Vehicle control method and vehicle control device

Abstract

To communicate, by vehicle behavior, an intention to give a route to other vehicles trying to cut in front of an own vehicle or to pass through the side of the own vehicle.SOLUTION: A vehicle control method comprises: determining whether or not another vehicle trying to cut in between an own vehicle and a preceding vehicle or to pass through the side of the own vehicle is detected(S4); determining whether or not the own vehicle can move forward to a standby position by travelling the own vehicle while steering it and thereby can travel without deviation from an own vehicle lane after becoming a standby attitude that a vehicle body front face faces a side opposite to the other vehicle when determining that the other vehicle has been detected (S5, S6); executing route correction control for moving forward the own vehicle to the standby position and stopping it in the standby attitude when determining that the own vehicle can travel without deviation from the own vehicle lane after the own vehicle has moved forward to the standby position and become the standby attitude (S7).SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a vehicle control method and a vehicle control device. [Background technology]

[0002] Patent Document 1 proposes a device for displaying the driver's intention to give way to another vehicle. This device has a display unit that displays a message indicating the driver's intention to give way (for example, "Please go ahead") so that it can be seen from the front of the vehicle by emitting light from a light-emitting unit, and a display switch that is operated by the driver to turn on and off the light emission from the light-emitting unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-334867 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the case of communication between vehicles, it is often difficult to correctly convey the driver's intentions in text form, since the vehicles are often far apart from each other. An object of the present invention is to communicate an intention to give way to another vehicle attempting to cut in front of the host vehicle or to pass by the side of the host vehicle through vehicle behavior. [Means for solving the problem]

[0005] In a vehicle control method according to one aspect of the present invention, it is determined whether the distance between the host vehicle and the vehicle ahead is less than a predetermined distance, it is determined whether another vehicle has been detected attempting to cut in between the host vehicle and the vehicle ahead or to pass by the side of the host vehicle, it is determined that the distance between the host vehicle and the vehicle ahead is shorter than the predetermined distance, and if it is determined that another vehicle has been detected, it is determined whether the host vehicle can be driven without deviating from its lane after stopping at a waiting position in a waiting position with the front of the vehicle body facing away from the other vehicle by steering the host vehicle while traveling, and if it is determined that the host vehicle can be driven without deviating from its lane after stopping at the waiting position in a waiting position, a course correction control is executed to move the host vehicle forward to the waiting position and stop it in the waiting position. Effect of the Invention

[0006] According to the present invention, an intention to give way to another vehicle attempting to cut in front of the host vehicle or to pass by the side of the host vehicle can be conveyed by vehicle behavior. [Brief description of the drawings]

[0007] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a vehicle equipped with a vehicle control device according to an embodiment; [Diagram 2] 5(a) and 5(b) are diagrams illustrating an example of a vehicle control method according to a first embodiment. [Diagram 3] 2 is a block diagram illustrating an example of a functional configuration of a controller illustrated in FIG. 1. [Figure 4] FIG. 2 is an explanatory diagram of an example of a travel trajectory of a vehicle that gives way to another vehicle; [Diagram 5] 10A and 10B are diagrams illustrating an example of a method for determining a distance and a swing angle from a preceding vehicle at a waiting position. [Figure 6] 6(a) and 6(b) are diagrams illustrating a first example and a second example of a method for determining whether or not the vehicle can travel from a waiting position without deviating from its own lane. [Figure 7] FIG. 11 is an explanatory diagram of an example of a determination as to whether or not course correction control is performed. [Figure 8] 4 is a flowchart of an example of a vehicle control method according to the first embodiment. [Figure 9] FIG. 13 is an explanatory diagram of an example of a vehicle control method according to a third embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, the same or similar parts are given the same or similar reference numerals, and duplicated explanations are omitted. Each drawing is schematic and may differ from the actual one. The embodiments shown below are examples of devices and methods for embodying the technical idea of ​​the present invention, and the technical idea of ​​the present invention is not limited to the devices and methods exemplified in the following embodiments. The technical idea of ​​the present invention can be modified in various ways within the technical scope described in the claims.

[0009] (First embodiment) (composition) FIG. 1 is a diagram showing an example of a schematic configuration of a vehicle equipped with a vehicle control device of the first embodiment. The host vehicle 1 includes a vehicle control device 10 that controls the traveling of the host vehicle 1. The vehicle control device 10 detects the traveling environment around the host vehicle 1 by a sensor and supports the traveling of the host vehicle 1 based on the surrounding traveling environment. The traveling support control of the host vehicle 1 by the vehicle control device 10 may include, for example, an autonomous traveling control that automatically makes the host vehicle 1 travel along a target traveling trajectory without the involvement of a driver. In addition, the traveling support control by the vehicle control device 10 may include a driving support control that partially controls, for example, the steering angle, driving force, or braking force of the host vehicle 1 to support the driving of the host vehicle 1 by the driver.

[0010] The vehicle control device 10 includes an object sensor 11, a vehicle sensor 12, a positioning device 13, a map database 14, a communication device 15, a navigation system 16, a human-machine interface 17, a controller 18, and an actuator 19. In the drawings, the map database is represented as "map DB" and the human-machine interface is represented as "HMI." The object sensor 11 includes a plurality of different types of object detection sensors mounted on the host vehicle 1, such as a laser radar, a millimeter wave radar, a camera, and a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) that detect objects around the host vehicle 1.

[0011] The vehicle sensor 12 is mounted on the host vehicle 1 and detects various information (vehicle signals) obtained from the host vehicle 1. The vehicle sensor 12 includes, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the host vehicle 1, a wheel speed sensor that detects the rotational speed of each tire equipped on the host vehicle 1, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) in three axial directions of the host vehicle 1, a steering angle sensor that detects the steering angle (including the turning angle), a gyro sensor that detects the angular velocity generated in the host vehicle 1, a yaw rate sensor that detects the yaw rate, an accelerator sensor that detects the accelerator opening of the host vehicle, and a brake sensor that detects the amount of brake operation by the driver.

[0012] The positioning device 13 includes a Global Navigation System (GNSS) receiver and receives radio waves from multiple navigation satellites to measure the current position of the vehicle 1. The GNSS receiver may be, for example, a Global Positioning System (GPS) receiver. The positioning device 13 may be, for example, an inertial navigation system. The map database 14 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as a map for automatic driving. The high-precision map is map data with higher precision than map data for navigation (hereinafter simply referred to as "navigation map"), and includes lane-by-lane information that is more detailed than road-by-road information.

[0013] For example, a high-precision map includes, as information for each lane, information on lane nodes that indicate reference points on lane reference lines (e.g., the center line within a lane) and information on lane links that indicate the section configuration of the lane between the lane nodes. The lane node information includes the lane node's identification number, position coordinates, the number of connected lane links, and the identification numbers of the connected lane links. The lane link information includes the lane link's identification number, lane type, lane width, lane boundary type, lane shape, lane marking shape, and lane reference line shape. The high precision map further includes information on features such as the types and position coordinates of features on or near the lane, such as traffic lights, stop lines, signs, buildings, utility poles, curbs, and pedestrian crossings, as well as the lane node identification numbers and lane link identification numbers corresponding to the feature position coordinates.

[0014] The communication device 15 performs wireless communication with a communication device outside the vehicle 1. The communication method used by the communication device 15 may be, for example, wireless communication using a public mobile phone network, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication. The navigation system 16 recognizes the current position of the vehicle by the positioning device 13, and obtains map information for the current position from the map database 14. The navigation system 16 sets a driving route to the destination input by the occupant, and provides route guidance to the occupant according to this driving route. Furthermore, the navigation system 16 outputs information about the set driving route to the controller 18. When performing autonomous driving control, the controller 18 automatically drives the host vehicle so as to travel along the driving route set by the navigation system 16.

[0015] The human-machine interface 17 is an interface device that transmits and receives information between the vehicle control device 10 and the occupant. The human-machine interface 17 includes a display device that can be viewed by the occupant of the vehicle 1 (for example, a display screen of a navigation system or a display device provided near the meter in front of the driver's seat). Furthermore, the human-machine interface 17 may include a speaker or buzzer for outputting an alarm sound, a notification sound, or audio information. The human-machine interface 17 also includes an operator that accepts an operational input from the occupant to the vehicle control device 10. The operator may be a mechanical interface device such as a button, a switch, a lever, a dial, a keyboard, or the like, or may be a button, a switch, a lever, a dial, a keyboard, or the like displayed on a touch panel.

[0016] The controller 18 is an electronic control unit (ECU) that controls the traveling of the host vehicle 1. The controller 18 includes a processor 20 and peripheral components such as a storage device 21. The processor 20 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 21 may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 21 may include memories such as a register, a cache memory, a ROM (Read Only Memory) used as a main storage device, and a RAM (Random Access Memory). The functions of the controller 18 described below are realized, for example, by the processor 20 executing a computer program stored in the storage device 21 . The controller 18 may be formed of dedicated hardware for executing each information processing described below (for example, a programmable logic device such as an FPGA (Field-Programmable Gate Array)).

[0017] The actuator 19 operates the steering wheel, accelerator opening, and brake device of the host vehicle 1 in response to control signals from the controller 18 to generate vehicle behavior of the host vehicle 1. The actuator 19 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and steering amount of the host vehicle 1. The accelerator opening actuator controls the accelerator opening of the host vehicle 1. The brake control actuator controls the braking operation of the brake device of the host vehicle 1.

[0018] Next, an example of processing by the controller 18 will be described. Figures 2(a) and 2(b) are explanatory diagrams of an example of a vehicle control method according to an embodiment. In this specification, attention is paid to control for correcting the traveling trajectory of the host vehicle 1 so as to give way to another vehicle when the distance between the host vehicle 1 and the preceding vehicle 2 is narrow. For example, the other vehicle to which the host vehicle 1 gives way may be another vehicle 5 attempting to cut in between the host vehicle 1 and the preceding vehicle 2 as shown in Figures 2(a) and 2(b), or it may be another vehicle 8 attempting to slip past the side of the host vehicle 1 as will be described later with reference to Figure 8.

[0019] 2(a) shows a situation in which the host vehicle 1 and the preceding vehicle 2 have stopped due to traffic congestion in the host vehicle lane 3 in which the host vehicle 1 and the preceding vehicle 2 are traveling, narrowing the inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2. Furthermore, another vehicle 5 traveling in the adjacent lane 4 of the host vehicle lane 3 intends to cut in between the host vehicle 1 and the preceding vehicle 2. In such a situation, if the driver of the vehicle 1 (the controller that is the main controller if the vehicle 1 is controlled by autonomous driving control, etc.) allows another vehicle 5 to cut in between the vehicle 1 and the preceding vehicle 2 (i.e., gives way to the other vehicle 5), it is preferable for the driver to clearly communicate his or her intention to give way to the other vehicle 5.

[0020] Therefore, the controller 18 directly indicates the intention to give way to the other vehicle 5 by the vehicle behavior of the vehicle 1 by correcting the course of the vehicle 1. For example, the vehicle 1 is caused to move forward while turning the steering wheel, so that the vehicle is stopped at a waiting position in a waiting posture in which the direction 6 of the front of the vehicle body faces away from the other vehicle 5 in the lane width direction as shown in FIG. 2(b). By stopping the vehicle 1 in such a waiting position, the vehicle 1 can clearly indicate to the other vehicle 5 its intention to give way to the other vehicle 5, and since the vehicle 1 physically gives way to the other vehicle 5, the space in which the other vehicle 5 can cut in between the vehicle 1 and the preceding vehicle 2 can be increased. As a result, the space in which the body of the other vehicle 5 that has cut in between the host vehicle 1 and the preceding vehicle 2 protrudes into the adjacent lane 4 is reduced, which has the effect of making it easier for the other vehicle 5 to cut in.

[0021] The functions of the controller 18 will be described in detail with reference to Fig. 3. The controller 18 includes an object detection unit 30, a vehicle position estimation unit 31, a map acquisition unit 32, a detection integration unit 33, an object tracking unit 34, an in-map position calculation unit 35, a target trajectory generation unit 36, and a vehicle control unit 37. The object detection unit 30 detects the positions, postures, sizes, speeds, etc. of objects around the vehicle 1, such as vehicles (cars and motorcycles), pedestrians, obstacles, etc., based on the detection signal from the object sensor 11. The object detection unit 30 outputs a detection result that expresses the two-dimensional position, posture, size, speed, etc. of an object on a zenith diagram (also called a plan view) of the vehicle 1 viewed from the air, for example.

[0022] The vehicle position estimation unit 31 measures the absolute position of the vehicle 1, i.e., the position, attitude and speed of the vehicle 1 relative to a predetermined reference point, based on odometry using measurement results from the positioning device 13 and detection results from the vehicle sensor 12. The map acquisition unit 32 acquires map information indicating the structure of the road on which the vehicle 1 is traveling from the map database 14. The map acquisition unit 32 may acquire the map information from an external map data server via the communication device 15.

[0023] The detection integration unit 33 integrates the multiple detection results obtained by the object detection unit 30 from each of the multiple object detection sensors, and outputs one two-dimensional position, orientation, size, speed, etc. for each object. Specifically, from the object behavior obtained from each object detection sensor, the most reasonable object behavior that will have the least error is calculated, taking into account the error characteristics of each object detection sensor. Specifically, by using known sensor fusion technology, the detection results obtained from multiple types of sensors are comprehensively evaluated to obtain more accurate detection results. The object tracking unit 34 tracks the object detected by the object detection unit 30. Specifically, based on the detection results integrated by the detection integration unit 33, the object tracking unit 34 verifies (associates) the identity of the object between different times from the behavior of the object output at different times, and predicts the behavior of the object, such as its speed, based on the association.

[0024] The intra-map position calculation unit 35 estimates the position and attitude of the host vehicle 1 on the map from the absolute position of the host vehicle 1 obtained by the host vehicle position estimation unit 31 and the map information acquired by the map acquisition unit 32 . In addition, the map position calculation unit 35 identifies the road on which the vehicle 1 is traveling, and further identifies the lane 3 and its adjacent lanes 4 on that road in which the vehicle 1 is traveling, and calculates the lateral position (vehicle width direction position) of the vehicle 1 within the lane 3.

[0025] The target trajectory generating unit 36 ​​calculates a target traveling trajectory along which the host vehicle 1 is to travel, based on the current position and attitude of the host vehicle 1 and the surrounding environment of the host vehicle 1. For example, the target trajectory generating unit 36 ​​generates a route space map that expresses the route around the host vehicle 1 and the presence or absence of objects, and a risk map that quantifies the degree of danger of the driving field. The target trajectory generating unit 36 ​​calculates a target driving trajectory for the host vehicle 1 to travel on the basis of the motion characteristics of the host vehicle 1, the route space map, and the risk map. The target driving trajectory is expressed by the coordinates of each point on the target driving trajectory, the attitude angle, and the speed command value of the host vehicle 1 at each point.

[0026] As described above with reference to Figures 2(a) and 2(b), the controller 18 indicates, by the vehicle behavior of the host vehicle 1, an intention to give way to the other vehicle 5 when the host vehicle 1 and the preceding vehicle 2 are stopped and the inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 is narrowing. Therefore, the target trajectory generating unit 36 ​​generates a target driving trajectory that stops the vehicle at a waiting position in a waiting posture in which the front direction 6 of the vehicle body faces away from the other vehicle 5 as shown in FIG. 2(b).

[0027] 3, the target trajectory generating unit 36 ​​includes a surrounding vehicle detecting unit 40, an inter-vehicle distance detecting unit 41, an other vehicle's intention estimating unit 42, a driving trajectory calculating unit 43, and an execution feasibility determining unit 44. The surrounding vehicle detection unit 40 detects, from among objects present around the host vehicle 1, a leading vehicle 2 present in front of the host vehicle 1 and on the host vehicle lane 3, and another vehicle 5 on an adjacent lane 4. Furthermore, the surrounding vehicle detection unit 40 tracks the position of the detected other vehicle 5 and estimates the attitude angle of the other vehicle 5. Specifically, it is calculated whether the lateral position of the other vehicle 5 is gradually approaching or gradually moving away from the host vehicle 1, or whether the lateral position of the other vehicle 5 is unchanged. When the lateral position of the other vehicle 5 is gradually approaching the host vehicle 1's lane 3, it is estimated that the traveling direction of the other vehicle 5 is facing the host vehicle lane 3. Also, when the lateral position of the other vehicle 5 is gradually moving away from the host vehicle lane 3, it is estimated that the traveling direction of the other vehicle 5 is facing the opposite side to the host vehicle lane 3.

[0028] The inter-vehicle distance detection unit 41 detects the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2, and determines whether the inter-vehicle distance D0 is equal to or smaller than a predetermined distance (i.e., whether the distance between the host vehicle 1 and the preceding vehicle 2 is narrow or not). The other vehicle intention estimation unit 42 estimates whether the driver of the other vehicle 5 (the controller that is the main controller when the other vehicle 5 is controlled by autonomous driving control, etc.) intends to cut in between the host vehicle 1 and the preceding vehicle 2. The other vehicle intention estimation unit 42 determines whether or not the driver of the other vehicle 5 intends to cut in based on, for example, at least one of the illumination of the direction indicator of the other vehicle 5 and the attitude angle of the other vehicle 5 .

[0029] For example, the other vehicle intention estimation unit 42 may determine that the driver of the other vehicle 5 intends to cut in between the vehicle 1 and the preceding vehicle 2 when the turn indicator on the side of the vehicle 5's own lane 3 (the left turn indicator in the situation shown in Figure 2(a)) is on. For example, when it is estimated that the direction of travel of the other vehicle 5 is toward the own vehicle lane 3, the other vehicle intention estimation unit 42 may determine that the driver of the other vehicle 5 intends to cut in between the own vehicle 1 and the preceding vehicle 2.

[0030] The driving trajectory calculation unit 43 calculates a driving trajectory that causes the host vehicle 1 to exhibit a vehicle behavior that gives way to the other vehicle 5 when the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 is less than a predetermined distance and the driver of the other vehicle 5 intends to cut in between the host vehicle 1 and the preceding vehicle 2. FIG. 4 is an explanatory diagram of an example of a travel trajectory of the host vehicle 1 that gives way to another vehicle 5. In FIG. The running trajectory calculation unit 43 calculates a first running trajectory T1 that causes the vehicle 1 to move forward while steering from the current position and attitude of the vehicle 1, and stops the vehicle at a waiting position with the front direction 6 of the vehicle body facing away from the other vehicle 5.

[0031] In the following description, the angle between the direction 6 of the vehicle body in the waiting posture and the lane boundary line 7 of the vehicle's lane 3 is referred to as the "swing angle θ." In addition, the driving control of the vehicle 1 that causes the vehicle 1 to travel along the first traveling trajectory T1 and stop the vehicle 1 in a waiting posture at the waiting position is sometimes referred to as the "course correction control." In addition, the state in which the vehicle 1 is in a waiting posture at the waiting position by traveling along the first traveling trajectory T1 is sometimes referred to as the "waiting state." Furthermore, the travel trajectory calculation unit 43 calculates a second travel trajectory T2 in which the host vehicle 1 returns from the waiting state to the original course (that is, moves away from the lane boundary line 7 and reduces the swing angle θ). In the following description, the driving control of the host vehicle 1, which returns the host vehicle 1 from the standby state to the original course by driving the host vehicle 1 along the second driving trajectory T2, may be referred to as "return control".

[0032] For example, the driving trajectory calculation unit 43 calculates the first driving trajectory T1 based on the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2, the maximum mechanical steering angle allowable for the steering wheels of the host vehicle 1, and the lateral position of the host vehicle 1 within the host lane 3. At this time, the travel trajectory calculation unit 43 may calculate the first travel trajectory T1 so that the swing angle θ becomes larger as the inter-vehicle distance D1 between the host vehicle 1 in the waiting state and the preceding vehicle 2 becomes shorter. When the inter-vehicle distance D1 between the host vehicle 1 in the waiting state and the preceding vehicle 2 is short, it is difficult for another vehicle 5 to cut in between the host vehicle 1 and the preceding vehicle 2, so that the intention to give way is more clearly indicated and the space for cutting in between the host vehicle 1 and the preceding vehicle 2 is increased.

[0033] For example, the traveling trajectory calculation unit 43 may calculate the first traveling trajectory T1 so as to satisfy the relationship between the inter-vehicle distance D1 and the swing angle θ shown in Fig. 5. In the example shown in Fig. 5, when the inter-vehicle distance D1 increases from Dmin to Dmax, the swing angle θ decreases from the maximum angle θmax to 0. The travel trajectory calculation unit 43 judges whether or not it is possible to calculate a travel trajectory that will result in a standby state that satisfies the relationship between the inter-vehicle distance D1 and the swing angle θ shown in Fig. 5. If it is possible to calculate a travel trajectory that satisfies the relationship between the inter-vehicle distance D1 and the swing angle θ shown in Fig. 5, the travel trajectory calculation unit 43 calculates this travel trajectory as the first travel trajectory T1. If it is not possible to calculate this, the first travel trajectory T1 is not calculated.

[0034] If the distance D1 between the host vehicle 1 and the preceding vehicle 2 in the waiting state is less than the minimum distance Dmin, the controller 18 does not execute the course correction control. This is because if the distance D1 is too short, the other vehicle 5 cannot cut in between the host vehicle 1 and the preceding vehicle 2. For example, in the process of calculating the first driving trajectory T1 for driving the vehicle 1 to a waiting position, the driving trajectory calculation unit 43 calculates a driving trajectory that gradually increases the swing angle θ between the direction 6 of the front of the vehicle body and the lane boundary line 7, and does not calculate the first driving trajectory T1 if the inter-vehicle distance to the preceding vehicle 2 becomes less than the minimum distance Dmin before the relationship in Figure 5 is satisfied.

[0035] The travel trajectory calculation unit 43 may, for example, calculate the minimum distance at which the other vehicle 5 can physically cut in between the host vehicle 1 and the preceding vehicle 2, and calculate this as the minimum distance Dmin. Here, the "minimum distance at which the other vehicle 5 can physically cut in between the host vehicle 1 and the preceding vehicle 2" may, for example, be calculated as the minimum distance D1 at which the rear wheels on the opposite side to the host vehicle 3 do not protrude into the adjacent lane 4 when the other vehicle 5 enters the space between the host vehicle 1 and the preceding vehicle 2. The travel trajectory calculation unit 43 may calculate the minimum distance Dmin based on the current position and attitude of the other vehicle 5 and a general vehicle model.

[0036] Moreover, when the inter-vehicle distance D1 is longer than the maximum distance Dmax, the controller 18 does not execute the course correction control. In this case, the other vehicle 5 can cut in between the host vehicle 1 and the preceding vehicle 2 without executing the course correction control. For example, when the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 is longer than the maximum distance Dmax, the traveling trajectory calculation unit 43 may determine that the inter-vehicle distance D1 will be longer than the maximum distance Dmax. For example, the maximum distance Dmax may be set to a predetermined value (e.g., 9 m).

[0037] When the first driving trajectory T1 is calculated, the driving trajectory calculation unit 43 calculates a second driving trajectory T2 in which the host vehicle 1 returns from the waiting state to the original course (that is, moves away from the lane boundary line 7 and reduces the swing angle θ).

[0038] The execution possibility determination unit 44 determines whether or not to execute the course correction control based on the calculation result of the first traveling trajectory T1. Specifically, the execution possibility determination unit 44 determines not to execute the course correction control when the travel trajectory calculation unit 43 cannot calculate the first travel trajectory T1. Therefore, for example, when the vehicle enters a waiting state in which the direction 6 of the vehicle body front is facing the opposite direction to the other vehicle 5, and the inter-vehicle distance D1 between the host vehicle 1 and the preceding vehicle 2 is less than the minimum distance Dmin, the execution possibility determination unit 44 determines not to execute the course correction control. Also, for example, when the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 is longer than the maximum distance Dmax, the execution possibility determination unit 44 determines not to execute the course correction control.

[0039] Furthermore, the execution possibility determination unit 44 also determines not to execute the course correction control when it determines that the host vehicle 1 cannot travel without deviating from the host lane 3 after entering the standby state. In other words, it also determines not to execute the course correction control when the host vehicle 1 cannot return to the original course without deviating from the host lane 3 (moving away from the lane boundary line 7 and reducing the swing angle θ). On the other hand, the execution feasibility determination unit 44 determines to execute course correction control when the driving trajectory calculation unit 43 calculates the first driving trajectory T1 and determines that the vehicle 1 can travel without deviating from the vehicle lane 3 after entering a waiting state.

[0040] For example, the execution feasibility determination unit 44 may determine whether or not the vehicle 1 can travel without deviating from the vehicle lane 3 after entering a waiting state based on the lateral position of the vehicle 1 when the vehicle 1 travels along the first traveling track T1 and enters a waiting state, and the direction in which the tires of the steered wheels of the vehicle 1 are moving (the direction of the center plane of the tires). For example, as shown in Figure 6(a), when the lateral position of the steered wheels 1a of the vehicle 1 when traveling along the first traveling path T1 and entering a waiting state is on the lane boundary line 7 of the vehicle's lane 3 or is inside the lane boundary line 7, and the direction d1 of travel of the steered wheels 1a is pointing inside the lane boundary line 7, it is determined that the vehicle can travel without deviating from the lane 3. On the other hand, if the lateral position of the steered wheels 1a of the vehicle 1 is on the lane boundary line 7 and the direction of travel d1 of the steered wheels 1a is pointing outward from the lane boundary line 7, it is determined that the vehicle 1 cannot travel without deviating from its own lane 3.

[0041] In addition, when the lateral position of the steered wheels 1a of the vehicle 1 in a waiting state is inside the lane boundary line 7 and the direction of travel d1 of the steered wheels 1a is outside the lane boundary line 7, it may be determined whether the second driving trajectory T2 deviates from the vehicle's lane 3. For example, the execution feasibility determination unit 44 may determine whether or not the vehicle 1 can travel without deviating from the lane 3 based on the lateral position when the vehicle 1 travels along the second travel path T2 and comes closest to the lane boundary line 7, as shown in Figure 6 (b), and the direction d2 in which the tires of the steered wheels 1a are moving.

[0042] When the host vehicle 1 is traveling on the second traveling trajectory T2 and is closest to the lane boundary line 7, if the lateral position of the steered wheels 1a of the host vehicle 1 is on the lane boundary line 7 or inside the lane boundary line 7, and the direction d2 in which the steered wheels 1a move is pointing inside the lane boundary line 7, it is determined that the host vehicle 1 can travel without deviating from its own lane 3. On the other hand, when the lateral position of the steered wheels 1a of the vehicle 1 is on the lane boundary line 7 and the direction of travel d2 of the steered wheels 1a is pointing outward from the lane boundary line 7, it is determined that the vehicle cannot travel without deviating from its own lane 3.

[0043] In addition, the execution feasibility determination unit 44 may determine whether or not to perform course correction control depending on the amount of protrusion into the adjacent lane 4 when another vehicle 5 cuts in between the space between the host vehicle 1 and the preceding vehicle 2. Please refer to Fig. 7. For example, the execution feasibility determination unit 44 estimates the position P2 and attitude of the other vehicle 5 when the other vehicle 5 cuts in to the space between the host vehicle 1 and the preceding vehicle 2 that are in a waiting state. The execution feasibility determination unit 44 may estimate the position P2 and attitude based on the current position and attitude of the other vehicle 5 and a general vehicle model. The execution feasibility determination unit 44 may estimate the amount of protrusion L1 into the adjacent lane 4 when the other vehicle 5 cuts in based on the estimated position P2 and attitude. The execution feasibility determination unit 44 may determine not to execute the course correction control when the amount of protrusion L1 is larger than a predetermined value. When the amount of overhang L1 is less than a predetermined value, the driving trajectory calculation unit 43 calculates the first driving trajectory T1, and it is determined that the vehicle 1 can travel without deviating from the vehicle lane 3 after entering a waiting state, it may be determined that course correction control is to be executed.

[0044] When the execution possibility determination unit 44 determines that the course correction control is to be executed, the vehicle control unit 37 executes the course correction control by driving the actuator 19 so that the host vehicle 1 travels along the first traveling trajectory T1. By executing the course correction control, the host vehicle 1 travels to a waiting position along the first traveling trajectory T1, and stops in a waiting posture. When the other vehicle 5 cuts in between the host vehicle 1 and the preceding vehicle 2, the vehicle control unit 37 maintains the standby state of the host vehicle 1. After that, when the preceding vehicle 2 and the other vehicle 5 move forward and a space is created in which the host vehicle 1 can move forward, the vehicle control unit 37 executes return control to return the host vehicle 1 in the standby state to the original course by driving the actuator 19 so that the host vehicle 1 travels along the second travel trajectory T2.

[0045] When executing the course correction control, the vehicle control unit 37 may notify the driver of the vehicle 1 that the course correction control will be performed. For example, the vehicle control unit 37 outputs a visual or audio message notifying the driver that the course correction control will be performed, via the human-machine interface 17. The vehicle control unit 37 may execute the course correction control when the driver of the vehicle 1 agrees to the notification of the course correction control. For example, the vehicle control unit 37 executes the course correction control when the driver of the vehicle 1 inputs approval for the course correction control via the human-machine interface 17.

[0046] (operation) FIG. 8 is a flowchart of an example of the vehicle control method according to the first embodiment. In step S1, the surrounding vehicle detection unit 40 determines whether or not traffic is delayed in the own lane 3. If traffic is delayed in the own lane 3 (step S1: Y), the process proceeds to step S2. If traffic is not delayed in the own lane 3 (step S1: N), the process ends. In step S2, the inter-vehicle distance detection unit 41 determines whether the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 is equal to or less than a predetermined distance. If the inter-vehicle distance D0 is equal to or less than the predetermined distance (step S2: Y), the process proceeds to step S3. If the inter-vehicle distance D0 is greater than the predetermined distance (step S2: N), the process ends.

[0047] In step S3, the surrounding vehicle detection unit 40 detects another vehicle 5 on the adjacent lane 4, tracks the position of the detected other vehicle 5, and estimates the attitude angle of the other vehicle 5. In step S4, the other vehicle intention estimation unit 42 estimates whether or not the other vehicle 5 has an intention to cut in between the host vehicle 1 and the preceding vehicle 2. If the other vehicle 5 has an intention to cut in (step S4: Y), the process proceeds to step S5. If the other vehicle 5 does not have an intention to cut in (step S4: N), the process ends.

[0048] In step S5, the driving trajectory calculation unit 43 calculates a first driving trajectory T1 that causes the vehicle 1 to generate a vehicle behavior that yields to another vehicle 5, and a second driving trajectory T2 that returns to the original path after traveling the first driving trajectory T1. In step S6, the execution possibility determination unit 44 determines whether or not the course correction control is to be performed. If the course correction control is to be performed (step S6: Y), the process proceeds to step S7. If the course correction control is not to be performed (step S6: N), the process ends. In step S7, the vehicle control unit 37 executes course correction control.

[0049] In step S8, the vehicle control unit 37 determines whether or not the other vehicle 5 cuts in between the host vehicle 1 and the preceding vehicle 2, and then the preceding vehicle 2 and the other vehicle 5 move forward, creating a space for the host vehicle 1 to move forward. If a space for the host vehicle 1 to move forward is created (step S8: Y), the process proceeds to step S9. If a space for the host vehicle 1 to move forward is not created (step S: N), the process returns to step S8. In step S9, the vehicle control unit 37 executes return control, and then the process ends.

[0050] Second embodiment The travel trajectory calculation unit 43 may calculate the first travel trajectory T1 and the second travel trajectory T2 when the current inter-vehicle distance D0 between the host vehicle 1 and the preceding vehicle 2 increases due to the preceding vehicle 2 moving forward. When the travel trajectory calculation unit 43 calculates the first travel trajectory T1 and the second travel trajectory T2, the execution possibility determination unit 44 determines whether or not to execute the course correction control. The process of determining the first running trajectory T1 and the second running trajectory T2 by the running trajectory calculation unit 43 and the process of determining whether or not the course correction control can be executed by the execution feasibility determination unit 44 are similar to those in the first embodiment. Furthermore, when it is estimated that the other vehicle 5 has an intention to cut in, the travel trajectory calculation unit 43 may determine whether the other vehicle 5 is moving forward. In other words, it may determine whether the other vehicle 5 is searching for a place to cut in while moving forward. The travel trajectory calculation unit 43 may determine not to execute the course correction control when the other vehicle 5 is moving forward. This is because when the other vehicle 5 is moving forward, the other vehicle 5 may not notice even if the host vehicle 1 exhibits a vehicle behavior of yielding to the other vehicle 5.

[0051] Third embodiment In the first and second embodiments, an example of control in which the vehicle 5 that attempts to cut in between the host vehicle 1 and the leading vehicle 2 is given the right of way has been described. In the third embodiment, an example of control for yielding the way to another vehicle 8 (for example, an emergency vehicle or a motorcycle) attempting to pass by the side of the host vehicle 1 as shown in FIG. 9 will be described. The other vehicle intention estimation unit 42 estimates whether or not the driver of the other vehicle 8 (the controller that is the controlling entity when the other vehicle 8 is controlled by autonomous driving control or the like) intends to pass by the side of the host vehicle 1. For example, if the other vehicle 8 is an emergency vehicle and has a rotating light turned on, it may be determined that the other vehicle 8 intends to pass by the side of the host vehicle 1. Also, for example, if the other vehicle 8 is a motorcycle and is passing between the following vehicles, it may be determined that the other vehicle 8 intends to pass by the side of the host vehicle 1 in a similar manner.

[0052] When the current inter-vehicle distance D0 between the vehicle 1 and the preceding vehicle 2 is less than a predetermined distance and the driver of the other vehicle 8 intends to slip between the vehicle 1 and the preceding vehicle 2, the driving trajectory calculation unit 43 calculates the above-mentioned first driving trajectory T1 that causes the vehicle 1 to exhibit a vehicle behavior that gives way to the other vehicle 8, and then calculates a second driving trajectory T2 that returns to the original route. The execution feasibility determination unit 44 also determines not to execute course correction control if the driving trajectory calculation unit 43 is unable to calculate the first driving trajectory T1, or if it determines that the vehicle cannot drive without deviating from the vehicle's lane 3 after entering a standby state.

[0053] The execution possibility determination unit 44 may also determine whether or not the other vehicle 8 can pass by the side of the host vehicle 1 based on the lateral position of the host vehicle 1 when the host vehicle 1 is traveling on the first traveling trajectory T1 and in a waiting state. If the other vehicle 8 cannot pass by the side of the host vehicle 1, it is determined that the course correction control is not to be executed. For example, if the distance between the host vehicle 1 in a waiting state and an obstacle (e.g., an adjacent vehicle 9 in an adjacent lane 4) present on the side of the host vehicle 1 is wider than the width of the other vehicle 8, it may be determined that the other vehicle 8 can pass by the side of the host vehicle 1, and if the distance between the host vehicle 1 and the obstacle is narrower than the width of the other vehicle 8, it may be determined that the other vehicle 8 cannot pass by the side of the host vehicle 1. On the other hand, the execution feasibility determination unit 44 may determine that course correction control is to be executed if the driving trajectory calculation unit 43 can calculate the first driving trajectory T1, the host vehicle 1 can travel without deviating from the host vehicle lane 3 after entering a waiting state, and another vehicle 8 can pass by the side of the host vehicle 1 in the waiting state.

[0054] (Fourth embodiment) Even if the host vehicle 1 travels along the first travel trajectory T1 and enters a standby state, there are cases in which the other vehicle 5 does not cut in between the host vehicle 1 and the preceding vehicle 2. In such a case, the controller 18 may return the host vehicle 1 to its original course (i.e., may move away from the lane boundary line 7 and reduce the swing angle θ). For example, the controller 18 may determine that the other vehicle 5 will not cut in if the other vehicle 5 leaves the own lane 3, or if the other vehicle 5 moves forward without cutting in between the own vehicle 1 and the preceding vehicle 2, or if the other vehicle 5 stops between the own vehicle 1 and the preceding vehicle 2 without cutting in between. In this case, the travel trajectory calculation unit 43 calculates a travel trajectory for the host vehicle 1 to return from the standby state to the original course (i.e., to move away from the lane boundary line 7 and reduce the swing angle θ). The vehicle control unit 37 drives the actuator 19 so that the host vehicle 1 travels according to the travel trajectory calculated by the travel trajectory calculation unit 43.

[0055] (Effects of the embodiment) (1) The controller 18 determines whether the distance between the vehicle 1 and the preceding vehicle 2 is less than a predetermined distance, determines whether it has detected another vehicle 5 attempting to cut in between the vehicle 1 and the preceding vehicle 2 or another vehicle 8 attempting to pass by the side of the vehicle 1, and if it determines that the distance between the vehicle 1 and the preceding vehicle 2 is shorter than the predetermined distance and determines that it has detected another vehicle (5, 8), it determines whether the vehicle 1 can be driven while steering and stopped in a waiting position with the front of the vehicle body facing away from the other vehicle (5, 8) and then driven without deviating from its own lane, and if it determines that the vehicle 1 can be driven in a waiting position and stopped in the waiting position without deviating from its own lane, it executes course correction control to move the vehicle 1 forward to the waiting position and stop it in the waiting position. This allows the vehicle 1 to convey its intention to give way to other vehicles (5, 8) that are trying to cut in front of the vehicle 1 or pass by the side of the vehicle 1, and increases the space in which the other vehicles (5, 8) can cut in or pass by. In addition, the vehicle 1 can give way to other vehicles (5, 8) without straying from its lane.

[0056] (2) When the other vehicle 5 is a vehicle attempting to cut in between the host vehicle 1 and the preceding vehicle 2, the controller 18 may calculate a target driving trajectory for placing the host vehicle 1 in a waiting posture based on the distance between the host vehicle 1 and the preceding vehicle 2, the maximum steering angle of the steering wheels of the host vehicle 1, and the lateral position of the host vehicle 1 within the host vehicle lane, and may determine whether or not to execute course correction control based on the inter-vehicle distance between the host vehicle 1 and the preceding vehicle 2 when the host vehicle 1 travels along the target driving trajectory and reaches the waiting position. This allows the course correction control to be executed depending on whether the other vehicle 5 can cut in by giving way.

[0057] (3) The controller 18 may execute course correction control when the preceding vehicle 2 moves forward, thereby allowing another vehicle 5 to cut in between the host vehicle 1 and the preceding vehicle 2 when the host vehicle 1 reaches the waiting position. This allows the other vehicle 5 to give way as the leading vehicle 2 advances. (4) The controller 18 may increase the angle between the front direction of the vehicle body of the vehicle 1 in the waiting posture and the lane boundary line as the vehicle distance at the waiting position decreases. When the vehicle distance is short, the intention to give way is more clearly indicated and the space for cutting in between the vehicle 1 and the preceding vehicle 2 can be increased.

[0058] (5) The controller 18 may suppress the execution of the course correction control when the other vehicle 5 is moving forward and searching for a place to cut in. When the other vehicle 5 is moving forward, the other vehicle 5 may not notice even if the host vehicle 1 exhibits a vehicle behavior of yielding to the other vehicle 5, so that unnecessary course correction control can be avoided. (6) When the other vehicle 5 does not cut in between the host vehicle 1 and the preceding vehicle 2 even after the course correction control is executed, the controller 18 may execute return control to reduce the angle between the front direction of the host vehicle 1 and the lane boundary line. For example, when the other vehicle 5 leaves the host vehicle lane, or when the other vehicle 5 moves forward or stops without cutting in between the host vehicle 1 and the preceding vehicle 2, the controller 18 may execute return control. This makes it possible to avoid leaving an unnecessary space between the host vehicle 1 and the preceding vehicle 2, which may induce another vehicle 5 to cut in between the host vehicle 1 and the preceding vehicle 2, when the other vehicle 5 does not cut in between the host vehicle 1 and the preceding vehicle 2.

[0059] (7) When the other vehicle 8 is attempting to pass by the side of the host vehicle 1, the controller 18 may calculate a target driving trajectory for moving the host vehicle 1 forward to a waiting position and stopping the host vehicle 1 in a waiting position based on the distance between the host vehicle 1 and the preceding vehicle 2, the maximum steering angle of the steering wheels of the host vehicle 1, and the lateral position of the host vehicle 1 within the host vehicle lane, estimate the lateral position of the host vehicle 1 at the waiting position, and determine whether or not to execute course correction control based on the estimated lateral position. This allows the course correction control to be executed depending on whether the other vehicle 8 can pass by by giving way to the other vehicle 8 or not. (8) When an approval input for the course correction control is received from the driver of the vehicle 1, the course correction control may be executed. This makes it possible to avoid the driver having to give way to other vehicles (5, 8) against his or her will. [Explanation of symbols]

[0060] 1...own vehicle, 2...preceding vehicle, 3...own lane, 4...adjacent lane, 5, 8...other vehicles, 7...lane boundary, 10...vehicle control device, 11...object sensor, 12...vehicle sensor, 13...positioning device, 14...map database, 15...communication device, 16...navigation system, 17...human machine interface, 18...controller, 19...actuator, 20...processor, 21...storage device, 30...object detection unit, 31...own vehicle position estimation unit, 32...map acquisition unit, 33...detection integration unit, 34...object tracking unit, 35...in-map position calculation unit, 36...target trajectory generation unit, 37...vehicle control unit, 40...surrounding vehicle detection unit, 41...inter-vehicle distance detection unit, 42...other vehicle intention estimation unit, 43...travel trajectory calculation unit, 44...executability determination unit

Claims

1. A process of determining whether or not the distance between the host vehicle and a preceding vehicle is equal to or less than a predetermined distance; A process of determining whether or not another vehicle is detected that is attempting to cut in between the host vehicle and the preceding vehicle or to pass by the side of the host vehicle; a process for determining whether or not the host vehicle can travel without departing from its own lane after being stopped at a waiting position in a waiting posture with the front of the vehicle body facing away from the other vehicle by traveling while steering the host vehicle when it is determined that the distance between the host vehicle and the preceding vehicle is shorter than the predetermined distance and when it is determined that the other vehicle has been detected; a process of executing a course correction control for moving the host vehicle forward to the waiting position and stopping the host vehicle in the waiting position when it is determined that the host vehicle can travel without departing from the host vehicle lane after the host vehicle has taken the waiting position and stopped at the waiting position; A vehicle control method comprising: causing a controller to execute the above steps.

2. the other vehicle is a vehicle that is about to cut in between the host vehicle and the preceding vehicle, calculating a target driving trajectory for placing the host vehicle in the waiting posture based on the distance between the host vehicle and the preceding vehicle, a maximum steering angle of the steering wheels of the host vehicle, and a lateral position of the host vehicle within the host lane; determining whether or not to execute the course correction control based on a vehicle-to-vehicle distance between the host vehicle and the preceding vehicle when the host vehicle has traveled along the target travel path and reached the waiting position; The vehicle control method according to claim 1 .

3. executing the course correction control when the preceding vehicle advances forward and the other vehicle is able to cut in between the host vehicle and the preceding vehicle when the host vehicle reaches the waiting position; 3. The vehicle control method according to claim 2.

4. 4. The vehicle control method according to claim 2, wherein the angle between a front direction of the host vehicle body and a lane boundary line in the waiting posture is increased as the vehicle distance in the waiting position is shorter.

5. 5. The vehicle control method according to claim 2, wherein the course correction control is not executed when the other vehicle is moving forward.

6. The vehicle control method according to any one of claims 2 to 5, characterized in that, when the other vehicle does not cut in between the host vehicle and the preceding vehicle even after the course correction control is executed, a return control is executed to reduce an angle between a front direction of the host vehicle body and a lane boundary line.

7. The vehicle control method according to claim 6, characterized in that the return control is executed when the other vehicle leaves the own lane, or when the other vehicle moves forward or stops without cutting in between the own vehicle and the preceding vehicle.

8. the other vehicle is a vehicle that is passing by the side of the host vehicle, calculating a target driving trajectory for placing the host vehicle in the waiting posture based on the distance between the host vehicle and the preceding vehicle, a maximum steering angle of the steering wheels of the host vehicle, and a lateral position of the host vehicle within the host lane; determining whether or not to execute the course correction control based on a lateral position of the host vehicle when the host vehicle has traveled along the target travel path and reached the waiting position; The vehicle control method according to claim 1 .

9. 9. The vehicle control method according to claim 1, wherein the course correction control is executed when an approval input for the course correction control is received from a driver of the host vehicle.

10. An object sensor that detects objects around the vehicle; a controller that determines whether an interval between the host vehicle and a preceding vehicle is equal to or shorter than a predetermined distance based on a detection result of the object sensor, determines whether the object sensor has detected another vehicle attempting to cut in between the host vehicle and the preceding vehicle or to pass by the side of the host vehicle, determines whether the interval between the host vehicle and the preceding vehicle is shorter than the predetermined distance and, when it is determined that the other vehicle has been detected, determines whether the host vehicle can be driven while steering while stopping at a waiting position in a waiting posture with a front side of the vehicle body facing away from the other vehicle and then driven without deviating from the host vehicle's lane, and when it is determined that the host vehicle can be driven without deviating from the host vehicle's lane after being driven in the waiting posture and stopped at the waiting position, causes the host vehicle to move forward to the waiting position and stop in the waiting posture; A vehicle control device comprising:

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