JP6421716B2 - Vehicle driving support control device - Google Patents

Description

  The present invention relates to a control device for driving support of a vehicle such as an automobile, and more specifically, driving support for a vehicle including a configuration for automatically or semi-automatically changing the lane of the vehicle while the vehicle is running. Related to the control device.

  In the field of driving support control of vehicles such as automobiles, the steering angle of the vehicle is changed automatically by the driver's instruction (instruction by the operation of the blinker etc.) or the instruction of the control system, It has been proposed to execute control (LC (lane change) control) for executing lane change. In this LC control, in short, the position of the white line in the lane adjacent to the lane in which the vehicle is traveling is detected by an in-vehicle camera or the like, and the (future) movement path of the vehicle based on the detected white line. Is determined, and wheel steering control is executed so that the vehicle moves along the movement path (see, for example, Patent Document 1). At that time, when an object such as another vehicle that affects the traveling of the host vehicle after movement (hereinafter referred to as “object to be avoided”) is detected on the destination lane, Canceling or canceling the steering operation of the vehicle is executed. In general, in-vehicle radar or laser is used to detect or determine whether there is a surrounding object on the destination lane or whether the surrounding object is an avoidance object. An object detection means is used (see, for example, Patent Document 2). In such an object detection means using radar or laser, a radar or laser pulse wave is transmitted from an on-vehicle transmitter, and a reflected wave when the pulse wave hits a surrounding object is reflected by an on-vehicle receiver. Received and the presence of the object is detected. In this case, since the transmission / reception of one pulse wave only detects the position of one point (target) on the surrounding object, it is possible to accurately grasp the size of the surrounding object or the range of the area where the surrounding object exists. Information is not obtained, and it may be difficult to accurately determine whether or not a surrounding object is an avoidance object. Therefore, in order to accurately recognize or detect whether an object present in the vicinity of the vehicle is another vehicle or the like, or is an object that needs to be avoided, usually, multiple times in various directions. Determine the size and position of surrounding objects by executing transmission / reception of pulse waves and analyzing the position data of multiple targets collected by these transmission / reception, or, further, the position of the multiple targets Detects the direction of data movement (changes in the position of each target can be detected by executing transmission and reception of pulse waves over time), and surrounding objects recognized from the position data of multiple targets It is determined whether or not is an avoidance object.

JP 2008-129804 A JP2004-245769

  As already described, in the above-described LC control, when there is an avoidance object in the lane to which the host vehicle is moving, the lane change operation, that is, the turning operation is canceled or stopped. Executed. Therefore, when an instruction or command for changing the lane is given, the vehicle turns from that point until the vehicle is actually started. It is legal to start the steering of the vehicle.) And through the analysis of the position data of multiple targets collected by performing transmission or reception of radar or laser in various directions around the vehicle When a range of an object existing area is detected, and a surrounding object that is an object requiring avoidance is detected based on the range of the existing area of the surrounding object (when a certain surrounding object is determined to be an avoidable object) ) Will cancel or cancel the lane change instruction or control command.

  By the way, the position and range of surrounding objects are identified through the collection of position data of a plurality of targets by transmission and reception of on-vehicle radar or laser as described above, and the analysis of the position data of those targets, and further, the presence or absence of objects that need to be avoided is determined. In the determination configuration, since it takes a certain amount of time to determine whether there is an avoidance object, an avoidance object such as another vehicle enters the destination lane after the start of steering of the host vehicle. In such a case, there may occur a case where the host vehicle enters the adjacent lane and approaches the avoidance-needed object before the determination that there is an avoidance-needed object. In addition, in the case of automatic lane change by LC control, the vehicle is steered so that the vehicle turns more slowly than in the case of lane change by driver's steering. In such a case, there is a possibility that an object requiring avoidance such as another vehicle enters the lane of the destination of the own vehicle after the start of steering of the own vehicle. Therefore, after the start of steering of the host vehicle, it is possible to determine the presence / absence of an object that needs to be avoided and to determine whether or not to continue the lane change more quickly than before the start of steering. preferable.

  Thus, one problem of the present invention is that, in the LC control executed as one of the driving support controls, after the start of the steering of the own vehicle, objects to be avoided such as other vehicles in the destination lane. In order to prepare for the case where the vehicle enters, it is possible to quickly determine whether or not there is an object that needs to be avoided and to determine whether or not to continue the lane change.

The above problem is a driving support control device for a vehicle,
The radar pulse wave or laser pulse wave transmitted from the vehicle detects the reflected wave reflected by the target on the surrounding object of the vehicle to acquire the position data of the target, and the position data of the target On the basis of the avoidance necessary object detection means for detecting whether there is an avoidance necessary object in the adjacent lane adjacent to the current travel lane of the vehicle,
Lane change execution means for executing a lane change to the adjacent lane of the vehicle when the presence of the avoidance necessary object is not detected,
Before the start of execution of the lane change, the avoidance-necessary object detection means collects position data of a plurality of targets, and based on the collected position data of the plurality of targets, A surrounding area of a surrounding object where a target is present is defined, and when it is detected that the surrounding object exists in the adjacent lane or moves into the adjacent lane, the surrounding object needs to be avoided Detected as an object, and after the start of execution of the lane change, when it is detected that the position of at least one target exists in the adjacent lane or moves into the adjacent lane, It is determined that the avoidance necessary object exists,
The lane change execution means is achieved by an apparatus that cancels the lane change when it is determined that the avoidable object is present after the start of the execution of the lane change.

  In the above configuration, the “adjacent lane adjacent to the current driving lane of the vehicle” may be detected by an arbitrary method. For example, a white line or a roadside line on a road is recognized in an on-vehicle camera image. By doing so, the extended position and direction of the lane can be determined. The “lane change execution means” may be any type of device that automatically operates the steering device to move the vehicle from the current traveling lane to the adjacent lane detected by an arbitrary method. The lane change execution means typically starts blinking the turn signal indicator of the vehicle when the driver or any automatic driving system issues a lane change command, and is adjacent to the current driving lane. Set the target movement route to the lane or the target point in the adjacent lane so that the vehicle moves along the target movement route or toward the target point after a predetermined time has elapsed after the blinker blinking starts. Then, the steering system device of the vehicle is operated. The “necessary object detection means” detects an object (peripheral object) existing around the vehicle based on the time width and direction required for transmission / reception of the pulse wave by transmission / reception of the radar pulse wave or laser pulse wave. It can be any device of the type used in this field. “Target position data” is a value representing the distance and direction from the vehicle to the target.

  According to the above configuration, first, in the period from when the lane change command is issued to when the lane change is executed, that is, until the operation of the steering system device is started, As described in Patent Document 2, the position data of a plurality of targets are collected by transmission / reception of radar pulse waves or laser pulse waves, and the vehicle surroundings are collected based on the collected position data of the plurality of targets. The surrounding area is defined as a surrounding object, and the surrounding object is an object that needs to be avoided, that is, an object that affects the traveling of the host vehicle after the lane change, for example, another vehicle that already exists in the adjacent lane Alternatively, when it is detected that the moving direction is another vehicle or the like that is moving in the adjacent lane, the lane change is not executed regardless of the lane change command. In this case, the detection of the surrounding object and the determination of the avoidance-needed object are executed based on the position data of the plurality of targets, so the presence / absence of the surrounding object or the avoidance-needed object is determined with higher accuracy. It is expected that whether or not the lane can be changed can be determined with higher accuracy.

  On the other hand, if the avoidable object is not detected before the lane change is executed and the avoidable object appears after the start of the lane change, for example, as already mentioned, the start of steering of the host vehicle is started. If another vehicle or the like enters the destination lane later, the host vehicle is moving in the direction that actually approaches the object that needs to be avoided. If there is such a possibility, it is desirable to cancel the lane change even if the accuracy of the determination that the object is an avoidance object is somewhat low. Therefore, in the apparatus of the present invention, the avoidance-necessary object detecting means is configured such that the position of at least one target exists in the adjacent lane or enters the adjacent lane by transmitting / receiving a radar pulse wave or a laser pulse wave. When it is detected that the object is moving, it is determined that there is an object that needs to be avoided. According to such a configuration, the avoidance-necessary object is compared with the processing configuration in which the existence area of the peripheral object is demarcated based on the position data of the plurality of targets and it is determined whether or not the peripheral object is the avoidance-needed object. Although the accuracy of this determination is reduced, the lane change operation can be stopped immediately if it is executed quickly and an object requiring avoidance is detected.

  In the above-described device of the present invention, when an object requiring avoidance is detected after the start of the lane change and the execution of the lane change is stopped, the execution degree of the lane change is not so advanced. If the elapsed time from the start of execution is relatively short and the amount of lateral movement or the change in the steering angle of the host vehicle is small, the lane change may be stopped on the spot. On the other hand, an evasion-necessary object has been detected when the elapsed time from the start of execution of the lane change is relatively long, or the amount of lateral movement to the adjacent lane of the host vehicle or the amount of change in the rudder angle has increased. In some cases, if the vehicle is left as it is, there is a high possibility that the vehicle will approach the object that needs to be avoided. In this case, the vehicle may be steered in a direction to return to the original lane.

  In addition, when canceling a lane change after a lane change command is issued, a visual or audible display that notifies the driver of the change may be executed.

  Thus, according to the present invention described above, in LC control, before the start of steering of the host vehicle, based on the position or movement of a plurality of targets, the presence or absence of an object that needs to be avoided such as another vehicle It is possible to determine whether or not the lane can be changed with high accuracy.On the other hand, after the start of steering of the host vehicle, there is a possibility that it is an object that needs to be avoided in the position or movement of at least one target. In some cases, the process of immediately determining that there is an object that needs to be avoided is performed to determine whether or not there is an object that needs to be avoided in a shorter period of time. Therefore, it is expected that the safety of the LC control is further improved.

  Other objects and advantages of the present invention will become apparent from the following description of preferred embodiments of the present invention.

FIG. 1 (A) is a schematic plan view of a vehicle on which a preferred embodiment of a vehicle driving support control device according to the present invention is mounted, and FIG. 1 (B) is a vehicle driving support control device according to the present invention. It is the figure which showed the structure of no. In the format of a block diagram. FIG. 2A is a diagram illustrating the situation of the host vehicle and the surroundings for explaining the targets collected in the detection of surrounding objects of the host vehicle. FIG. 2B is a diagram schematically illustrating a situation where an object requiring avoidance such as another vehicle enters the adjacent lane after the start of steering of the host vehicle. FIG. 3A is a flowchart showing the processing in the vehicle driving support control apparatus according to the present invention. FIG. 3B is a diagram showing, in the form of a flowchart, a process (early object detection process) for determining the presence / absence of an object requiring avoidance after the start of steering of the host vehicle.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 12FL-12RR ... Wheel 13 ... Accelerator pedal 14 ... Drive system device (differential device)
DESCRIPTION OF SYMBOLS 20 ... Steering device 22 ... Handle 22a ... Winker lever 24 ... Booster device 26 ... Tie rod 30 ... Sensor group 40 ... In-vehicle camera 42 ... Radar / laser wave transmitter / receiver 46 ... Driver display 50 ... Electronic control device

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings. In the figure, the same reference numerals indicate the same parts.

Configuration of Device FIG. 1A schematically shows a vehicle 10 such as an automobile in which a preferred embodiment of the vehicle driving support control device of the present invention is incorporated. In the figure, the vehicle 10 having the left and right front wheels 12FL, 12FR and the left and right rear wheels 12RL, 12RR is arranged in a normal manner according to the depression of the accelerator pedal 13 by the driver (in the illustrated example, Since it is a rear wheel drive vehicle, a drive system device 14 (only a part is displayed) that generates braking / driving force on the rear wheels only, a steering device 20 for controlling the steering angle of the front wheels, and a braking force on each wheel And a braking system device (not shown) for generating The drive system device 14 is, in a normal manner, from an engine or an electric motor (may be a hybrid drive device having both an engine and an electric motor) via a transmission, a differential gear device 14 and the like. The driving torque or the rotational force is transmitted to the rear wheels 12RL and 12RR. The braking system device (not shown) may be any type of braking device in which a braking force is applied to each wheel in response to depression of a brake pedal by a driver.

  The steering device 20 transmits the rotation of the steering wheel (steering wheel) 22 operated by the driver to the tie rods 26L, R while boosting the rotational force by the booster 24, and steers the front wheels 12FL, 10FR. It may be a steering device. Further, in the vehicle 10 equipped with the apparatus according to the present invention, as the driving support control, the lane change is automatically executed according to the operation of the blinker lever 22a by the driver or an instruction of an arbitrary vehicle traveling control system. Control is executed. Therefore, as the steering device, a device of a type capable of automatically variably controlling the steering angle of the wheel according to the control commands Td and θsw for the steering torque and the steering angle from the electronic control device 50 is used.

  In the LC control, the vehicle 10 travels and recognizes adjacent lanes adjacent to the lane and detection of surrounding objects such as other vehicles on the adjacent lanes. An in-vehicle camera 40 for detecting white lines and roadside lines on the road, and a radar or laser wave transmitting / receiving device 42 for detecting surrounding objects of the own vehicle are provided.

  The LC control according to the present invention and other operation control of each part of the vehicle are executed by the electronic control unit 50. The electronic control unit 50 may include a microcomputer having a CPU, a ROM, a RAM, and an input / output port device, which are connected to each other by a bidirectional common bus, and a driving circuit. Configurations and operations of various control units related to the driving support control of the present invention, which will be described later, may be realized by operations of an electronic control device (computer) 50 according to a program. The electronic control device 50 includes a signal Lc indicating the state of the blinker lever, a road surface image information s1 from the in-vehicle camera 40, a pulse of the radar or laser wave transmitting / receiving device 42, from a sensor group or a switch group provided in each part of the vehicle. The wave transmission / reception information s2, the actual steering angle θsw, the actual steering torque Td, and other detection values of the sensor 30 and the like necessary for controlling the operation of each part of the vehicle are input. A control command (steering torque target value and / or steering angle target value, etc.) for the steering device 20 for achieving steering of the vehicle by LC control is given from the electronic control device 50 to the corresponding booster. . Further, as will be described later, when the lane change by the LC control is to be stopped, a display 46 is provided to give the driver a notice to that effect, for example, as an MID (multi-information display) display, and the electronic control is performed. Information is displayed from the device 50. The indicator 46 may be, for example, a monitor of a GPS device (not shown) arranged at a position where the driver can visually recognize.

  Among the electronic control devices 50 described above, particularly in the configuration related to the driving support control of the present invention, as shown in FIG. 1B, an automatic steering control unit, a peripheral object detection unit, a white line A recognition (lane detection) unit is configured.

  Referring to the figure, first, in the white line recognition (lane detection) unit, using the road surface image obtained by the in-vehicle camera 40, the position of the currently traveling lane and the adjacent lane on the road are determined. The extending direction (hereinafter referred to as “lane information”) is recognized and detected. The white line recognition of the road surface and the detection of the lane information from the camera image may be performed in an arbitrary format. The lane information may be represented by, for example, plane coordinates or absolute coordinates viewed from the own vehicle.

  The peripheral object detection unit executes transmission / reception of radar or laser pulse waves, and detects any position or existence range and direction of the object from the transmission angle and propagation time (time from transmission to reception) of the pulse wave. It may be a device. In the detection of the peripheral object by the peripheral object detection unit (see FIG. 2A), in short, first, a pulse wave is transmitted from the in-vehicle transmitter a plurality of times in various angular directions around the vehicle. When the object exists in the transmission direction, the reflected wave of the pulse wave reflected at the plurality of parts on the object is detected by the receiver, and thereby, the plurality of parts on the object are detected. The distance from the vehicle and the angular direction (position data) will be detected (there is no reflected wave from the area where no object is present, so the absence of the object will be detected). The portion where the reflected wave is detected is referred to as a target (points A to H in FIG. 2A). When a pulse wave is transmitted and received a plurality of times and an object (of a certain size) such as another vehicle is present around the vehicle, a plurality of targets are detected, and transmission and reception of the pulse wave are performed. Since the movement direction of each target is also detected by sequentially performing over an arbitrary time, the distance between the positions of the plurality of targets and the movement direction are detected in the peripheral object detection unit. Thus, the existence range of the object where the target is present is defined and the moving direction is determined (when there are a plurality of objects, the existence range and the moving direction of each object are determined). And if it is detected that a certain peripheral object exists in the adjacent lane in the designated direction of the host vehicle or on the moving route when the lane is changed, or moves in that direction, The object is determined as an object requiring avoidance. Here, determination of the existence range and movement direction of the object where the target exists from the distance between the positions of multiple targets and the movement direction, whether the detected surrounding objects are objects that need to be avoided This determination may be performed by any format or algorithm (see, for example, Patent Document 2).

  In the present invention, as described in more detail later, the detection of the peripheral object and the determination of whether or not it is an avoidance object in the peripheral object detection unit described above are performed for changing the lane. Before starting the rudder, the above process is executed, but during the turning for changing the lane, the above process is performed in order to determine the presence / absence of the avoidance object more quickly. In different processes, detection of surrounding objects and determination of objects that need to be avoided are executed.

  The automatic steering control unit requests the driver to change the operating state of the blinker lever 22a or the lane of an arbitrary vehicle travel control system, information on the presence / absence of an object to be avoided from the surrounding object detection unit, and white line recognition (lane detection). When steering the vehicle for lane change by receiving lane information from the vehicle, a steering command (steering torque target value and / or steering angle target value) is sent to the steering control unit that operates the steering system device. Etc.). In the operation of the automatic steering control unit, in short, when the operation state of the blinker lever 22a or a request for changing the lane of the arbitrary vehicle traveling control system is given, the lane change is performed when there is no avoidance object. In response to the request, the steering command (steering torque target value) is used to appropriately achieve the lane change to the adjacent lane in the indicated direction using the lane information obtained by the white line recognition (lane detection) unit. And / or steering angle target value, etc.) is determined, and the determined steering command is transmitted to the steering control unit, and the vehicle is steered. With regard to such lane change, it is often statutory that steering of a vehicle is actually started after blinking a turn signal (direction indicator light) of the vehicle for a predetermined time. Therefore, when LC control is executed in the processing operation of the automatic steering control unit, more specifically, after a control command for requesting lane change is given, first, a command for blinking the blinker is sent to the blinker. After the blinker blinking is performed for a predetermined time, the vehicle is steered when there is no avoidance object. In determining the steering command, the target route or target position for moving to the adjacent lane in which the lane change is instructed is determined, and the host vehicle moves along or toward the target route. Thus, the steering torque target value and / or the steering angle target value are calculated. The calculation of the steering torque target value and / or the steering angle target value may be executed by an arbitrary format or algorithm.

  As described above, in the present invention, the processing for detecting surrounding objects and determining objects to be avoided is changed before and after the start of turning of the vehicle. Therefore, the automatic steering control unit is configured to give information on whether or not the vehicle is being steered to the surrounding object detection unit. Further, as will be described later, even if there is a request for changing the lane of the winker lever 22a by the driver or an arbitrary vehicle traveling control system, the lane change is canceled if the presence of an object that requires avoidance is determined. The In that case, the automatic steering control unit is configured to give a command to the display unit 46 to notify the driver that the lane change has been stopped.

Actuating Figure 2 (A) with reference again to the device, as described above, when detecting the surrounding objects of the vehicle using the transmission and reception of the pulse wave radar or laser, is typically in the region of the front periphery of the vehicle When a pulse wave is transmitted sequentially in various angular directions, the pulse wave hits an object, is reflected, and the reflected wave returns to the vehicle, the pulse wave determined from the angle and propagation time of the reflected wave The position of the reflection part is sequentially specified as a target, and a plurality of targets A to H are detected as shown in the figure. In this case, there are a plurality of targets on one object, and the positions of the plurality of targets on the same object are close to each other and the moving directions are the same, so that the detected targets A to H are detected. From the positional relationship (distance between targets) and the moving direction (arrows in the figure), grouping is performed for each target that is estimated to exist on the same object (sometimes referred to as fusion of the result). Thereby, in the area around the front of the vehicle, the position or existence range of the surrounding objects is determined for each object. And, if there is an object in the adjacent lane of the lane change destination of the own vehicle among the peripheral objects found in the area around the front of the vehicle, the object is avoided when there is an object moving to the adjacent lane It will be determined as a necessary object.

  The detection of the position or existence range of the surrounding object and the determination of the presence or absence of the object that needs to be avoided can accurately identify the position or existence range of the surrounding object, but as understood from the above processing flow, Cost. Therefore, in the case of LC control, there is a time margin from when a request for changing the lane is given to when a predetermined time for blinking blinker elapses. However, as shown schematically in FIG. 2B, after the host vehicle starts the lane change operation, the preceding other vehicle enters the same lane. In some cases, the host vehicle may be close to another vehicle before the determination of the presence / absence of an object that requires avoidance is made. In order to avoid such a situation, it is possible to determine the presence / absence of an object that needs to be avoided as quickly as possible, especially after the start of a lane change operation, if the object that needs to be avoided actually exists, the vehicle avoids it. Since there is a high possibility that the target object is actually approaching, if there is a possibility that an object that needs to be avoided exists, the lane change operation may be canceled even if the accuracy is low. preferable.

  Therefore, in the present invention, after the start of the lane change operation of the host vehicle, the position or existence range of surrounding objects is specified by grouping the targets from the position data of a plurality of targets as described above. If it is detected that at least one target exists in the adjacent lane of the lane change destination of the own vehicle or has moved to the adjacent lane without performing the processing such as The processing configuration of the peripheral object detection unit is modified so that it is determined that it exists. For example, as shown in FIG. 2 (B), in the situation where the vehicle has already started to steer, if another vehicle that precedes the adjacent lane to which the vehicle is moving enters, If it is detected that one of the existing targets is moving to the adjacent lane of the target vehicle, such as target P or target Q, there is an object that needs to be avoided. Judgment will be made.

  FIG. 3A shows a specific process related to LC control in the automatic steering control unit of the present embodiment in the form of a flowchart. The process shown in the figure may be repeatedly executed at predetermined cycle times while the vehicle is running.

  Referring to the figure, in the process, first, it is determined whether or not there is a lane change command (step 10). As already mentioned, the lane change command may be a turn signal lever operation by the driver or a lane change request by an arbitrary control system. Here, even if there is a lane change command, if there is no adjacent lane that can be changed (when the white lane recognition unit does not recognize the adjacent lane), the lane change command is invalid. May be canceled. When there is a valid lane change command, blinker blinking is also started. When the lane change command is valid and before the vehicle is steered by the operation of the steering device for changing the lane (step 12), the surrounding object detection unit detects the avoidance-necessary object. (Step 14). In this case, as already described, since the vehicle is not steered, a plurality of targets are detected, and the grouping of targets and the position or existence range of surrounding objects are identified from their position data. Processing to be performed is executed. If there is no object that needs to be avoided in the process of step 14 (step 16), whether or not a predetermined time has elapsed since receiving the lane change command, for example, the legal time after the blinker starts blinking. If it is determined (step 18) and the predetermined time has not elapsed, the operation of the steering device is not executed, and the cycle is repeated (standby state for lane change control). On the other hand, if it is determined in step 16 that there is an avoidance object, or if it is determined that there is an avoidance object while the cycles of steps 10 to 18 are repeated, Lane change is canceled (step 22). In this case, the notification indicating that the lane change is stopped is displayed on the display unit 46 (MID display), and the lane change command is canceled.

  While the cycle of steps 10 to 18 is repeated, if a predetermined time elapses after the lane change command has passed without detecting an object that needs to be avoided (step 18), execution of steering for lane change is started (step 18). 20). As described above, the steering is calculated in any manner by referring to the position and the extension direction of the adjacent lane detected by the white line recognition unit and calculating the target movement path or the target steering angle of the own vehicle. This may be achieved by sending a control command for achieving the target movement path or target steering angle to the steering control unit.

  Thus, when the turning for changing the lane is started (step 12), the detection processing of the avoidable object in the surrounding object detection unit is changed (step 24). In the process of detecting an object that needs to be avoided after the start of turning, in short, there is at least one target that is in the adjacent lane of the lane change destination or moving to the adjacent lane. When there is an object, it is determined that there is an object that needs to be avoided (early object detection process). More specifically, referring to FIG. 3 (B), first, the peripheral object detection unit performs transmission / reception of radar or laser pulse waves in various angular directions for a predetermined time or more. It is determined whether or not a reflection intensity of a certain level or more has been detected (step 40). When such a reflection intensity is detected, the presence of the target is determined (step 42). After that, among the confirmed targets, at least one target existing in the adjacent lane to which the lane is changed or moving to the adjacent lane, such as the target P or Q in FIG. 2B, is detected. When it is determined (step 44), it is determined that there is an avoidance necessary object (step 46).

  In the detection process of the avoidance-necessary object in step 24 (FIG. 3B), if it is not determined that there is an avoidance-necessary object (step 26), the steering is continued (step 28), and the cycle When the lane change is completed while repeating the above, the lane change command is canceled.

  On the other hand, when it is determined that there is an avoidance-needed object in the detection process of the avoidance-needed object in step 24 (FIG. 3B) during the turning (step 26), basically The steering for the current lane change will be canceled. In the case of canceling such lane change, if the amount of lateral movement or rudder angle of the vehicle due to the steering of the host vehicle is small and the vehicle has not yet entered the adjacent lane, it is only necessary to cancel the lane change. However, if the amount of lateral movement or rudder angle of the vehicle due to the steering of the vehicle has already increased and the vehicle is approaching the adjacent lane, the vehicle will stay in the adjacent lane as it advances. Will continue. Therefore, when canceling the lane change, more preferably, when the lateral movement amount or rudder angle of the host vehicle has already increased, the vehicle is moved in the reverse direction so that it returns to the lane it was traveling on. Steering may be controlled. Specifically, if it is determined in step 26 that there is an object that needs to be avoided, whether or not the predetermined amount of steering has been executed, specifically, for example, the lane of the host vehicle has been changed. It is determined whether or not the lateral movement amount in the direction, the steering angle, the yaw rate, and / or the elapsed time after the start of steering exceeds a predetermined threshold (step 30). Such a predetermined threshold may be arbitrarily set experimentally or theoretically. When the predetermined amount of steering has not been executed, the lane change operation is stopped as it is (step 22), a notification that the lane change has been stopped is displayed on the display 46 (MID display), and a lane change command is issued. (The steering angle is returned to the state before the start of steering). On the other hand, when the predetermined turning amount has been executed, turning in the opposite direction is executed (step 32). In such reverse steering, the target movement route or the target rudder angle is calculated in an arbitrary manner so as to appropriately return to the previous driving lane, and the target movement route or the target rudder angle is calculated. This may be achieved by sending a control command to be achieved to the steering control unit.

  Thus, according to the configuration of the present invention described above, in the LC control, before the start of steering, the position of the surrounding object or the existence area and the presence / absence of the object to be avoided are accurately determined. Thus, whether or not to change lanes is accurately determined, so that LC control can be used effectively.On the other hand, after the start of turning, at least one target position or movement is an object that needs to be avoided. If there is a possibility, it is immediately determined that there is an object that needs to be avoided, and it is expected that the lane change is stopped and the safety of the LC control is further improved.

  Although the above description has been made in relation to the embodiment of the present invention, many modifications and changes can be easily made by those skilled in the art, and the present invention is limited to the embodiment exemplified above. It will be apparent that the invention is not limited and applies to various devices without departing from the inventive concept.

Claims (1)

A vehicle driving support control device comprising:
The radar pulse wave or laser pulse wave transmitted from the vehicle detects the reflected wave reflected by the target on the surrounding object of the vehicle to acquire the position data of the target, and the position data of the target On the basis of the avoidance necessary object detection means for detecting whether there is an avoidance necessary object in the adjacent lane adjacent to the current travel lane of the vehicle,
Lane change execution means for executing a lane change to the adjacent lane of the vehicle when the presence of the avoidance necessary object is not detected,
Before the start of execution of the lane change, the avoidance-necessary object detection means collects position data of a plurality of targets, and based on the collected position data of the plurality of targets, A surrounding area of a surrounding object where a target is present is defined, and when it is detected that the surrounding object exists in the adjacent lane or moves into the adjacent lane, the surrounding object needs to be avoided Detected as an object, and after the start of execution of the lane change, when it is detected that the position of at least one target exists in the adjacent lane or moves into the adjacent lane, It is determined that the avoidance necessary object exists,
An apparatus for stopping the lane change when the lane change execution means determines that the avoidance-necessary object exists after the start of the execution of the lane change.

Images