehicle generated by the interrupt trajectory generating means when it is determined by the interrupt permission determining means that the following vehicle permits interruption. The lane change support device according to claim 1 or 2, wherein driving assistance of the host vehicle is performed so as to change the lane.   The said interruption locus | trajectory production | generation means produces | generates the driving locus represented by a monotonically increasing function as a driving locus of the said own vehicle for interrupting the back of the preceding vehicle of the said interruption destination lane. The lane change support device described in the item.   The lane change support device according to any one of claims 1 to 4, further comprising interrupt state notifying means for notifying a driver of the own vehicle of the state of the own vehicle or another vehicle relating to the interruption. Computer
Interrupt request detection means for detecting an interrupt request to the interrupted lane by the driver,
Vehicle detection means for detecting a speed of a preceding vehicle traveling in the interrupted lane and a relative position of the preceding vehicle with respect to the own vehicle;
When the interrupt request is detected by the interrupt request detection means, it is possible to avoid a collision with the preceding vehicle in the interrupted lane based on the speed of the preceding vehicle detected by the vehicle detecting means. An approach distance between the preceding vehicle and the host vehicle is calculated, and the host vehicle is compared with a collision area determined based on the calculated approach distance based on the relative position of the preceding vehicle detected by the vehicle detecting unit. Generated by the interrupt trajectory generating means for generating a travel trajectory of the own vehicle for interrupting the rear of the preceding vehicle on the basis of the position of the preceding vehicle so as not to overlap each other A program for causing the vehicle to function as lane change support means for supporting driving of the host vehicle so as to change the lane according to the travel locus of the host vehicle.