Vehicle control method and vehicle control device

Abstract

A vehicle control method stops a vehicle in such a manner that the interval between the vehicle and a preceding vehicle or between the vehicle and a stop line becomes a predetermined target distance, wherein it is determined that there is an intersection within a predetermined distance ahead of the vehicle, and it is determined whether the road on which the vehicle is traveling has a target lane in which vehicles travel in the same direction as the vehicle and an opposite lane in which vehicles travel in the opposite direction to the vehicle (S1), a leading vehicle in the target lane in a section to the intersection is detected as the target vehicle, it is determined whether the vehicle is a following vehicle located directly behind the target vehicle, or whether the target lane is sandwiched between the opposite lane and an adjacent lane and whether the vehicle is a leading vehicle in an adjacent lane in the section to the intersection (S13, S15, S17), and if the vehicle is the following vehicle, a longer target distance is set than if the vehicle is not the following vehicle, or if the vehicle is the leading vehicle in the adjacent lane, a longer target distance is set than if the vehicle is not the leading vehicle in the adjacent lane (S6).

Description

Technical Field

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

[0002] Patent Document 1 listed below describes a following travel device that, when a stop of a preceding vehicle is detected, decelerates the host vehicle to a minimum speed and stops the host vehicle at a predetermined distance from the preceding vehicle.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: (Japanese) Patent Publication No. 2001-225669 Summary of the invention

[0006] The problem to be solved by the invention

[0007] However, as a result of the first other vehicle on the first road on which the host vehicle is traveling crossing the stop line at the intersection and stopping, there is a possibility of interfering with the travel route of the second other vehicle turning from the second road intersecting the first road to the opposite lane of the first road. In such a situation, if the host vehicle stops close to the first other vehicle, it will prevent the first other vehicle from adjusting its parking position in a manner that does not interfere with the second other vehicle, and there is a possibility that the interference between the first other vehicle and the second other vehicle cannot be resolved.

[0008] The purpose of the present invention is to facilitate the resolution of interference between the second other vehicle turning from a second road intersecting the first road to the opposite lane of the first road and the first other vehicle, even when the first other vehicle on the first road on which the present vehicle is traveling crosses the stop line of the intersection and stops.

[0009] Technical solutions to solve problems

[0010] According to one embodiment of the present invention, a vehicle control method is provided for stopping the vehicle in such a manner that the interval between the vehicle and a preceding vehicle or between the vehicle and a stop line becomes a predetermined target distance. In the vehicle control method, it is determined that a driving road on which the vehicle is traveling and an intersecting road intersect at an intersection where a traffic light is present within a predetermined distance ahead of the vehicle, and whether the driving road has a target lane in which a vehicle is traveling in the same direction as the driving direction of the vehicle and an opposite lane in which a vehicle is traveling in the opposite direction to the driving direction of the vehicle, a leading vehicle in the target lane in a section to the intersection is detected as the target vehicle, it is determined whether the vehicle is a following vehicle located directly behind the target vehicle, or whether the target lane is sandwiched between the opposite lane and the adjacent lane and whether the vehicle is a leading vehicle in the adjacent lane in the section to the intersection, and if the vehicle is a following vehicle, a target distance is set longer than a case where the vehicle is not a following vehicle, or if the vehicle is a leading vehicle in an adjacent lane, a target distance is set longer than a case where the vehicle is not a leading vehicle in the adjacent lane.

[0011] Effects of the Invention

[0012] According to the present invention, even if the first other vehicle on the first road on which the vehicle is traveling crosses the stop line at the intersection and stops, it is possible to facilitate the resolution of interference between the second other vehicle and the first other vehicle turning from a second road intersecting the first road to the opposite lane of the first road.

[0013] The objects and advantages of the present invention are specifically realized by using the elements and combinations thereof shown in the claims. The above general description and the following detailed description are simple examples and explanations, and should be understood not to limit the present invention as the claims do. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic configuration diagram of an example of a vehicle control device according to an embodiment.

[0015] Figure 2A It is an explanatory diagram of a vehicle control method according to an embodiment.

[0016] Figure 2B It is an explanatory diagram of a vehicle control method according to an embodiment.

[0017] Figure 3 It is an explanatory diagram of another example of the target lane.

[0018] Figure 4 This is a block diagram showing an example of the functional structure of the controller.

[0019] Figure 5AThis is an explanatory diagram of an example of a target vehicle detected when the host vehicle is in a target lane.

[0020] Figure 5B This is an explanatory diagram of an example in which a target vehicle is not detected when the host vehicle is in the target lane.

[0021] Fig. 6A This is an explanatory diagram of an example of a target vehicle detected when the host vehicle is in an adjacent lane to the target lane.

[0022] Figure 6B This is an explanatory diagram of an example in which the host vehicle is not detected when it is in an adjacent lane of the target lane.

[0023] Fig. 7A This is an explanatory diagram of an example of a target distance for stopping the host vehicle relative to a stop line.

[0024] Figure 7B This is an explanatory diagram of an example of a target distance for stopping the host vehicle relative to the target vehicle.

[0025] Fig. 8A This is an explanatory diagram of an example of a normal target inter-vehicle distance.

[0026] Figure 8B 2 is an explanatory diagram of an example of an increased target inter-vehicle distance.

[0027] Fig. 9 This is a flowchart of an example of a vehicle control method according to an embodiment.

[0028] Fig.10 This is a flowchart of an example of target vehicle detection processing.

[0029] Fig.11 This is a flowchart of an example of target distance update processing. DETAILED DESCRIPTION

[0030] (constitute)

[0031] Figure 1 1 is a schematic diagram of an example of a vehicle control device of an embodiment. The vehicle 1 is provided with a vehicle control device 10 for controlling the driving of the vehicle 1. The driving control performed by the vehicle control device 10 includes autonomous driving control and driving assistance control. The autonomous driving control is based on the driving environment around the vehicle 1 and automatically drives the vehicle 1 without the driver's participation. The driving assistance control assists the driver in driving the vehicle 1 by controlling at least one of the driving, braking and steering of the vehicle 1. The driving assistance control may be, for example, automatic steering, automatic braking, preceding vehicle following control, constant speed driving control, lane keeping control, merging assistance control, etc.

[0032] The vehicle control device 10 includes an object sensor 11 , a vehicle sensor 12 , a positioning device 13 , a map database (map DB) 14 , a communication device 15 , a navigation device 16 , an actuator 17 , and a controller 18 .

[0033] The object sensor 11 includes a plurality of different types of object detection sensors mounted on the vehicle 1 , such as a laser radar, a millimeter-wave radar, a camera, and LIDAR (Light Detection and Ranging) for detecting surrounding objects of the vehicle 1 .

[0034] 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 for detecting the speed of the host vehicle 1, a wheel speed sensor for detecting the rotation speed of the tires of the host vehicle 1, a three-axis acceleration sensor for detecting the acceleration and deceleration of the host vehicle 1 in three-axis directions, a steering angle sensor for detecting the steering angle of the steering wheel, a steering angle sensor for detecting the steering angle of the steering wheel, a gyro sensor for detecting the angular velocity of the host vehicle 1, a yaw rate sensor for detecting the yaw rate, an accelerator sensor for detecting the accelerator opening of the host vehicle, and a brake sensor for detecting the amount of brake operation by the driver.

[0035] The positioning device 13 includes a global navigation satellite system (GNSS) receiver, receives radio waves from a plurality of navigation satellites, and measures the current position of the vehicle 1. The GNSS receiver may be, for example, a global positioning system (GPS) receiver, etc. The positioning device 13 may be, for example, an inertial navigation device.

[0036] The map database 14 stores road map data. For example, the map database 14 may store high-precision map data suitable as map information for autonomous driving (hereinafter referred to as "high-precision map"). The map database 14 may also store map data for navigation (hereinafter referred to as "navigation map").

[0037] The communication device 15 performs wireless communication with a communication device outside the host vehicle 1. The communication method of the communication device 15 may be, for example, wireless communication based on a public mobile phone network, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication.

[0038] The navigation device 16 recognizes the current position of the host vehicle through the positioning device 13, and obtains the map information of the current position from the map database 14. The navigation device 16 sets a driving route to the destination input by the passenger, and guides the passenger along the driving route. In addition, the navigation device 16 outputs the information of the set driving route to the controller 18. During the autonomous driving control, the controller 18 drives the host vehicle 1 automatically in a manner of driving along the driving route set by the navigation device 16.

[0039] The actuator 17 operates the steering wheel, accelerator opening and brake device of the vehicle according to the control signal from the controller 18 to generate the vehicle behavior of the vehicle. The actuator 17 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 vehicle. The accelerator opening actuator controls the accelerator opening of the vehicle. The brake control actuator controls the braking action of the brake device of the vehicle.

[0040] The controller 18 is an electronic control unit that performs travel control of the vehicle 1. The controller 18 includes peripheral components such as a processor 18a and a storage device 18b. The processor 18a may be, for example, a CPU or an MPU.

[0041] The storage device 18b may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 18b may include a register, a cache memory, a ROM used as a main storage device, a RAM, and other memories.

[0042] The functions of the controller 18 described below are realized by, for example, the processor 18 a executing a computer program stored in the storage device 18 b .

[0043] It should be noted that the controller 18 may also be formed by dedicated hardware for executing each information processing described below. For example, the controller 18 may also include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 18 may also include a PLD such as an FPGA.

[0044] Reference Figure 2A and Figure 2B An example of a travel control method by the controller 18 will be described.

[0045] The controller 18 makes the host vehicle 1 and the preceding vehicle (at Figure 2A In the example of FIG. 1 , the driving control for stopping the host vehicle is performed in such a way that the interval between the vehicles Vt) or between the host vehicle 1 and the stop line becomes a predetermined target distance.

[0046] Figure 2AReference numeral Ro is a travel road on which the host vehicle 1 travels, and reference numeral Rc is an intersecting road intersecting the travel road Ro within a predetermined distance in front of the host vehicle 1. Traffic lights S1 to S4 are provided at an intersection C of the travel road Ro and the intersecting road Rc.

[0047] The travel road Ro has lanes L1 and L3 where vehicles travel in the same direction as the travel direction of the host vehicle 1, and an opposite lane L2 where vehicles travel in the opposite direction to the travel direction of the host vehicle 1. In the following description, the conditions around the host vehicle 1 are sometimes described as "object conditions". The lanes L1 and L3 are lanes where vehicles are allowed (designated) to travel in the same direction as the travel direction of the host vehicle 1 by the Road Traffic Act, and the opposite lane L2 is a lane where vehicles are allowed (designated) to travel in the opposite direction to the travel direction of the host vehicle 1 by the Road Traffic Act.

[0048] In addition, lanes L1 and L3 in which the vehicle travels in the same direction as the traveling direction of the host vehicle 1 may be described as “target lanes”.

[0049] exist Figure 2A In the example, the target lane L3 is a lane where the vehicle traveling in the traveling direction of the host vehicle 1 is permitted under the Road Traffic Law to cross the oncoming lane L2 at the intersection C and turn toward the intersecting road Rc. In addition, the target lane L1 is a lane where the host vehicle 1 is permitted under the Road Traffic Law to at least go straight at the intersection C or turn to the opposite side of the oncoming lane L2.

[0050] An example of the target lane L3 is a turning lane that only allows turning to the intersection road Rc across the oncoming lane L2 under the Road Traffic Act (a right-turn lane in areas where left-side driving is specified, and a left-turn lane in areas where right-side driving is specified).

[0051] Figure 3 The target lane L4 is an explanatory diagram of another example of the target lane. In addition to allowing vehicles traveling in the traveling direction of the host vehicle 1 to cross the oncoming lane L2 at the intersection C and turn toward the intersecting road Rc, the target lane L4 may also allow vehicles traveling in the traveling direction of the host vehicle 1 to turn toward the intersecting road Rc at the intersection C. Figure 2A left turn) or going straight in this example.

[0052] In the following description, the embodiment is described using an example in which the turning lane L3 is set as the target lane. Figure 2A. Reference numeral Vt indicates a preceding vehicle located directly in front of the host vehicle 1, and reference numerals Vo1, Vo2, and Vp indicate other vehicles around the host vehicle 1. The host vehicle 1, the preceding vehicle Vt, other vehicles Vo1, and other vehicles Vo2 stop because the traffic light S1 is red. Since the preceding vehicle Vt stops after crossing the stop line, when the other vehicle Vp, which is a large vehicle, turns from the intersection road Rc to the opposite lane L2, the preceding vehicle Vt may interfere with the travel path of the other vehicle Vp.

[0053] In this case, if the host vehicle 1 stops right behind the preceding vehicle Vt, the preceding vehicle Vt cannot move backward, thus preventing the preceding vehicle Vt from adjusting its parking position so as not to interfere with the other vehicle Vp. Therefore, the interference between the preceding vehicle Vt and the other vehicle Vp may not be resolved.

[0054] Therefore, the controller 18 detects the leading vehicle on the turning lane L3 in the section until the intersection C as the target vehicle Vt, and determines whether the positional relationship between the host vehicle 1 and the target vehicle Vt is a specific positional relationship as shown below. For example, in the case where the host vehicle 1 is a following vehicle located directly behind the target vehicle Vt, the controller 18 can determine that the positional relationship between the host vehicle 1 and the target vehicle Vt is a specific positional relationship. In such a positional relationship, even if the leading vehicle Vt crosses the stop line of the intersection and stops, it is possible to ensure space between the host vehicle 1 and the target vehicle Vt for the leading vehicle Vt to adjust its stop position in a manner that does not interfere with other vehicles turning from the intersection road Rc to the opposite lane L2.

[0055] Therefore, when it is determined that the positional relationship between the host vehicle 1 and the target vehicle Vt is such a specific positional relationship, a longer target distance is set than when it is determined that the positional relationship is not a specific one.

[0056] Thus, for example Figure 2B As shown, a wider space Dt is ensured between the host vehicle 1 and the target vehicle Vt. As a result, since the host vehicle 1 does not prevent the preceding vehicle Vt from adjusting the parking position so as not to interfere with the other vehicle Vp, the resolution of the interference between the preceding vehicle Vt and the other vehicle Vp can be facilitated.

[0057] Reference Figure 4 , the functions of the controller 18 are described in detail. 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 driving trajectory generation unit 36, and a vehicle control unit 37.

[0058] The object detection unit 30 detects the position, posture, size, speed, etc. of objects around the host vehicle 1, such as vehicles or motorcycles, pedestrians, obstacles, etc., based on the detection signal of the object sensor 11. The object detection unit 30 can also obtain information on objects around the host vehicle 1 from other vehicles or infrastructure through vehicle-to-vehicle communication or road-to-vehicle communication based on the communication device 15.

[0059] The vehicle position estimating unit 31 measures the absolute position of the vehicle 1 , that is, the position, posture, and speed of the vehicle 1 relative to a predetermined reference point, based on the measurement result of the positioning device 13 and the distance measurement using the detection result from the vehicle sensor 12 .

[0060] The map acquisition unit 32 acquires map information indicating the structure of the road on which the host vehicle 1 travels from the map database 14. The map acquisition unit 32 may acquire map information from an external map data server via the communication device 15.

[0061] The detection integration unit 33 integrates a plurality of detection results obtained from a plurality of object detection sensors, and outputs one detection result for each object.

[0062] Specifically, based on the behavior of the object obtained from each object detection sensor, the most reasonable behavior of the object with the least error is calculated based on the error characteristics of each object detection sensor. For example, sensor fusion technology is used to integrate and evaluate the detection results of multiple sensors to obtain more accurate detection results.

[0063] 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 identity of the object at different times is verified (corresponded) according to the behavior of the object output at different times, and based on the correspondence, the behavior of the object such as the speed is predicted.

[0064] The on-map position calculation unit 35 estimates the position and posture of the host vehicle 1 on the map based on the absolute position of the host vehicle 1 obtained by the host vehicle position estimation unit 31 and the map information obtained by the map acquisition unit 32. In addition, the on-map position calculation unit 35 specifies the driving road Ro on which the host vehicle 1 is traveling, and further specifies the lane on which the host vehicle 1 is traveling in the driving road Ro.

[0065] The target driving trajectory generating unit 36 ​​generates a target driving trajectory for driving the host vehicle 1. The target driving trajectory may be, for example, information including a point sequence of locations on the target driving trajectory for driving the host vehicle 1 and a target value of the vehicle speed of the host vehicle 1 at each location in the point sequence. In the following description, the target value of the vehicle speed of the host vehicle 1 on the target driving trajectory (i.e., the vehicle speed plan) is expressed as a "target vehicle speed curve".

[0066] For example, the target driving trajectory generating unit 36 ​​calculates the target driving trajectory for driving the host vehicle 1 based on the current position and posture of the host vehicle 1, the target path to the destination set by the navigation system or the like (not shown), and the surrounding environment of the host vehicle 1. For example, a path space map indicating the presence or absence of paths or objects around the host vehicle 1 and a risk map quantifying the degree of danger of the driving field are generated, and the target driving trajectory is generated based on the motion characteristics of the host vehicle 1, the path space map, and the risk map.

[0067] In addition, when other vehicles stop in front of the host vehicle 1, the target driving trajectory generating unit 36 ​​generates a target vehicle speed curve in such a way that the interval between the host vehicle 1 and other vehicles becomes the set target distance and the host vehicle 1 stops. In addition, when the traffic light in front of the host vehicle 1 is red, the target vehicle speed curve is generated in such a way that the interval between the host vehicle 1 and the stop line becomes the set target distance and the host vehicle 1 stops. In addition, when the preceding vehicle is traveling in front of the host vehicle 1, the target vehicle speed curve is generated in such a way that the inter-vehicle distance between the host vehicle 1 and the preceding vehicle becomes the set target inter-vehicle distance.

[0068] Therefore, the target driving trajectory generation unit 36 ​​includes a target situation detection unit 40 , a target vehicle detection unit 41 , and a target distance setting unit 42 .

[0069] The object condition detection unit 40 determines whether the condition ahead of the vehicle 1 is a reference condition based on the map database 14, the detection result of the object sensor 11, and the information about the surroundings of the vehicle 1 obtained from other vehicles or infrastructure via vehicle-to-vehicle communication and road-to-vehicle communication performed by the communication device 15. Figure 2A and Figure 3 The object status of the description.

[0070] When it is determined that the situation ahead of the host vehicle 1 is the target situation, the target vehicle detection unit 41 detects the target vehicle Vt.

[0071] The target vehicle detection unit 41 refers to the positional relationship between the host vehicle 1 and the leading vehicle in the turning lane L3 in the section to the intersection C. Figure 5A and Fig. 6A In the case of a specific positional relationship exemplified below, the leading vehicle is detected as the target vehicle Vt.

[0072] Reference Figure 5A The driving road Ro has a lane L1 and a turning lane L3 where vehicles travel in the same direction as the traveling direction of the vehicle 1, and an opposite lane L2 where vehicles travel in the opposite direction to the traveling direction of the vehicle 1. The lane L1 is an adjacent lane of the turning lane L3, and the turning lane L3 is sandwiched between the opposite lane L2 and the adjacent lane L1.

[0073] When the vehicle 1 is traveling on the turning lane L3 and is the second vehicle traveling on the turning lane L3 in the section to the intersection C (i.e., the following vehicle directly behind the leading vehicle on the turning lane L3 in the section to the intersection C), the leading vehicle is detected as the object vehicle Vt.

[0074] Reference Figure 5B When the host vehicle 1 is traveling in the turning lane L3 and the host vehicle 1 is not the second vehicle traveling in the turning lane L3 in the section to the intersection C, the leading vehicle Vo1 in the turning lane L3 is not detected as a target vehicle.

[0075] Reference Fig. 6A The adjacent lane L1 of the turning lane L3 is a lane where vehicles travel in the same direction as the traveling direction of the host vehicle 1, and the host vehicle 1 is the leading vehicle traveling in the adjacent lane L1 in the section to the intersection C. In this case, the leading vehicle in the turning lane L3 in the section to the intersection C is detected as the target vehicle Vt. It should be noted that the adjacent lane L1 may be, for example, an adjacent lane of the turning lane L3 on the side opposite to the oncoming lane L2.

[0076] Reference Figure 6B In the section to the intersection C, if the host vehicle 1 is not the leading vehicle traveling in the adjacent lane L1, the leading vehicle Vo1 in the turning lane L3 in the section to the intersection C is not detected as the target vehicle Vt.

[0077] The target distance setting unit 42 sets a target distance for stopping the host vehicle 1 relative to other vehicles parked in front of the host vehicle 1, a target distance for stopping the host vehicle 1 relative to a stop line, and a target inter-vehicle distance between the host vehicle 1 and the preceding vehicle. The target driving trajectory generating unit 36 ​​generates a target vehicle speed curve based on the target distance and the target inter-vehicle distance set by the target distance setting unit 42.

[0078] The target distance setting unit 42 sets the target distance and the target inter-vehicle distance when the target vehicle Vt is detected by the target vehicle detection unit 41 to be longer than the target distance and the target inter-vehicle distance when the target vehicle Vt is not detected.

[0079] It should be noted that the target vehicle detection unit 41 may also determine whether the target vehicle Vt has crossed the stop line of the intersection C. The target distance setting unit 42 may also set the target distance when the target vehicle Vt has crossed the stop line of the intersection C to be longer than the target distance when the target vehicle Vt is not detected, and the target distance when the target vehicle Vt stops without crossing the stop line of the intersection C is not increased compared to the target distance when the target vehicle Vt is not detected.

[0080] Reference Fig. 7A When the host vehicle 1 is traveling in the adjacent lane L1 and the target vehicle Vt is not detected, the target distance setting unit 42 sets the target distance for stopping the host vehicle 1 relative to the stop line Ls to the normal target distance Dn1.

[0081] On the other hand, when the host vehicle 1 is traveling in the adjacent lane L1 and the target vehicle Vt is detected, the target distance setting unit 42 sets the target distance for stopping the host vehicle 1 relative to the stop line Ls to a distance (Dn1+De1) obtained by adding a predetermined distance De1 (e.g., 2 m) to the normal target distance Dn1. That is, the target stop position Pt is set to a position away from the stop line Ls to the side opposite to the intersection C by a distance (Dn1+De1).

[0082] By setting the target stop position Pt in this way, the target vehicle Vt that has crossed the stop line and stopped is evacuated to the adjacent lane L1 side in front of the host vehicle 1, thereby avoiding interference between other vehicles Vp and the target vehicle Vt.

[0083] Reference Figure 7B When the host vehicle 1 is traveling in the turning lane L3 and the target vehicle Vt is not detected, the target distance setting unit 42 sets the target distance for stopping the host vehicle 1 relative to the preceding vehicle (ie, the target vehicle Vt) stopped in front of the host vehicle to the normal target distance Dn2.

[0084] On the other hand, when the host vehicle 1 is traveling in the turning lane L3 and the target vehicle Vt is detected, the target distance setting unit 42 sets the target distance for stopping the host vehicle 1 relative to the preceding vehicle that has stopped in front of the host vehicle to a distance (Dn2+De2) obtained by adding a predetermined distance De2 (for example, 3 m) to the usual target distance Dn2. That is, the target stopping position Pt is set to a position that is away from the rear end of the preceding vehicle to the side opposite to the intersection C by the distance (Dn2+De2).

[0085] Reference Fig. 8AThe target distance setting unit 42 sets the target inter-vehicle distance Dm1 between the host vehicle 1 and the preceding vehicle Vo1 based at least on the vehicle speed of the host vehicle 1. For example, the target distance setting unit 42 sets the target inter-vehicle distance Dm1 so that the headway time THW or the collision margin time TTC between the host vehicle 1 and the preceding vehicle Vo1 becomes a predetermined value.

[0086] Reference Figure 8B When the host vehicle 1 is traveling on the turning lane L3 and the target vehicle Vt is detected, the target inter-vehicle distance Dm2 between the host vehicle 1 and the target vehicle Vt is set to be longer than the normal target inter-vehicle distance Dm1. For example, the target inter-vehicle distance Dm2 may be set by adding a predetermined distance to the normal target inter-vehicle distance Dm1, or the target inter-vehicle distance Dm2 may be set by making the headway time THW or the collision margin time TTC longer than the calculation time of the normal target inter-vehicle distance Dm1.

[0087] When the inter-vehicle distance between the host vehicle 1 and the preceding vehicle is controlled to the target inter-vehicle distance Dm1, there is a case where the preceding vehicle of the host vehicle 1 traveling in the turning lane L3 is detected as the target vehicle Vt because the host vehicle 1 and the preceding vehicle are approaching the intersection C. In this case, in order to increase the inter-vehicle distance between the host vehicle 1 and the preceding vehicle by changing the target inter-vehicle distance between the host vehicle 1 and the preceding vehicle from Dm1 to Dm2, there is a case where the host vehicle 1 needs to decelerate. In this case, if the vehicle decelerates suddenly, the vehicle behavior may change suddenly or cause discomfort to the occupants.

[0088] Therefore, it is preferable to limit the deceleration of the host vehicle 1 to a predetermined allowable deceleration (eg, -3.4 m / s 2 )the following.

[0089] Reference Figure 4 The vehicle control unit 37 drives the actuator 17 so that the host vehicle 1 travels on the target travel trajectory at a speed in accordance with the target vehicle speed curve generated by the target travel trajectory generation unit 36 ​​.

[0090] (action)

[0091] Fig. 9 This is a flowchart of an example of a vehicle control method according to an embodiment.

[0092] In step S1 , the object situation detection unit 40 of the target driving trajectory generation unit 36 ​​detects the situation around the host vehicle 1 .

[0093] In step S2, the target situation detection unit 40 determines whether the situation ahead of the host vehicle 1 is the target situation. If the situation ahead of the host vehicle 1 is the target situation (step S2: Y), the process proceeds to step S4. If the situation ahead of the host vehicle 1 is not the target situation (step S2: N), the process proceeds to step S3.

[0094] In step S3 , the target distance setting unit 42 sets the target distance for stopping the host vehicle 1 relative to the stopped vehicle or the stop line and the target inter-vehicle distance with the preceding vehicle to normal values. Thereafter, the process proceeds to step S7 .

[0095] In step S4, a target vehicle detection process is performed. The target vehicle detection process will be described later.

[0096] When the target vehicle Vt is not detected (step S5: N), the process proceeds to step S3. When the target vehicle Vt is detected (step S5: Y), the process proceeds to step S6.

[0097] In step S6, the target distance setting unit 42 performs a target distance update process. The target distance update process will be described later.

[0098] In step S7, the target travel trajectory generation unit 36 ​​generates a target travel trajectory for driving the host vehicle 1. At this time, a target vehicle speed curve is generated based on the target distance and the target inter-vehicle distance set in step S3 or S6.

[0099] In step S8 , the vehicle control unit 37 drives the actuator 17 so that the host vehicle 1 travels on the target travel trajectory at a speed in accordance with the target vehicle speed curve generated by the target travel trajectory generation unit 36 ​​. Thereafter, the process ends.

[0100] Fig.10 This is a flowchart of an example of target vehicle detection processing.

[0101] In step S10 , the on-map position calculation unit 35 determines the lane in which the host vehicle 1 is traveling.

[0102] In step S11, the object condition detection unit 40 identifies the turning lane L3. In step S12, the object vehicle detection unit 41 determines whether the host vehicle 1 is traveling in the turning lane L3. When the host vehicle 1 is traveling in the turning lane L3 (step S12: Y), the process proceeds to step S17. When the host vehicle 1 is not traveling in the turning lane L3 (step S12: N), the process proceeds to step S13.

[0103] In step S13, the target vehicle detection unit 41 determines whether the host vehicle 1 is traveling in the adjacent lane L1 of the turning lane L3. If the host vehicle 1 is traveling in the adjacent lane L1 (step S13: Y), the process proceeds to step S15. If the host vehicle 1 is not traveling in the adjacent lane L1 (step S13: N), the process proceeds to step S14.

[0104] In step S14 , the target vehicle detection unit 41 determines that the target vehicle Vt has not been detected. Thereafter, the target vehicle detection process ends.

[0105] In step S15, the target vehicle detection unit 41 determines whether the host vehicle 1 is the leading vehicle in the adjacent lane L1. If the host vehicle 1 is the leading vehicle (step S15: Y), the process proceeds to step S16. If the host vehicle 1 is not the leading vehicle (step S15: N), the process proceeds to step S14.

[0106] In step S16 , the target vehicle detection unit 41 detects the leading vehicle in the turning lane L3 as the target vehicle Vt. Thereafter, the target vehicle detection process ends.

[0107] On the other hand, in step S17, the target vehicle detection unit 41 determines whether the host vehicle 1 is the second vehicle traveling in the turning lane L3. If the host vehicle 1 is the second vehicle (step S17: Y), the process proceeds to step S19. If the host vehicle 1 is not the second vehicle (step S17: N), the process proceeds to step S18.

[0108] In step S18 , the target vehicle detection unit 41 determines that the target vehicle Vt has not been detected. Thereafter, the target vehicle detection process ends.

[0109] In step S19 , the target vehicle detection unit 41 detects the preceding vehicle of the host vehicle 1 as the target vehicle Vt. Thereafter, the target vehicle detection process ends.

[0110] Fig.11 This is a flowchart of an example of target distance update processing.

[0111] In step S20, the target distance setting unit 42 determines whether the host vehicle 1 is traveling in the turning lane L3. If the host vehicle 1 is traveling in the turning lane L3 (step S20: Y), the process proceeds to step S22. If the host vehicle 1 is not traveling in the turning lane L3 (step S20: N), the process proceeds to step S21.

[0112] In step S21, the target distance setting unit 42 increases the target distance for stopping the host vehicle 1 relative to the stop line by a predetermined distance De1. Thereafter, the target distance update process ends.

[0113] In step S22, the target distance setting unit 42 determines whether the target vehicle Vt has moved. If the target vehicle Vt has moved (step S22: Y), the process proceeds to step S24. If the target vehicle Vt has not moved (step S22: N), the process proceeds to step S23.

[0114] In step S23, the target distance setting unit 42 increases the target distance for stopping the host vehicle 1 relative to the stopped preceding vehicle by a predetermined distance De2. Thereafter, the target distance update process is terminated.

[0115] In step S24, the target distance setting unit 42 increases the target inter-vehicle distance between the preceding vehicle and the host vehicle 1. Thereafter, the target distance update process is terminated.

[0116] (Effects of Embodiments)

[0117] (1) The controller 18 stops the host vehicle 1 so that the interval between the host vehicle 1 and the preceding vehicle or between the host vehicle 1 and the stop line becomes a predetermined target distance. The controller 18 determines whether the driving road on which the host vehicle 1 is traveling and the intersecting road intersect at an intersection having a traffic light within a predetermined distance ahead of the host vehicle 1, and whether the driving road has a target lane in which vehicles travel in the same direction as the driving direction of the host vehicle 1 and an opposite lane in which vehicles travel in the opposite direction to the driving direction of the host vehicle 1, detects a leading vehicle in the target lane in the section to the intersection as the target vehicle Vt, determines whether the host vehicle 1 is a following vehicle located directly behind the target vehicle Vt, or whether the target lane is sandwiched between the opposite lane and the adjacent lane and whether the host vehicle 1 is a leading vehicle in the adjacent lane in the section to the intersection, and sets a longer target distance than when the host vehicle 1 is not the following vehicle, or sets a longer target distance than when the host vehicle 1 is not the leading vehicle in the adjacent lane.

[0118] Thus, even if the preceding vehicle Vt on the driving road on which the host vehicle is traveling stops across the stop line at the intersection, a space can be secured between the host vehicle 1 and the target vehicle Vt for the preceding vehicle Vt to adjust its stopping position in a manner that does not interfere with other vehicles that are turning from the intersection road to the opposite lane of the driving road. As a result, since the host vehicle 1 does not prevent the preceding vehicle Vt from moving in a manner that does not interfere with other vehicles, resolution of the interference between the preceding vehicle Vt and other vehicles can be facilitated.

[0119] (2) The controller 18 determines whether the target vehicle Vt crosses the stop line before the intersection. If the target vehicle Vt crosses the stop line before the intersection and the host vehicle is a following vehicle or a leading vehicle in an adjacent lane, a longer target distance can be set compared to a case where the target vehicle Vt stops without crossing the stop line before the intersection.

[0120] Thus, when the leading vehicle Vt crosses the stop line at the intersection and stops, it is possible to facilitate resolution of the interference between the leading vehicle Vt and other vehicles.

[0121] (3) The target vehicle Vt may be a stopped vehicle or a moving vehicle. Thus, the target distance when the target vehicle Vt is stopped can be set longer than the normal target distance. By setting the target inter-vehicle distance between the moving target vehicle Vt and the host vehicle 1 longer than the normal target inter-vehicle distance, the target distance for the host vehicle 1 to stop relative to the target vehicle Vt can be set longer than the normal target distance when the target vehicle Vt stops.

[0122] (4) When the host vehicle 1 is a following vehicle located in the target lane directly behind the target vehicle Vt, the controller 18 may increase the target distance for stopping the host vehicle 1 relative to the stopped target vehicle Vt by a predetermined distance.

[0123] This can promote the preceding vehicle Vt to move so as not to interfere with other vehicles turning from the intersecting road.

[0124] (5) The controller 18 may also calculate a target inter-vehicle distance between the host vehicle 1 and the preceding vehicle based at least on the vehicle speed of the host vehicle 1, and when the host vehicle 1 is a following vehicle in an object lane traveling directly behind the object vehicle Vt, increase the inter-vehicle distance between the moving object vehicle Vt and the host vehicle 1 compared to the target inter-vehicle distance.

[0125] Thus, at the time when the target vehicle Vt stops, the target distance for stopping the host vehicle 1 relative to the target vehicle Vt can be set longer than the normal target distance.

[0126] (6) The inter-vehicle distance between the target vehicle Vt and the host vehicle 1 may be increased from the target inter-vehicle distance so as not to exceed a predetermined permissible deceleration.

[0127] This can suppress the occurrence of abrupt vehicle behavior or discomfort to the occupants due to deceleration of the host vehicle 1 when the inter-vehicle distance between the target vehicle Vt and the host vehicle 1 is increased.

[0128] (7) When the host vehicle 1 is the leading vehicle in the adjacent lane, the target distance at which the host vehicle stops relative to the stop line before the intersection may be increased by a predetermined distance.

[0129] This can promote the preceding vehicle Vt to move so as not to interfere with other vehicles turning from the intersecting road.

[0130] All examples and conditional terms recorded herein are intended for educational purposes to help readers understand the present invention and the concepts given by the inventor for technological progress, and should be interpreted as not limited to the above examples and conditions specifically recorded and the structures of the examples in this specification that illustrate the advantages and disadvantages of the present invention. Although the embodiments of the present invention are described in detail, it should be understood that various changes, substitutions and modifications can be made to them without departing from the spirit and scope of the present invention.

[0131] Description of Reference Numerals

[0132] 1…own vehicle, 10…vehicle control device, 11…object sensor, 12…vehicle sensor, 13…positioning device, 14…map database, 15…communication device, 16…navigation device, 17…actuator, 18…controller, 18a…processor, 18b…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 driving trajectory generation unit, 37…vehicle control unit, 40…object condition detection unit, 41…target vehicle detection unit, 42…target setting distance

Claims

1. A vehicle control method for stopping a vehicle so that the distance between the vehicle and a preceding vehicle or between the vehicle and a stop line becomes a predetermined target distance, characterized in that: determining that a driving road on which the host vehicle is traveling and an intersecting road intersect at an intersection having a traffic light within a predetermined distance in front of the host vehicle, and determining that it is a target situation, wherein the driving road has a target lane in which vehicles are traveling in the same direction as the traveling direction of the host vehicle and an opposite lane in which vehicles are traveling in a direction opposite to the traveling direction of the host vehicle, detecting a leading vehicle in the target lane in a section to the intersection as a target vehicle, determining whether the host vehicle is a following vehicle located directly behind the target vehicle, or whether the target lane is sandwiched between the oncoming lane and an adjacent lane adjacent to the target lane and whether the host vehicle is a leading vehicle in the adjacent lane in the section to the intersection, When the host vehicle is the following vehicle, the target distance is set to be longer than when the host vehicle is not the following vehicle, or when the host vehicle is the leading vehicle in the adjacent lane, the target distance is set to be longer than when the host vehicle is not the leading vehicle in the adjacent lane.

2. The vehicle control method according to claim 1, characterized in that: determining whether the target vehicle has crossed the stop line before the intersection, When the subject vehicle crosses the stop line before the intersection and the host vehicle is the following vehicle or the leading vehicle in the adjacent lane, the target distance is set longer than when the subject vehicle stops without crossing the stop line before the intersection.

3. The vehicle control method according to any one of claims 1 or 2, characterized in that: The target vehicle is a stationary vehicle or a moving vehicle.

4. The vehicle control method according to claim 1, characterized in that: When the host vehicle is a following vehicle located in the target lane directly behind the target vehicle, the target distance at which the host vehicle stops relative to the stopped target vehicle is increased by a predetermined distance.

5. The vehicle control method according to claim 4, characterized in that: calculating a target inter-vehicle distance between the host vehicle and a preceding vehicle based at least on the vehicle speed of the host vehicle, When the host vehicle is a following vehicle traveling in the target lane directly behind the target vehicle, the inter-vehicle distance between the moving target vehicle and the host vehicle is increased from the target inter-vehicle distance.

6. The vehicle control method according to claim 5, characterized in that: The inter-vehicle distance between the subject vehicle and the host vehicle is increased compared to the target inter-vehicle distance so as not to exceed a predetermined allowable deceleration.

7. The vehicle control method according to claim 1, characterized in that: When the host vehicle is a leading vehicle in the adjacent lane, the target distance at which the host vehicle stops with respect to the stop line before the intersection is increased by a predetermined distance.

8. A vehicle control device for stopping a vehicle so that the distance between the vehicle and a preceding vehicle or between the vehicle and a stop line becomes a predetermined target distance, characterized in that: A controller is provided, and the controller performs the following control: It is determined that a driving road on which the host vehicle is traveling and an intersecting road intersect at an intersection having a traffic light within a predetermined distance ahead of the host vehicle, and that a target situation is determined, wherein the driving road has a target lane in which vehicles are traveling in the same direction as the driving direction of the host vehicle and an opposite lane in which vehicles are traveling in the opposite direction to the driving direction of the host vehicle, a leading vehicle in the target lane in a section to the intersection is detected as the target vehicle, it is determined whether the host vehicle is a following vehicle located directly behind the target vehicle, or whether the target lane is sandwiched between the opposite lane and an adjacent lane adjacent to the target lane and whether the host vehicle is a leading vehicle in the adjacent lane in the section to the intersection, and if the host vehicle is the following vehicle, a target distance is set longer than a case where the host vehicle is not the following vehicle, or if the host vehicle is the leading vehicle in the adjacent lane, a target distance is set longer than a case where the host vehicle is not the leading vehicle in the adjacent lane.

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