JP7158183B2 - VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND PROGRAM - Google Patents

Description

The present invention relates to a vehicle control device, vehicle control method and program.

Patent Literature 1 discloses a cruise control device that performs follow-up control for a preceding vehicle as follows. That is, when the preceding vehicle being followed has not moved laterally from the reference white line by a set value or more, it is determined that the direction of travel of the own vehicle and the direction of travel of the preceding vehicle are the same, and the current following is performed. Continue control. On the other hand, when the preceding vehicle that is being followed moves laterally from the reference white line by more than the set value, it is determined that the traveling direction of the preceding vehicle traveling in the branching direction does not match the traveling direction of the own vehicle traveling straight ahead. Suspend follow-up control for the preceding vehicle.

JP 2005-138762 A

However, in the cruise control device described in Patent Literature 1, the determination is simply made based on the lateral distance between the reference white line and the preceding vehicle, so the continuation and interruption of the follow-up control for the preceding vehicle cannot necessarily be controlled satisfactorily. do not have.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle control device, a vehicle control method, and a program capable of better controlling the running of a vehicle.

A vehicle control device according to an aspect of the present invention includes a detection unit that detects another vehicle based on peripheral information, and a control unit that controls the travel of the own vehicle so as to follow the travel of a first other vehicle that is a preceding vehicle. and, when the state in which the lane mark is detected changes to the state in which the lane mark is not detected, the control unit determines that the traveling direction of the own vehicle coincides with the direction of travel when the lane mark was detected. that the traveling direction of the first other vehicle that had been detected coincides with the traveling direction of the second other vehicle that coincided with the own vehicle when the lane mark was detected . Based on this, the control for causing the running of the host vehicle to follow the running of the first other vehicle is continued .

A vehicle control method according to another aspect of the present invention comprises the step of detecting another vehicle by a detection unit based on surrounding information, and controlling the travel of the own vehicle so as to follow the travel of a first other vehicle that is a preceding vehicle. and a control step controlled by a unit , when the state in which the lane mark is detected changes to the state in which the lane mark is not detected, in the control step, when the lane mark is detected, the own vehicle and the traveling direction of the second other vehicle whose traveling direction coincided with the own vehicle when the lane mark was detected. Based on the coincidence, the control unit continues the control to cause the running of the own vehicle to follow the running of the first other vehicle.

A program according to still another aspect of the present invention causes a computer to detect other vehicles based on peripheral information, and control the running of the host vehicle so as to follow the running of a first other vehicle, which is a preceding vehicle. and a control step, wherein when a transition occurs from a state in which a lane mark is detected to a state in which the lane mark is not detected, in the control step, when the lane mark has been detected, the The traveling direction of the first other vehicle whose traveling direction coincides with the own vehicle, and the traveling direction of the second other vehicle whose traveling direction coincides with the own vehicle when the lane mark is detected. are consistent with each other, the control for causing the own vehicle to follow the running of the first other vehicle is continued .

Advantageous Effects of Invention According to the present invention, it is possible to provide a vehicle control device, a vehicle control method, and a program capable of more satisfactorily controlling travel of a vehicle.

1 is a block diagram showing a vehicle provided with a vehicle control device according to one embodiment; FIG. It is a figure which shows the example of a driving|running|working state. It is a figure which shows the example of a driving|running|working state. It is a figure which shows an example in case a preceding vehicle is changing lanes. FIG. 10 is a diagram showing an example of a case in which a preceding vehicle is traveling toward a branch road; 4 is a flow chart showing an example of the operation of the vehicle control device according to one embodiment; 7 is a flow chart showing an example of the operation of the vehicle control device according to Modification 1 of the embodiment; 9 is a flowchart showing an example of the operation of the vehicle control device according to Modification 2 of the embodiment; 9 is a flowchart showing an example of the operation of a vehicle control device according to modification 3 of one embodiment;

BEST MODE FOR CARRYING OUT THE INVENTION A vehicle control device, a vehicle control method, and a program according to the present invention will be described in detail below with reference to preferred embodiments and with reference to the accompanying drawings.

[One embodiment]
A vehicle control device, a vehicle control method, and a program according to one embodiment will be described with reference to the drawings. FIG. 1 is a block diagram showing a vehicle provided with a vehicle control device according to this embodiment.

A vehicle (self-vehicle) 10 includes a driving support system 12 , a driving force control system 14 , a braking force control system 16 , an EPS system (electric power steering system) 18 , and a vehicle speed sensor 20 .

The driving support system 12 includes a driving support ECU (driving support electronic control device, vehicle control device) 44 .

The driving support system 12 detects various peripheral objects (detected objects) 100 and lane marks 112 that appear around the vehicle 10 . Note that reference numeral 112 is used when describing the lane marks in general, and reference numerals 112L1, 112L2, 112R1, and 112R2 (see FIG. 2) are used when describing individual lane marks. The surrounding object 100 includes, for example, another vehicle 102 that is a vehicle other than the own vehicle 10 . When describing other vehicles in general, reference numeral 102 is used, and when describing individual other vehicles, reference numerals 102a to 102c (see FIG. 2) are used. Further, the surrounding objects 100 include roadside objects 114 and 116 (see FIG. 5), pedestrians (not shown), and the like. Roadside objects 114 and 116 include, for example, guardrails and walls. The travel assistance system 12 assists the travel of the vehicle 10 according to the surrounding objects 100 and the lane marks 112 .

The drive force control system 14 is provided with a drive ECU 30 . The driving force control system 14 executes driving force control of the vehicle 10 . The drive ECU 30 controls the driving force of the vehicle 10 by controlling an engine (not shown) and the like. The driving force control performed in this embodiment includes automatic cruise control. Automatic cruise control is control for causing the vehicle 10 to travel so that the vehicle speed V matches the target vehicle speed.

The braking force control system 16 is provided with a braking ECU 32 . The braking force control system 16 executes braking force control of the vehicle 10 . The brake ECU 32 controls the braking force of the vehicle 10 by controlling a brake mechanism (not shown) and the like.

The EPS system 18 is equipped with an EPS ECU 34 . The EPS system 18 executes steering assist control. The EPS ECU 34 assists the steering by the driver by controlling components of the electric power steering system. Components of the electric power steering apparatus include an electric motor (not shown), a torque sensor (not shown), a steering angle sensor (not shown), and the like.

Vehicle speed sensor 20 detects the vehicle speed of vehicle 10 . The vehicle speed sensor 20 supplies vehicle speed information Sv, which is information indicating the vehicle speed, to the driving support system 12 and the like.

The driving support system 12 is further provided with a camera (imaging unit) 40 . Camera information Sc that is information acquired by the camera 40 is supplied from the camera 40 to the driving support ECU 44 . The camera information Sc includes an image (captured image) acquired by the camera 40 . The camera information Sc constitutes peripheral information of the own vehicle 10 together with radar information Sr, which will be described later. Note that the detected object 100 detected by the camera 40 is called a camera target.

Although one camera 40 is illustrated in FIG. 1, a plurality of cameras 40 may be provided. For example, a stereo camera may be configured by arranging two cameras 40 symmetrically. The camera 40 acquires images of 15 or more frames per second, for example. Here, for example, 30 frames of images are acquired by the camera 40 per second. The camera 40 may be a monochrome camera that acquires monochrome images, or a color camera that acquires color images. In addition, the camera 40 may acquire an image in the visible light range or may acquire an image in the infrared range. The camera 40 is arranged, for example, at the center in the vehicle width direction in the front portion of the interior of the vehicle 10 . More specifically, camera 40 is arranged around the rearview mirror. Note that the camera 40 may be arranged at the center of the front bumper portion of the vehicle 10 in the vehicle width direction.

The driving support system 12 is further equipped with a radar 42 . The radar 42 emits a transmission wave Wt toward the outside of the vehicle 10 and receives a reflected wave Wr of the transmission wave Wt that is reflected by the detected object 100 and returns. As the transmission wave Wt, for example, an electromagnetic wave, more specifically a millimeter wave or the like is used. The detected object 100 is, as described above, a pedestrian, a wall, another vehicle 102, etc. (not shown). The radar 42 generates radar information (reflected wave signal) Sr based on the reflected wave Wr. The radar 42 supplies the radar information Sr to the driving support ECU 44 . Note that the detected object 100 detected by the radar 42 is called a radar target.

Although one radar 42 is illustrated in FIG. 1, a plurality of radars 42 may be provided. The radar 42 is arranged on the front side of the vehicle 10, for example. For example, the radar 42 is arranged on a front bumper, a front grill, and the like. The radar 42 may be arranged behind the vehicle 10 . For example, the radar 42 may be arranged on a rear bumper, a rear grill, or the like. Also, the radar 42 may be arranged on the side of the vehicle 10 . For example, the radar 42 may be arranged on the side of the front bumper. The radar 42 is not limited to millimeter wave radar. For example, a laser radar, an ultrasonic sensor, or the like may be used as the radar 42 .

The driving support ECU 44 controls the entire driving support system 12 . The driving support ECU 44 is provided with a calculation section 52 and a storage section 54 .

Camera information Sc and radar information Sr are supplied to the driving support ECU 44 . The driving support ECU 44 communicates with the drive ECU 30 , the brake ECU 32 and the EPS ECU 34 via a communication line (signal line) 56 . The driving support ECU 44 is provided with an input/output unit (not shown). The input/output unit includes an A/D conversion unit (not shown) that converts an analog signal into a digital signal.

The calculation unit (computer) 52 is configured by, for example, a CPU (Central Processing Unit). The calculation unit 52 performs predetermined calculation processing using the camera information Sc, the radar information Sr, and the vehicle speed information Sv. Arithmetic unit 52 generates a signal to be supplied to each of drive ECU 30, brake ECU 32 and EPS ECU 34 based on the result of the arithmetic processing.

The calculation unit 52 includes an other vehicle recognition unit (detection unit) 60 , a lane recognition unit (running lane recognition unit, detection unit) 62 , and a driving support unit (control unit) 64 . The other vehicle recognition unit 60 , the lane recognition unit 62 , and the driving support unit 64 are realized by executing a program stored in the storage unit 54 by the calculation unit 52 . Such programs do not have to be stored in the storage unit 54 . For example, such a program may be externally supplied via a wireless communication device (not shown). Examples of wireless communication devices include mobile phones and smart phones.

The other vehicle recognition unit 60 includes a camera information processing unit 70 , a radar information processing unit 72 and a determination unit 73 . The camera information processing unit 70 recognizes the other vehicle 102 based on the camera information Sc. The camera information processing unit 70 recognizes the other vehicle 102 by performing pattern matching, for example. The radar information processing unit 72 recognizes the size, relative speed, etc. of the detected object 100 including the other vehicle 102 based on the radar information Sr. The determination unit 73 can determine the position, type, etc. of the other vehicle 102 based on the result of processing by the camera information processing unit 70 and the result of processing by the radar information processing unit 72 . That is, the determination unit 73 can determine the position, type, etc. of the other vehicle 102 based on the camera target and the radar target.

As the position L of the other vehicle 102, for example, a part of the travel locus of the other vehicle 102 is used. More specifically, for example, the travel locus of the other vehicle 102 within a predetermined period of time is used as the position L of the other vehicle 102 . When describing the position L of the other vehicle 102, the symbol L is used, and when describing the individual positions of the other vehicles 102a to 102c, the symbols La to Lc are used. For example, an average position obtained from the travel trajectory of the other vehicle 102 within a predetermined period of time is used as the position L of the other vehicle 102 . In the above description, the average position obtained from the traveling trajectory of the other vehicle 102 within a predetermined period of time is used as the position L of the other vehicle 102, but the present invention is not limited to this. For example, the position L of the other vehicle 102 may be the center position of the rear end of the other vehicle 102 .

The determination unit 73 determines whether or not the traveling direction of the vehicle 102 other than the preceding vehicle 102a matches the traveling direction of the preceding vehicle 102a. This determination is made, for example, based on whether or not the relative speed in the lane width direction of the preceding vehicle 102a with respect to the vehicle 102 other than the preceding vehicle 102a is less than a threshold value. The position La of the preceding vehicle 102a and the position L of the other vehicle 102 other than the preceding vehicle 102a are used to calculate the relative speed in the lane width direction of the preceding vehicle 102a with respect to the other vehicle 102 other than the preceding vehicle 102a. When the relative speed in the lane width direction of the preceding vehicle 102a with respect to the vehicle 102 other than the preceding vehicle 102a is less than the threshold, the determination unit 73 makes the following determinations. That is, in such a case, the determination unit 73 determines that the traveling direction of the other vehicle 102 other than the preceding vehicle 102a matches the traveling direction of the preceding vehicle 102a. When the relative speed in the lane width direction of the preceding vehicle 102a with respect to the vehicle 102 other than the preceding vehicle 102a is equal to or greater than the threshold value, the determination unit 73 makes the following determinations. That is, in such a case, the determination unit 73 determines that the traveling direction of the vehicle 102 other than the preceding vehicle 102a does not match the traveling direction of the preceding vehicle 102a.

The method of determining whether or not the direction of travel of the vehicle 102 other than the preceding vehicle 102a matches the direction of travel of the preceding vehicle 102a is not limited to the method described above. For example, based on the distance in the lane width direction between the vehicle 102 other than the preceding vehicle 102a and the preceding vehicle 102a, it is determined whether the direction of movement of the other vehicle 102 other than the preceding vehicle 102a matches the direction of movement of the preceding vehicle 102a. You can judge. That is, in general, the vehicle often tries to run substantially in the center of the lane 110 in which the vehicle is running. Therefore, the position of the longitudinal centerline of the other vehicle 102 is often located near the longitudinal centerline of the lane 110 on which the other vehicle 102 travels. Also, the lane widths of lanes 110 adjacent to each other are often substantially equal. Therefore, in many cases, the distance in the lane width direction of other vehicles 102 traveling in lanes 110 adjacent to each other is equal to the lane width of own lane 110C. Therefore, when the difference between the distance in the lane width direction of the other vehicles 102 traveling in the lanes 110 adjacent to each other and the lane width of the own lane 110C is less than the threshold, the traveling directions of these other vehicles 102 are the same. It can be determined that they are consistent. Thus, based on the distance in the lane width direction between the other vehicle 102 other than the preceding vehicle 102a and the preceding vehicle 102a, the traveling direction of the other vehicle 102 other than the preceding vehicle 102a is aligned with the traveling direction of the preceding vehicle 102a. can determine whether there is

The lane recognition unit 62 includes a camera information processing unit 74 and a determination unit 76 . The camera information processing section 74 detects the lane mark 112 based on the camera information Sc. The camera information processing unit 74 uses, for example, pattern matching when detecting the lane mark 112 . The determining unit 76 determines the position of the own lane 110C, which is the lane (driving lane) in which the own vehicle 10 travels, based on the information about the other vehicle 102 acquired by the other vehicle recognizing unit 60 and the lane mark 112. . Note that reference numeral 110 is used when describing lanes in general, and reference numerals 110L1, 110C, and 110R1 (see FIG. 2) are used when describing individual lanes.

Based on the information (other vehicle information) of the other vehicle 102 supplied from the other vehicle recognition unit 60 and the information (lane information, driving lane information) of the lane 110 recognized by the lane recognition unit 62, the driving support unit 64 Then, the vehicle 10 is assisted in running. The driving assistance executes, for example, LKAS (Lane Keep Assist System) control and RDM (Road Departure Mitigation) control. In the LKAS control, for example, the steering operation is assisted so that the own vehicle 10 runs in the center of the lane 110C, and the driving load is reduced. In the LKAS control, the driving support unit 64 outputs a steering angle command to the EPS ECU 34 so that the own vehicle 10 runs in the center of the own lane 110C, for example. LKAS control may be used in combination with the automatic cruise control described above. In RDM control, when self-vehicle 10 is about to deviate from lane 110C or has deviated from lane 110C, the departure of self-vehicle 10 from lane 110C is suppressed by controlling braking and steering. During RDM control, the driving support unit 64 outputs a braking command to the brake ECU 32 and outputs a steering angle command to the EPS ECU 34 in order to prevent the vehicle 10 from departing from the lane 110C. .

The storage unit 54 includes a RAM (Random Access Memory) (not shown) and a ROM (Read Only Memory) (not shown). Camera information Sc, radar information Sr, data used for various arithmetic processes, and the like are stored in, for example, a RAM. Programs, tables, maps, etc. are stored, for example, in ROM.

FIG. 2 is a diagram showing an example of running states. In the example shown in FIG. 2, the own vehicle 10, the preceding vehicle 102a, and the pre-preceding vehicle 102b are traveling in the own lane 110C. A preceding vehicle is another vehicle running in front of the own vehicle 10 . The pre-preceding vehicle is another vehicle that is traveling just in front of the preceding vehicle 102a. In the example shown in FIG. 2, the other vehicle 102c is traveling in a lane (adjacent lane) 110L1 adjacent to the left side of the own lane 110C. Further, in the example shown in FIG. 2, the other vehicle 102 is not traveling in the lane (adjacent lane) 110R1 adjacent to the right side of the own lane 110C.

Lane recognition unit 62 identifies the position of own lane 110C based on lane marks 112L1 and 112R1 located on the left and right of own vehicle 10 .

In the example shown in FIG. 2, the preceding vehicle 102a keeps running in the lane 110C in which the own vehicle 10 is running. In the example shown in FIG. 2, the pre-preceding vehicle 102b also keeps running in the lane 110C in which the own vehicle 10 is running. Therefore, in the example shown in FIG. 2, the traveling direction of the preceding vehicle 102a and the traveling direction of the pre-preceding vehicle 102b match. Therefore, the relative speed in the lane width direction of the pre-preceding vehicle 102b with respect to the preceding vehicle 102a is less than the threshold. Further, in the example shown in FIG. 2, the other vehicle 102c keeps running in the adjacent lane 110L1 located on the left side of the own lane 110C. Therefore, in the example shown in FIG. 2, the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102c match. Therefore, in the example shown in FIG. 2, the relative speed in the lane width direction of the other vehicle 102c with respect to the preceding vehicle 102a is less than the threshold. Thus, in the example shown in FIG. 2, the relative speed in the lane width direction of the other vehicle 102 with respect to the preceding vehicle 102a is less than the threshold.

After the state shown in FIG. 2 , when the vehicle 10 continues traveling, the vehicle 10 may approach a location where the lane marks 112L1 and 112R1 cannot be detected on the left and right sides of the vehicle 10. FIG. 3 shows a state in which the vehicle 10 has approached a location where the lane marks 112L1 and 112R1 on the left and right sides of the vehicle 10 cannot be detected. For example, when the own vehicle 10 approaches a place where the lane marks 112L1 and 112R1 are worn away, the lane marks 112L1 and 112R1 on the left and right sides of the own vehicle 10 may not be detected. Also, when the vehicle 10 approaches near an intersection, the lane marks 112L1 and 112R1 on the left and right sides of the vehicle 10 may not be detected. When the left and right lane marks 112L1 and 112R1 of the vehicle 10 cannot be detected, the position of the vehicle lane 110C cannot be determined based on the left and right lane marks 112L1 and 112R1 of the vehicle 10. In such a case, the determination unit 76 cannot supply the travel support unit 64 with information indicating the position of the own lane 110C. In such a case, the driving support unit 64 controls the driving of the own vehicle 10 so as to follow the driving of the preceding vehicle 102a. Here, an example will be described in which the running of the own vehicle 10 is controlled so as to follow the running of the preceding vehicle 102a when the lane marks 112L1 and 112R1 on the left and right of the own vehicle 10 cannot be detected. It is not limited to this. Even when the lane marks 112L1 and 112R1 can be detected on the left and right sides of the own vehicle 10, the travel of the own vehicle 10 may be controlled so as to follow the travel of the preceding vehicle 102a.

The preceding vehicle 102a does not necessarily keep running in the lane 110C in which the own vehicle 10 runs. For example, the preceding vehicle 102a may change lanes. FIG. 4 is a diagram showing a state in which the preceding vehicle 102a is changing lanes. If the control for following the running of the preceding vehicle 102a is continued even in such a case, even the own vehicle 10 will change lanes in the same manner as the preceding vehicle 102a. Also, the preceding vehicle 102a may change course from the main lane to a branch lane (branch road). FIG. 5 is a diagram showing a state in which the preceding vehicle 102a is traveling from the main line 110M toward the branch lane 110D. If the control for causing the vehicle 10 to follow the preceding vehicle 102a is continued even in such a case, the own vehicle 10 will also travel toward the branch lane 110D in the same manner as the preceding vehicle 102a. In such a case, it is preferable to interrupt the control for causing the vehicle 10 to follow the driving of the preceding vehicle 102a, and allow the vehicle 10 to maintain driving within the own lane 110C. Therefore, in the present embodiment, when the traveling direction of the preceding vehicle 102a does not match the traveling direction of the other vehicle 102 other than the preceding vehicle 102a, the driving support unit 64 changes the driving direction of the own vehicle 10 to the traveling direction of the preceding vehicle 102a. Suspends follow-up control.

FIG. 6 is a flow chart showing an example of the operation of the vehicle control device according to this embodiment. In step S1, the determination unit 76 determines whether or not the lane marks 112L1 and 112R1 are present on the left and right sides of the host vehicle 10. FIG. If lane marks 112L1 and 112R1 exist on the left and right of host vehicle 10 (YES in step S1), the process proceeds to step S6. When lane marks 112L1 and 112R1 do not exist on the left and right of own vehicle 10 (NO in step S1), the process proceeds to step S2.

In step S2, the determination unit 73 determines whether or not the preceding vehicle 102a exists. Presence or absence of the preceding vehicle 102a is determined based on the camera information Sc and the radar information Sr. The presence or absence of the preceding vehicle 102a may be determined based on either the camera information Sc or the radar information Sr. If there is a preceding vehicle 102a (YES in step S2), the process proceeds to step S3. If the preceding vehicle 102a does not exist (NO in step S2), the process proceeds to step S8.

In step S3, the determination unit 73 determines whether or not there is another vehicle 102 other than the preceding vehicle 102a. If there is another vehicle 102 other than the preceding vehicle 102a (YES in step S3), the process proceeds to step S4. If there is no other vehicle 102 other than the preceding vehicle 102a (NO in step S3), the process proceeds to step S8.

In step S4, the determination unit 73 determines whether or not the traveling direction of the preceding vehicle 102a matches the traveling direction of the other vehicle 102 other than the preceding vehicle 102a. When there are a plurality of other vehicles 102 other than the preceding vehicle 102a, whether or not the traveling direction of any one of the plurality of other vehicles 102 other than the preceding vehicle 102a matches the traveling direction of the preceding vehicle 102a. It is necessary to determine whether In the example shown in FIG. 2, for example, it may be determined whether or not the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102b match. Alternatively, it may be determined whether or not the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102c match. Further, it may be determined whether or not the average direction of the traveling directions of the plurality of vehicles 102b and 102c other than the preceding vehicle 102a matches the traveling direction of the preceding vehicle 102a. If the traveling direction of the preceding vehicle 102a and the traveling direction of the vehicle 102 other than the preceding vehicle 102a match (YES in step S4), the process proceeds to step S5. If the traveling direction of the preceding vehicle 102a does not match the traveling direction of the vehicle 102 other than the preceding vehicle 102a (NO in step S4), the process proceeds to step S7.

In step S5, the driving support unit 64 continues the control to cause the own vehicle 10 to follow the driving of the preceding vehicle 102a.

In step S<b>6 , the driving support unit 64 controls the vehicle 10 based on the left and right lane marks 112L1 and 112R1 of the vehicle 10 . That is, the driving support unit 64 performs control so that the own vehicle 10 travels in the own lane 110C demarcated by the left and right lane marks 112L1 and 112R1.

In step S7, the driving support unit 64 suspends the control for causing the own vehicle 10 to follow the driving of the preceding vehicle 102a. In this case, the driving support unit 64 performs driving support on the assumption that the position of the own lane 110C is not correctly detected.

In step S8, the calculation unit 52 executes error processing. In this case, the driving support unit 64 performs driving support on the assumption that the position of the own lane 110C is not correctly detected. Thus, the processing shown in FIG. 6 ends.

As described above, according to the present embodiment, based on the fact that the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102 other than the preceding vehicle 102a are the same, the own vehicle 10 is aligned with the traveling of the preceding vehicle 102a. The control for following the running of the is continued. If the traveling direction of the preceding vehicle 102a does not match the traveling direction of the vehicle 102 other than the preceding vehicle 102a, the control for causing the own vehicle 10 to follow the preceding vehicle 102a is interrupted. According to the present embodiment, the behavior of the other vehicle 102 other than the preceding vehicle 102a is taken into consideration, so that the continuation and interruption of the control for causing the own vehicle 10 to follow the driving of the preceding vehicle 102a can be performed more satisfactorily. . Therefore, according to this embodiment, it is possible to better control the running of the own vehicle 10 .

(Modification 1)
A vehicle control device, a vehicle control method, and a program according to Modification 1 of the present embodiment will be described with reference to FIG.

Further, the vehicle control device according to this modification causes the vehicle 10 to follow the traveling of the preceding vehicle 102a based on the fact that the traveling direction of the preceding vehicle 102a coincides with the installation direction of the roadside object 114 on the main line 110M. It is the one that continues the control.

In this modification, the determination unit 73 determines whether or not the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 114 on the main line 110M. If the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 114 on the main line 110M, the preceding vehicle 102a is considered to be traveling on the main line 110M. Even though the preceding vehicle 102a is traveling on the main line 110M, if the traveling direction of the preceding vehicle 102a and the traveling directions of the other vehicles 102 other than the preceding vehicle 102a do not match, the following phenomena may occur. Conceivable. That is, it is considered that other vehicles 102 other than the preceding vehicle 102a are changing course. Therefore, in this modified example, when the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 114 on the main line 110M, the control for causing the traveling of the own vehicle 10 to follow the traveling of the preceding vehicle 102a is continued. .

FIG. 7 is a flow chart showing an example of the operation of the vehicle control device according to this modification. Steps S1 to S4 are the same as steps S1 to S4 described above with reference to FIG. 6, so description thereof will be omitted. If the traveling direction of the preceding vehicle 102a and the traveling direction of the vehicle 102 other than the preceding vehicle 102a match (YES in step S4), the process proceeds to step S11. If the traveling direction of the preceding vehicle 102a does not match the traveling direction of the vehicle 102 other than the preceding vehicle 102a (NO in step S4), the process proceeds to step S7.

In step S11, the determination unit 73 determines whether or not the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 114 on the main line 110M. Roadside objects 114 include, for example, guardrails and walls, as described above. If the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 114 on the main line 110M (YES in step S11), the process proceeds to step S5. If the traveling direction of the preceding vehicle 102a does not match the installation direction of the roadside object 114 on the main line 110M (NO in step S11), the process proceeds to step S7.

Steps S5 to S8 are the same as steps S5 to S8 described above with reference to FIG. 6, so description thereof will be omitted. Thus, the processing shown in FIG. 7 ends.

In this way, based on the fact that the traveling direction of the preceding vehicle 102a coincides with the installation direction of the roadside object 114 on the main line 110M, the control for causing the traveling of the own vehicle 10 to follow the traveling of the preceding vehicle 102a is continued. can be When the preceding vehicle 102a and another vehicle 102 other than the preceding vehicle 102a change course in the same way, the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102 other than the preceding vehicle 102a do not match. obtain. However, according to this modified example, when the traveling direction of the preceding vehicle 102a does not match the installation direction of the roadside object 114 on the main line 110M, the control for causing the traveling of the own vehicle 10 to follow the traveling of the preceding vehicle 102a is interrupted. . Therefore, according to this modification, when the preceding vehicle 102a and another vehicle 102 other than the preceding vehicle 102a change course in the same manner, the driving of the own vehicle 10 follows the driving of the preceding vehicle 102a. You can prevent it from getting lost. Therefore, according to this modified example, the traveling of the own vehicle 10 can be controlled more satisfactorily.

(Modification 2)
A vehicle control device, a vehicle control method, and a program according to Modification 2 of the present embodiment will be described with reference to FIG.

Further, the vehicle control device according to the present modification follows the travel of the preceding vehicle 102a and the own vehicle 10 based on the fact that the traveling direction of the preceding vehicle 102a coincides with the installation direction of the roadside object 116 on the branch lane 110D. It interrupts the control that causes

In this modification, the determination unit 73 determines whether or not the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 116 on the branch lane 110D. The roadside objects 116 of the branch lane 110D include guardrails, walls, and the like. If the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 116 on the branch lane 110D, the preceding vehicle 102a is considered to be traveling toward the branch lane 110D. Therefore, in this modified example, when the traveling direction of the preceding vehicle 102a coincides with the installation direction of the roadside object 116 on the branch lane 110D, the control for causing the own vehicle 10 to follow the traveling of the preceding vehicle 102a is interrupted. Let

FIG. 8 is a flowchart showing an example of the operation of the vehicle control device according to this modification. Steps S1 to S4 are the same as steps S1 to S4 described above with reference to FIG. 6, so description thereof will be omitted. If the traveling direction of the preceding vehicle 102a and the traveling direction of the vehicle 102 other than the preceding vehicle 102a match (YES in step S4), the process proceeds to step S5. If the traveling direction of the preceding vehicle 102a does not match the traveling direction of the vehicle 102 other than the preceding vehicle 102a (NO in step S4), the process proceeds to step S21.

In step S21, the determination unit 73 determines whether or not the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 116 on the branch lane 110D. If the traveling direction of the preceding vehicle 102a matches the installation direction of the roadside object 116 on the branch lane 110D (YES in step S21), the process proceeds to step S7. If the traveling direction of the preceding vehicle 102a does not match the installation direction of the roadside object 116 on the branch lane 110D (NO in step S21), the process proceeds to step S5.

Steps S5 to S8 are the same as steps S5 to S8 described above with reference to FIG. 6, so description thereof will be omitted. Thus, the processing shown in FIG. 8 ends.

In this way, based on the fact that the traveling direction of the preceding vehicle 102a coincides with the installation direction of the roadside object 114 on the branch lane 110D, the control for causing the own vehicle 10 to follow the traveling of the preceding vehicle 102a is interrupted. can be When the preceding vehicle 102a is traveling in the own lane 110C and the vehicle 102 other than the preceding vehicle 102a changes course, the traveling direction of the preceding vehicle 102a and the traveling direction of the other vehicle 102 other than the preceding vehicle 102a will no longer match. However, according to this modification, when the traveling direction of the preceding vehicle 102a does not match the installation direction of the roadside object 116 on the branch lane 110D, the process of causing the own vehicle 10 to follow the traveling of the preceding vehicle 102a is interrupted. don't let Therefore, according to the present modification, when the other vehicle 102 other than the preceding vehicle 102a changes course, it is possible to prevent interruption of the control for causing the own vehicle 10 to follow the driving of the preceding vehicle 102a. be able to. Therefore, according to this modified example, the traveling of the own vehicle 10 can be controlled more satisfactorily.

(Modification 3)
A vehicle control device, a vehicle control method, and a program according to Modification 3 of the present embodiment will be described with reference to FIG.

When the traveling direction of the preceding vehicle (first other vehicle) 102a does not match the traveling direction of the other vehicle (second other vehicle) 102c other than the preceding vehicle 102a, the vehicle control device according to the present modification performs the following: Such processing is further performed. The second other vehicle 102c is the other vehicle 102 that is neither the first other vehicle (preceding vehicle) 102a nor the third other vehicle (pre-preceding vehicle) 102b. In this modification, it is determined whether or not the traveling direction of the second other vehicle 102c and the traveling direction of the pre-preceding vehicle (third other vehicle) 102b match. Then, when the traveling direction of the second other vehicle 102c and the traveling direction of the pre-preceding vehicle (third other vehicle) 102b are the same, the own vehicle 10 is moved to the traveling direction of the pre-preceding vehicle (third other vehicle) 102b. Execute control to follow the running of the

FIG. 9 is a flowchart showing an example of the operation of the vehicle control device according to this modification. Steps S1 to S4 are the same as steps S1 to S4 described above with reference to FIG. 6, so description thereof will be omitted. If the traveling direction of the preceding vehicle (first other vehicle) 102a and the traveling direction of the second other vehicle 102c match (YES in step S4), the process proceeds to step S5. If the traveling direction of the preceding vehicle (first other vehicle) 102a and the traveling direction of the second other vehicle 102c do not match (NO in step S4), the process proceeds to step S7. Note that the second other vehicle is not limited to the other vehicle 102c. The second other vehicle may be any other vehicle 102 that is neither the preceding vehicle 102a nor the pre-preceding vehicle 102b.

Steps S5 to S8 are the same as steps S5 to S8 described above with reference to FIG. 6, so description thereof will be omitted. When step S7 is completed, the process transitions to step S31.

In step S31, the determination unit 73 determines whether or not the pre-preceding vehicle (third other vehicle) 102b exists. If the pre-preceding vehicle (third other vehicle) 102b exists (YES in step S31), the process proceeds to step S32. On the other hand, if the pre-preceding vehicle (third other vehicle) 102b does not exist (NO in step S31), the process shown in FIG. 9 ends. In this case, the driving support unit 64 performs driving support on the assumption that the position of the own lane 110C is not correctly detected.

In step S32, the determination unit 73 determines whether or not the traveling direction of the second other vehicle 102c and the traveling direction of the pre-preceding vehicle (third other vehicle) 102b match. If the traveling direction of the second other vehicle 102c matches the traveling direction of the pre-preceding vehicle (third other vehicle) 102b (YES in step S32), the process proceeds to step S33. If the traveling direction of the second other vehicle 102c does not match the traveling direction of the pre-preceding vehicle (third other vehicle) 102b (NO in step S32), the process shown in FIG. 9 ends. In this case, the driving support unit 64 performs driving support on the assumption that the position of the own lane 110C is not correctly detected.

In step S33, the driving support unit 64 executes control for causing the own vehicle 10 to follow the driving of the pre-preceding vehicle (third other vehicle) 102b. Thus, the processing shown in FIG. 9 ends.

As described above, in this modification, when the traveling direction of the preceding vehicle (first other vehicle) 102a and the traveling direction of the second other vehicle 102c do not match, the following processing is further performed. That is, it is determined whether or not the traveling direction of the second other vehicle 102c and the traveling direction of the pre-preceding vehicle (third other vehicle) 102b match. Then, when the traveling direction of the second other vehicle 102c and the traveling direction of the pre-preceding vehicle (third other vehicle) 102b are the same, the own vehicle 10 is moved to the traveling direction of the pre-preceding vehicle (third other vehicle) 102b. Execute control to follow the running of the According to this modification, even if the control for causing the own vehicle 10 to follow the running of the preceding vehicle (first other vehicle) 102a is interrupted, the pre-preceding vehicle (third other vehicle) 102b can run. control for following the running of the own vehicle 10 can be executed. Therefore, according to this modified example, the running of the own vehicle 10 can be controlled more satisfactorily.

[Modified embodiment]
Various modifications are possible without being limited to the above embodiment.
For example, in the above-described embodiment, the lane mark 112 is assumed to be a white line (solid line and dashed line) of the road, but the lane mark 112 is not limited to this. For example, lane markings 112 may be yellow lines, Botts Dots, cat's eyes, or the like. Also, the lane mark 112 may be a guardrail. Also, the lane mark 112 may be a virtual mark arranged at a position a predetermined distance away from the guardrail.

The above embodiments are summarized as follows.

A vehicle control device (44) includes a detection unit (60) that detects another vehicle (102) based on surrounding information, and a first other vehicle (102a) that is a preceding vehicle (102a). 10), wherein the traveling direction of the first other vehicle is the same as the traveling direction of the second other vehicle (102c) different from the first other vehicle. and a control unit that continues control for causing the running of the own vehicle to follow the running of the first other vehicle based on the matching. According to such a configuration, when the traveling direction of the first other vehicle and the traveling direction of the second other vehicle match, the traveling of the own vehicle follows the traveling of the first other vehicle. Control continues. On the other hand, when the traveling direction of the first other vehicle and the traveling direction of the second other vehicle do not match, the control for causing the own vehicle to follow the traveling of the first other vehicle is interrupted. Therefore, according to such a configuration, since the behavior of the second other vehicle is taken into consideration, the continuation and interruption of the control for causing the own vehicle to follow the travel of the first other vehicle can be performed more satisfactorily. can be done. Therefore, according to such a configuration, it is possible to better control the running of the host vehicle.

Based on the fact that the relative speed of the first other vehicle with respect to the second other vehicle in the lane width direction is less than a threshold value, the controller controls the direction of travel of the first other vehicle and the second vehicle. It may be determined that the traveling direction of the other vehicle is the same.

The controller controls the traveling direction of the first other vehicle and the traveling direction of the second other vehicle based on the distance in the lane width direction between the first other vehicle and the second other vehicle. may be determined to match.

Further based on the fact that the traveling direction of the first other vehicle coincides with the installation direction of the roadside object (114) on the main road (110M), the control unit controls the movement of the own vehicle to the traveling of the preceding vehicle. You may make it continue the control which follows driving|running|working. When the first other vehicle and the second other vehicle change course in the same way, the direction of travel of the first other vehicle and the direction of travel of the second other vehicle can coincide. However, according to such a configuration, when the traveling direction of the first other vehicle does not match the installation direction of the roadside object on the main line, control is performed so that the traveling of the own vehicle follows the traveling of the first other vehicle. interrupt. For this reason, according to such a configuration, when the first other vehicle and the second other vehicle change course in the same way, the running of the own vehicle follows the running of the first other vehicle. You can prevent it from slipping. Therefore, according to such a configuration, it is possible to better control the running of the host vehicle.

The control unit controls the running direction of the first other vehicle based on the fact that the direction of travel of the first other vehicle coincides with the installation direction of the roadside object (116) in the branch lane (110D). You may make it interrupt the control which follows the driving|running|working of the own vehicle. When the first other vehicle is traveling in the own lane and the second other vehicle changes course, the direction of travel of the first other vehicle and the direction of travel of the second other vehicle do not match. Gone. However, according to such a configuration, when the traveling direction of the first other vehicle does not match the installation direction of the roadside object in the branch lane, the process of causing the own vehicle to follow the traveling of the first other vehicle. do not interrupt Therefore, according to such a configuration, when the second other vehicle changes course, it is possible to prevent the control for causing the own vehicle to follow the travel of the first other vehicle from being interrupted. can be done. Therefore, according to such a configuration, it is possible to better control the running of the host vehicle.

The traveling direction of the first other vehicle and the traveling direction of the second other vehicle do not match, and the traveling direction of the third other vehicle (102b), which is the pre-preceding vehicle, and the second other vehicle. When the traveling direction of the vehicle matches the traveling direction of the vehicle, the control unit may control the travel of the own vehicle so as to follow the travel of the third other vehicle. According to such a configuration, even when the control for causing the own vehicle to follow the traveling of the first other vehicle is interrupted, the control for causing the own vehicle to follow the traveling of the third other vehicle can be performed. can run. Therefore, according to such a configuration, it is possible to better control the running of the own vehicle.

The vehicle control method includes steps (S2, S3) of detecting other vehicles based on surrounding information, and steps of controlling the travel of the own vehicle so as to follow the travel of the first other vehicle, which is the preceding vehicle. , based on the fact that the direction of travel of the first other vehicle and the direction of travel of the second other vehicle different from the first other vehicle are the same, the travel direction of the first other vehicle is controlled. and steps (S4, S5) of continuing the control to follow the running of the host vehicle.

The program instructs the computer to detect other vehicles based on surrounding information, and to control the running of the host vehicle so as to follow the running of the first other vehicle, which is a preceding vehicle, and the steps of: Based on the fact that the direction of travel of the other vehicle and the direction of travel of the second other vehicle different from the first other vehicle are the same, the travel of the own vehicle is matched to the travel of the first other vehicle. and a step of continuing the control to follow.

10 Own vehicle 44 Driving support ECU
52... Operation part 60... Other vehicle recognition part 62... Lane recognition part 64... Driving support part 102a-102c... Other vehicle 110C... Own lane 110D... Branch lane 110L1, 110R1... Adjacent lane 110M... Main line 112L1, 112L2, 112R1, 112R2 …lane mark

Claims (8)

a detection unit that detects other vehicles based on surrounding information;
a control unit that controls the running of the own vehicle so as to follow the running of the first other vehicle that is the preceding vehicle;
has
When the state in which the lane mark is detected changes to the state in which the lane mark is not detected, the control unit controls the first vehicle whose traveling direction coincides with that of the host vehicle when the lane mark is detected. Based on the fact that the direction of travel of the other vehicle matches the direction of travel of the second other vehicle, the direction of travel of which coincides with the direction of travel of the own vehicle when the lane mark is detected, the first vehicle is detected. a vehicle control device that continues control for causing the own vehicle to follow the running of the other vehicle. In the vehicle control device according to claim 1,
Based on the fact that the relative speed of the first other vehicle with respect to the second other vehicle in the lane width direction is less than a threshold value, the controller controls the direction of travel of the first other vehicle and the second vehicle. A vehicle control device that determines that the traveling direction of the other vehicle is the same. The vehicle control device according to claim 1,
The controller controls the traveling direction of the first other vehicle and the traveling direction of the second other vehicle based on the distance in the lane width direction between the first other vehicle and the second other vehicle. A vehicle control device that determines that In the vehicle control device according to any one of claims 1 to 3,
Further, based on the fact that the direction of travel of the first other vehicle coincides with the installation direction of the roadside object on the main road, the control unit controls the travel of the own vehicle to follow the travel of the preceding vehicle. Continuing, vehicle controller. In the vehicle control device according to any one of claims 1 to 4,
The control unit follows traveling of the own vehicle to traveling of the first other vehicle, based on the fact that the traveling direction of the first other vehicle coincides with the installation direction of the roadside object in the branch lane. A vehicle control device that interrupts the control that causes In the vehicle control device according to any one of claims 1 to 5,
The traveling direction of the first other vehicle and the traveling direction of the second other vehicle do not match, and the traveling direction of the third other vehicle, which is the pre-preceding vehicle, and the traveling direction of the second other vehicle A vehicle control device according to claim 1, wherein the control unit controls the running of the host vehicle so as to follow the running of the third other vehicle when the traveling direction matches the running direction. a step in which the detection unit detects another vehicle based on the surrounding information;
a control step in which the control unit controls the running of the own vehicle so as to follow the running of the first other vehicle, which is the preceding vehicle;
has
When the state in which the lane mark is detected changes to the state in which the lane mark is not detected, in the control step, when the lane mark is detected, the direction of travel coincides with the first vehicle. Based on the fact that the direction of travel of the other vehicle matches the direction of travel of the second other vehicle, the direction of travel of which coincides with the direction of travel of the own vehicle when the lane mark is detected, the first vehicle is detected. 3. The vehicle control method, wherein the control unit continues control for causing the own vehicle to follow the running of the other vehicle. to the computer,
a step of detecting other vehicles based on surrounding information;
a control step of controlling travel of the host vehicle so as to follow travel of the first other vehicle, which is a preceding vehicle;
A program for executing
When the state in which the lane mark is detected changes to the state in which the lane mark is not detected, in the control step, when the lane mark is detected, the direction of travel coincides with the first vehicle. Based on the fact that the direction of travel of the other vehicle matches the direction of travel of the second other vehicle, the direction of travel of which coincides with the direction of travel of the own vehicle when the lane mark is detected, the first vehicle is detected. A program for continuing control for causing the own vehicle to follow the running of the other vehicle.

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