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Travel control method and travel control device for vehicle

A driving control and vehicle technology, applied in control devices, vehicle components, transportation and packaging, etc., can solve problems such as small space, inability to meet congestion conditions, and congested fleet spread.

Pending Publication Date: 2022-03-18
NISSAN MOTOR CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] However, in Patent Document 1, it is assumed that the congested convoy is spreading from the entrance of the branch road, but the various congestion situations that may occur in the branch road are not assumed.
For example, in Patent Document 1, it is not considered that although the end of the congested motorcade does not spread from the entrance of the branch road, the space for the vehicle to enter the branch road is small, so that a part of the vehicle body protrudes (extends) to the adjacent branch road at the rearmost position. In the case of the driving lane, in the case where it is impossible to enter the branch road without tilting the direction of the vehicle body, etc.
Therefore, when the host vehicle performs a lane change, it may not be possible to perform appropriate driving in accordance with the actual congestion situation of another lane at the lane change destination.

Method used

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  • Travel control method and travel control device for vehicle
  • Travel control method and travel control device for vehicle
  • Travel control method and travel control device for vehicle

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Experimental program
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Effect test

no. 1 approach

[0025] use Figure 1 to Figure 8 The vehicle travel control device 100 and the vehicle travel control method using the travel control device 100 according to the first embodiment will be described.

[0026] figure 1 It is a block diagram showing the configuration of the travel control system 101 including the travel control device 100 . In addition, the vehicle travel control method and the vehicle travel control device 100 of the present invention are a travel control method and a travel control method for assisting the behavior of the actuator 21 of the host vehicle 9 with a computer based on the surrounding conditions of the host vehicle 9 traveling autonomously. control device.

[0027] Travel control device 100 is composed of one or more computers and software installed in the computers. The driving control device 100 is composed of a ROM storing a program for executing automatic driving control for autonomous driving of the host vehicle 9 , a CPU executing the program...

no. 2 approach

[0081] use Figures 9 to 12 The vehicle travel control device 200 and the vehicle travel performance control method using the travel control device 200 according to the second embodiment will be described. Additionally, with Figure 1-8 The same symbols as those described in , denote the same or similar structures, and thus detailed descriptions are omitted.

[0082] like Figure 9 As shown, the travel control device 200 has another lane determination unit 112 instead of the branch determination unit 12 of the travel control device 100 of the first embodiment. The other lane judging unit 112 judges whether there is a right-turn lane 130a extending in a direction intersecting with the traveling lane 140 on the precalculated planned traveling route (see Figure 10-12 ). In addition, travel control device 200 has a turning travel area detection unit 118 . The turning area detection unit 118 includes the camera 4 or the radar device 5 .

[0083] Figure 10-12 An example of ...

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PUM

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Abstract

The travel control device detects an entry space present behind the other vehicle in the other lane when it is determined that the other lane on the predetermined travel route is congested, determines whether the entry space satisfies a predetermined condition, and controls the travel of the other vehicle when it is determined that the entry space satisfies the predetermined condition. A target orientation of the host vehicle at a target position is set on the basis of the shape of the entry space, and a target travel trajectory from the current position of the host vehicle to the target position is generated. The travel control device controls the behavior of the host vehicle such that the host vehicle travels along the target travel trajectory.

Description

technical field [0001] The present invention relates to a vehicle travel control method and a travel control device for controlling the behavior of an autonomously travelable host vehicle. Background technique [0002] When there are other lanes such as a branch road in the planned travel route of the own vehicle, congestion may occur on the branch road and the end of the congested caravan may reach the vicinity of the entrance of the branch road. The travel control device described in Patent Document 1 performs control to ease the off-road departure suppression control of the own vehicle when the vehicles in the congested convoy spread from the entrance of the branch road to the adjacent lane, so that the ego vehicle approaches the road shoulder and ranks behind the congested convoy . [0003] prior art literature [0004] patent documents [0005] Patent Document 1: Japanese Patent Laid-Open No. 2018-94960 [0006] However, in Patent Document 1, a situation in which co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/10B60W40/04
CPCB60W30/10B60W30/18163B60W30/18154B60W60/001B60W2554/406B60W2552/10B60W2554/4041B60W60/00272B60W2552/53B60W60/00274B60W2554/4049B60W40/114B60W2420/403
Inventor 谷口弘树
Owner NISSAN MOTOR CO LTD