Driving assistance method and driving assistance device

Abstract

In the driving assistance method of the present application, a lane change is proposed, and a lane change of autonomous travel control is executed based on an approval action of an occupant, so that the controller executes the following processing: in the case where a preceding vehicle traveling at a speed lower than the vehicle speed of the host vehicle is detected, when it is determined that a first interval between the other vehicle on the first adjacent lane and the host vehicle is equal to or greater than a first threshold value, processing of the proposal of the lane change to the first adjacent lane is started (S2, S4, S6); the processing of the proposal of the lane change to the first adjacent lane is continued with the condition that the first interval is equal to or greater than a second threshold value smaller than the first threshold value (S34); and in the case where the approval action of the occupant is performed during the continuation of the proposal of the lane change to the first adjacent lane, processing of causing the direction indicator on the first adjacent lane side to act (S34).

Description

Technical Field

[0001] This invention relates to a driving assistance method and a driving assistance device. Background Technology

[0002] Patent Document 1 describes a driving assistance control device that determines whether there is an opportunity to change lanes, and if it is determined that there is an opportunity to change lanes, prompts the driver to propose an automatic lane change.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-71514

[0006] The problem to be solved by the present invention

[0007] When the space in the adjacent lane becomes insufficient after a lane change proposal has been submitted for autonomous driving control, the proposal may sometimes be cancelled before it is approved. Summary of the Invention

[0008] The purpose of this invention is to reduce the frequency of canceling lane change proposals after an autonomous driving control lane change to an adjacent lane has been proposed.

[0009] According to one aspect of the present invention, a driving assistance method is provided that proposes a lane change and performs lane change autonomous driving control based on occupant approval. In this driving assistance method, the controller performs the following processing: when a preceding vehicle traveling at a speed relatively lower than the vehicle's speed is detected, if it is determined that the distance between the vehicle and other vehicles in the first adjacent lane, i.e., a first distance, is greater than or equal to a first threshold, processing of a lane change proposal to the first adjacent lane is initiated; processing of a lane change proposal to the first adjacent lane continues as long as the first distance is greater than or equal to a second threshold smaller than the first threshold; and processing of activating the direction indicator on the first adjacent lane side if occupant approval occurs during the lane change proposal to the first adjacent lane.

[0010] Invention Effects

[0011] According to the present invention, the frequency of lane change proposal cancellations after a lane change with autonomous driving control to the adjacent lane has been proposed can be reduced.

[0012] The objects and advantages of this invention are embodied and realized by the elements and combinations thereof shown in the scope of the claims. The above general description and the following detailed description are merely examples and illustrations and should not be construed as limiting the scope of the invention as the scope of the claims suggests. Attached Figure Description

[0013] Figure 1 This is a diagram illustrating an example of the general structure of a vehicle equipped with a driving assistance device according to an embodiment.

[0014] Figure 2 It means Figure 1 A diagram of a portion of the input device.

[0015] Figure 3 This is a block diagram of an example of the functional structure for overtaking assist control and route driving assist control in a controller.

[0016] Figure 4 This is a flowchart illustrating an example of processing beyond the proposal stage.

[0017] Figure 5 This is a flowchart illustrating an example of the process for resuming a lane proposal.

[0018] Figure 6 This is a flowchart illustrating an example of the processing of route proposals.

[0019] Figure 7 This is a flowchart illustrating an example of how lane changes are handled when a proposal is exceeded.

[0020] Figure 8 This is a flowchart illustrating an example of the process for executing a lane change when a lane restoration proposal is adopted.

[0021] Figure 9 This is a flowchart illustrating an example of lane change processing when a route proposal is adopted. Detailed Implementation

[0022] (constitute)

[0023] Figure 1 This diagram illustrates an example of the schematic structure of a vehicle equipped with a driver assistance device according to the embodiment. The driver assistance device 10 mounted on this vehicle 1 includes: a sensor 11, a positioning device 12, a map database (map DB) 13, an in-vehicle device 14, a navigation system 15, a display device 16, a voice output device 17, an input device 18, a vehicle behavior control device 19, and a controller 20. These devices are connected to each other for receiving and transmitting information, for example, via CAN (Controller Area Network) and other in-vehicle LANs.

[0024] Sensor 11 detects the driving status of vehicle 1. For example, sensor 11 includes cameras that capture images of the front, rear, and sides of vehicle 1. Additionally, sensor 11 includes radar that detects obstacles in front, rear, and sides of vehicle 1. Sensor 11 also includes a vehicle speed sensor to detect the vehicle speed. Positioning device 12 includes a GPS unit, a gyroscope sensor, etc. Positioning device 12 periodically acquires the position information of vehicle 1 via the GPS unit. Furthermore, positioning device 12 detects the current position of vehicle 1 based on the position information of vehicle 1, angle change information acquired from the gyroscope sensor, and vehicle speed acquired from the vehicle speed sensor.

[0025] Map database 13 is a storage device accessible from controller 20 that stores high-precision three-dimensional map information containing location information of various facilities and specific locations. The high-precision three-dimensional map information is map information that associates detailed and high-precision location information such as curved roads and the size of their curves (e.g., curvature or radius of curvature), merging points, branching points, toll booths, and lane reduction locations with map information to form three-dimensional information.

[0026] The vehicle-mounted equipment 14 refers to various devices mounted on the vehicle 1 that are operated by occupants (such as the driver). Examples of such vehicle-mounted equipment include: a steering wheel, accelerator pedal, brake pedal, turn indicators, windshield wipers, lights, horn, and other specific switches.

[0027] The navigation system 15 acquires the current location information of the vehicle 1 from the positioning device 12, and overlays the vehicle 1's location with navigation map information and displays it on a display or similar device. Furthermore, when a destination is set, the navigation system 15 executes navigation control, setting the path from the vehicle 1's current location to the destination as the target driving route and guiding the occupants along this route. In this navigation control, the navigation system 15 displays the target driving route on the map on the display and informs the occupants of the target driving route via voice or other means. The target driving route set in the navigation system 15 is also used for route driving assistance control based on the controller 20. Route driving assistance control enables the vehicle 1 to autonomously drive along the set target driving route to its destination.

[0028] Display device 16 includes various displays positioned in a location visible and accessible to the occupants. Display device 16 notifies the occupants of various prompts under the control of controller 20. Sound output device 17 is a device that outputs auditory information from the speakers, audio devices, buzzers, and other auditory information provided by navigation system 15. Sound output device 17 notifies the occupants of various prompts under the control of controller 20.

[0029] The input device 18 may be a push-button switch that can be manually operated by the occupant, a touchpad located on the display screen, or a microphone that can be input by the occupant's voice. The occupant can operate the input device 18 to input setting information for the prompts displayed by the display device 16 or the audio output device 17.

[0030] Figure 2 This diagram illustrates an example of the input device 18 in this embodiment. The input device 18 may be, for example, a set of push-button switches disposed on the spokes of a steering wheel. The input device 18 is used to set the on / off state of autonomous driving control based on the controller 20. The input device 18 includes: a main switch 181, a resume / accelerate switch 182, a set / coast switch 183, a cancel switch 184, a lane adjustment switch 185, and a lane change assist switch 186. The main switch 181 is used to switch the autonomous driving control based on the controller 20 on / off. The resume / accelerate switch 182 is used to set the autonomous driving control to restart at the set speed before disconnection, or to increase the set speed, after the autonomous driving control has been disconnected. The set / coast switch 183 is used to start the autonomous driving control. To start the autonomous driving control, after the autonomous driving control has been activated via the main switch 181, the set / coast switch 183 is pressed. Additionally, the set / coast switch 183 is used to decrease the set speed. The cancel switch 184 is used to deactivate the autonomous driving control. Lane change adjustment switch 185 is used to set the lane distance to the vehicle ahead. Lane change assist switch 186 is used to indicate (acknowledge) the start of a lane change when the controller 20 confirms the start of a lane change with the occupant. In addition, besides... Figure 2 In addition to the button switch group shown, the direction indicator stick of the direction indicator or other vehicle equipment 14 can also be used as input device 18.

[0031] The vehicle behavior control device 19 controls the vehicle behavior of the vehicle 1. For example, when the vehicle 1 is traveling at a set speed under autonomous driving control, the vehicle behavior control device 19 controls the operation of the drive mechanism and the brakes used to achieve acceleration, deceleration, and speed, so that the vehicle 1 reaches the set speed. Similarly, when the vehicle 1 is following a vehicle ahead under autonomous driving control, the vehicle behavior control device 19 also controls the operation of the drive mechanism and the brakes. Furthermore, the control of the drive mechanism's operation includes the operation of the internal combustion engine in engine-powered vehicles, and the operation of the electric motor in electric vehicle systems. Additionally, in hybrid vehicles, the control includes the torque distribution between the internal combustion engine and the electric motor.

[0032] In addition, when the vehicle behavior control device 19 performs autonomous steering control as described later through autonomous driving control, in addition to controlling the movement of the drive mechanism and brakes, it also performs steering control of the vehicle 1 by controlling the movement of the steering actuator.

[0033] The controller 20 is one or more electronic control units (ECUs) for controlling the movement of the vehicle 1, and includes peripheral components such as a processor 21 and a storage device 22. The processor 21 may be, for example, a CPU or an MPU. The storage device 22 may include semiconductor storage devices, magnetic storage devices, optical storage devices, etc. The storage device 22 may include registers, cache memory, ROM and RAM used as main storage, etc. The functions of the controller 20 described below are implemented, for example, by the processor 21 executing a computer program stored in the storage device 22.

[0034] The controller 20 performs a driving information acquisition function, which acquires information related to the driving state of the vehicle 1, and performs autonomous driving control, including controlling the driving speed and / or steering of the vehicle 1. The driving information acquisition function is the function of acquiring driving information related to the driving state of the vehicle 1. For example, the controller 20 also acquires image information of the vehicle's exterior captured by the camera of sensor 11, radar detection results, and vehicle speed information from the vehicle speed sensor as driving information.

[0035] Furthermore, the controller 20 obtains the current location information of the vehicle 1 from the positioning device 12 as driving information. The controller 20 obtains the set destination and the target driving route to the destination from the navigation system 15 as driving information. The controller 20 obtains map information such as curved roads and their curvature (e.g., curvature or radius of curvature), merging points, branching points, toll stations, and lane reduction locations from the map database 13 as driving information. The controller 20 obtains the occupant's operation information on the on-board device 14 as driving information.

[0036] In autonomous driving control, the controller 20 autonomously controls the driving of the vehicle 1 without relying on the operation of the occupants. Autonomous driving control includes autonomous speed control, which autonomously controls the driving speed of the vehicle 1, and autonomous steering control, which autonomously controls the steering of the vehicle 1.

[0037] In autonomous speed control, when a vehicle ahead is detected, the controller 20 follows the vehicle while maintaining a vehicle-to-vehicle distance corresponding to the speed set by the occupants, using the speed set or a speed limit as the upper limit. Conversely, when no vehicle ahead is detected, the controller maintains a constant speed at the speed set by the occupants or a speed limit. The former is also known as vehicle-to-vehicle control, and the latter is also known as constant speed control.

[0038] If, when the forward radar or other sensors (such as sensor 11) detect that there is no vehicle traveling ahead in the lane in which vehicle 1 is traveling, cruise control is executed. During cruise control, while feeding back vehicle speed data from the speed sensor, the vehicle behavior control device 19 controls the operation of the drive mechanism, such as the engine or brakes, to maintain the set driving speed. If, when the forward radar or other sensors (such as sensor 11) detects that there is a vehicle traveling ahead in the lane in which vehicle 1 is traveling, lane departure control is executed. During lane departure control, with the set driving speed as the upper limit, while feeding back the lane departure distance data detected by the forward radar, the vehicle behavior control device 19 controls the operation of the drive mechanism, such as the engine or brakes, to maintain the set lane departure distance.

[0039] In autonomous steering control, the controller 20 controls the movement of the steering actuator based on driving information acquired through the driving information acquisition function, thereby performing steering control of the vehicle 1. Autonomous steering control includes: lane keeping control, lane change assist control, overtaking assist control, and route driving assist control.

[0040] In lane keeping control, the controller 20 controls, for example, the steering actuator to drive near the center of the lane, thereby assisting the occupant's steering wheel operation.

[0041] In lane change assist control, the controller 20 illuminates the direction indicator when the occupant operates the direction indicator stalk, and determines whether the prescribed lane change initiation conditions are met based on various driving information obtained through the driving information acquisition function. If the lane change initiation conditions are met, the lane change operation begins.

[0042] During a lane change operation, the controller 20 performs a lane change maneuver that causes the vehicle 1 to move laterally towards the adjacent lane (hereinafter sometimes referred to as the "destination lane"). While performing the lane change operation, the controller 20 displays information indicating that a lane change is being automatically initiated via the display device 16. After the lane change operation is completed, the controller 20 turns off the direction indicator and begins lane keeping function in the new lane.

[0043] In overtaking assist control, if the controller 20 detects a slower vehicle ahead of the vehicle 1 in the lane in which the vehicle 1 is traveling, and the prescribed overtaking proposal conditions are met, it implements a lane change based on autonomous driving control and proposes to the occupants that the vehicle be overtaken. Hereinafter, the lane change proposal to overtake the vehicle ahead will sometimes be referred to as an "overtaking proposal." Upon receiving the overtaking proposal, if the occupants operate the lane change assist switch 186 on the input device 18 and acknowledge it, and the prescribed overtaking execution conditions are met, the controller 20 executes the lane change. During the lane change, the controller 20 performs the lane change operation to move the vehicle 1 to the destination lane.

[0044] Furthermore, if the vehicle 1 meets the prescribed lane return proposal conditions after overtaking the preceding vehicle, the controller 20 proposes to the occupant via the display device 16 to perform a lane change based on autonomous driving control and return to the original lane before overtaking. Hereinafter, the lane change proposal to return to the original lane after overtaking is sometimes referred to as a "lane return proposal." Upon receiving the lane return proposal prompt, if the occupant operates the lane change assist switch 186 on the input device 18 and approves, and the prescribed lane return execution conditions are met, the controller 20 executes the lane change. In automatic lane change, the controller 20 performs a lane change operation to move the vehicle 1 to the original lane. Hereinafter, the function of the controller 20 that performs overtaking assist control is sometimes referred to as the "overtaking assist function."

[0045] In route driving assistance control, if the prescribed route driving execution conditions are met near a branch point, merging point, exit, toll station, or other location on the target driving path set by the navigation system 15, the controller 20 proposes to the occupant to perform a lane change through autonomous driving control to allow the vehicle to travel along the target driving path. Hereinafter, the proposal to perform a lane change to allow the vehicle to travel along the target driving path will sometimes be referred to as a "route driving proposal." Upon receiving the route driving proposal prompt, and with the occupant operating and approving the lane change assistance switch 186 on the input device 18, and the prescribed route driving execution conditions being met, the controller 20 performs an automatic lane change. In the automatic lane change, the controller 20 performs a lane change operation to move the vehicle 1 towards the destination lane. Hereinafter, the function of the route driving assistance control controller 20 will sometimes be referred to as the "route driving assistance function."

[0046] Figure 3This is a block diagram of an example of the functional structure for overtaking assist control and route driving assist control in controller 20. Controller 20 includes: a forward vehicle recognition unit 30, a map information acquisition unit 31, a navigation information acquisition unit 32, a self-position information acquisition unit 33, a surrounding condition recognition unit 34, an overtaking proposal judgment unit 35, a route driving proposal judgment unit 36, a coordination unit 37, a lane change permission judgment unit 38, and a lane change status management unit 39.

[0047] The forward vehicle identification unit 30 identifies a forward vehicle existing in the lane in which the vehicle 1 is traveling based on driving information, and detects the relative speed Vr of the forward vehicle relative to the vehicle 1 (Vr = speed of the forward vehicle Vp - speed of the vehicle 1 Vh).

[0048] The map information acquisition unit 31 acquires map information through the map database 13 or a communication device not shown.

[0049] The navigation information acquisition unit 32 acquires route information related to the target driving path up to the destination from the navigation system 15. The self-position information acquisition unit 33 acquires current position information related to the current position of the vehicle 1 from the positioning device 12. The surrounding condition recognition unit 34 identifies the surrounding conditions of the vehicle 1 (e.g., other vehicles or white lines) based on the driving information. In particular, the surrounding condition recognition unit 34 identifies the interval d between other vehicles in the destination lane and the vehicle 1 in the lane extension direction. For example, the interval d can be the distance between other vehicles in the lane extension direction and the vehicle 1, or it can be the time interval.

[0050] If the preceding vehicle identification unit 30 identifies a preceding vehicle, the overtaking proposal determination unit 35 determines whether the prescribed overtaking proposal conditions are met. For example, the overtaking proposal conditions may include the following:

[0051] • Beyond accessibility features are effective.

[0052] • The relative speed Vr of the vehicle in front of it with respect to vehicle 1 is less than the threshold speed Vt.

[0053] • The distance d between other vehicles in the destination lane and this vehicle 1 is greater than or equal to the distance threshold Dp.

[0054] • Meet other lane change permission conditions (e.g., lane markings do not prohibit lane changes, road curvature radius is above a threshold, etc.).

[0055] In the proposal condition, the interval threshold Dp is set to a relatively long value d1.

[0056] If the conditions for exceeding the proposal are met, the exceeding proposal judgment unit 35 outputs an exceeding proposal request to the coordination unit 37.

[0057] After overtaking based on overtaking assist control is completed, the overtaking proposal determination unit 35 determines whether the prescribed lane restoration proposal conditions are met. For example, the lane restoration proposal conditions may also include the following conditions:

[0058] • Beyond accessibility features are effective.

[0059] • The distance d between other vehicles in the destination lane and this vehicle 1 is greater than or equal to the distance threshold Dp.

[0060] • Other lane change permission conditions have been met.

[0061] In the lane restoration proposal conditions, the interval threshold Dp is set to the value d1.

[0062] If the conditions for restoring the lane are met, the overtaking proposal judgment unit 35 outputs a lane restoration proposal request to the coordination unit 37.

[0063] On the other hand, the route proposal determination unit 36 ​​selects the lane that the vehicle 1 should currently travel in order to travel along the target driving route set by the navigation system 15 (hereinafter sometimes referred to as the "target lane"), and determines whether the prescribed route proposal conditions are met. For example, the route proposal conditions may include the following conditions:

[0064] • The route driving assistance function is effective.

[0065] • The lane that this vehicle is currently traveling in is different from the target lane.

[0066] • The distance dr from the current position of vehicle 1 to the location of the direction change is less than or equal to distance da and greater than distance db. For example, distance da can be (2300m + 400m × N), and distance db can be (700m + 400m × N). The natural number N is the number of lane changes required for vehicle 1 to move from the current lane to the target lane.

[0067] • Lane changes can be made to the target lane side (e.g., lane markings do not prohibit lane changes, road curvature radius is above a threshold, etc.).

[0068] That is, the route proposal determination unit 36 ​​determines whether the route proposal conditions are met, regardless of the distance d between the vehicle 1 and other vehicles in the destination lane in the lane extension direction. If the route proposal conditions are met, the route proposal determination unit 36 ​​sets the location of the route proposal, i.e., the proposal location. When the vehicle 1 arrives at the proposal location, the route proposal determination unit 36 ​​outputs a route proposal request to the coordination unit 37.

[0069] The coordination unit 37 coordinates the overtaking proposal request output by the overtaking proposal judgment unit 35 and the route travel proposal request output by the route travel proposal judgment unit 36. If only an overtaking proposal request is output, the overtaking proposal is adopted; if only a route travel proposal request is output, the route travel proposal is adopted. If both an overtaking proposal request and a route travel proposal request are output, either the overtaking proposal or the route travel proposal is adopted. For example, the route travel proposal may be preferred. Similarly, the coordination unit 37 coordinates the lane return proposal request output by the overtaking proposal judgment unit 35 and the route travel proposal request output by the route travel proposal judgment unit 36. The coordination unit 37 outputs the coordination result to the lane change permission judgment unit 38 and the lane change status management unit 39.

[0070] When the coordination unit 37 adopts an overtaking proposal, the lane change status management unit 39 outputs overtaking information to inform the occupants of the overtaking proposal via the display device 16 or the sound output device 17. When the coordination unit 37 adopts a lane return proposal, the lane change status management unit 39 outputs lane return information to inform the occupants of the lane return proposal via the display device 16 or the sound output device 17. When the coordination unit 37 adopts a route travel proposal, the lane change status management unit 39 outputs route travel information to inform the occupants of the route travel proposal via the display device 16 or the sound output device 17.

[0071] When an overtaking proposal is prompted, the Lane Change Status Management Unit 39 determines whether the prescribed conditions for continuing the overtaking proposal are met. For example, the conditions for continuing the overtaking proposal may include the following:

[0072] • Beyond accessibility features are effective.

[0073] • The relative speed Vr of the vehicle in front of it with respect to vehicle 1 is less than the threshold speed Vt.

[0074] • The distance d between other vehicles in the destination lane and this vehicle 1 in the direction of lane extension is greater than or equal to the distance threshold Dp.

[0075] • Other lane change permission conditions have been met.

[0076] In the overtaking proposal continuation condition, the interval threshold Dp is set to a relatively short value d2. The interval threshold d2 can be a value shorter than the interval threshold d1 (d2 < d1). While the overtaking proposal continuation condition is met, the lane change status management unit 39 continues to process the overtaking proposal. If the overtaking proposal continuation condition is not met, the lane change status management unit 39 cancels the overtaking proposal.

[0077] Similarly, when a lane restoration proposal is prompted, the Lane Change Status Management Unit 39 determines whether the prescribed conditions for continuing the lane restoration proposal are met. For example, the conditions for continuing the lane restoration proposal may include the following:

[0078] • Beyond accessibility features are effective.

[0079] • The distance d between other vehicles in the destination lane and this vehicle 1 in the direction of lane extension is greater than or equal to the distance threshold Dp.

[0080] • Other lane change permission conditions have been met.

[0081] In the conditions for continuing the lane restoration proposal, the interval threshold Dp is set to the value d2. While the conditions for continuing the lane restoration proposal are met, the lane change status management unit 39 continues to process lane restoration proposals. If the conditions for continuing the lane restoration proposal are not met, the lane change status management unit 39 cancels the lane restoration proposal.

[0082] During the overtaking proposal process, when the lane change assist switch 186 of the occupant operation input device 18 approves the overtaking proposal, the lane change status management unit 39 illuminates the direction indicator. For example, the lane change status management unit 39 can illuminate the direction indicator immediately after the lane change assist switch 186 is operated.

[0083] Furthermore, when the occupant approves the overtaking proposal, the lane change determination unit 38 can determine whether the prescribed overtaking execution conditions are met. The overtaking execution conditions can, for example, be the same as the conditions for continuing the overtaking proposal.

[0084] When the occupants approve the overtaking proposal and the overtaking execution conditions are met, the lane change status management unit 39 initiates automatic lane change. During automatic lane change, the lane change status management unit 39 initiates lane change operation to move the vehicle 1 towards the destination lane.

[0085] During the continued restoration of the lane proposal, when the occupant operates the lane change assist switch 186 of the input device 18 to approve the restoration of the lane proposal, the lane change status management unit 39 illuminates the direction indicator. For example, when the lane change assist switch 186 is operated, the lane change status management unit 39 can immediately illuminate the direction indicator.

[0086] Furthermore, once the occupant approves the lane restoration proposal, the lane change determination unit 38 determines whether the conditions for lane restoration are met. The conditions for lane restoration can, for example, be the same as the conditions for continuing the lane restoration proposal.

[0087] When the occupants approve the lane restoration proposal and the conditions for lane restoration are met, the lane change status management unit 39 initiates automatic lane change. During automatic lane change, the lane change status management unit 39 initiates a lane change operation to move the vehicle 1 back to its original lane.

[0088] When a route proposal is presented, the lane change status management unit 39 determines whether the prescribed conditions for continuing the route proposal are met. For example, the conditions for continuing the route proposal may include the following:

[0089] • The route driving assistance function is effective.

[0090] • The lane that this vehicle is currently traveling in is different from the target lane.

[0091] • The distance dr from the current position of vehicle 1 to the location of the change of driving direction is less than the distance da and more than the distance db.

[0092] • The distance d between other vehicles in the destination lane and this vehicle 1 in the direction of lane extension is greater than or equal to the distance threshold Dp.

[0093] In the route travel proposal continuation conditions, the interval threshold Dp is set to the value d2.

[0094] During the continuation of the route proposal, when the occupant approves the route proposal by operating the lane change assist switch 186 on the input device 18, the lane change determination unit 38 determines whether the prescribed route execution conditions are met. The route execution conditions can be the same as the conditions for continuing the route proposal. In addition, the lane change determination unit 38 determines whether a lane change to the target lane can be performed (for example, whether conditions such as lane markings not prohibiting lane changes or the road curvature radius being above a threshold are met).

[0095] When the route execution conditions are met and a lane change to the target lane is permitted, the lane change status management unit 39 illuminates the direction indicator and executes the lane change operation. Furthermore, the lane change status management unit 39 initiates a lane change operation based on the met route execution conditions, thereby moving the vehicle 1 to the destination lane.

[0096] The vehicle behavior control device 19 performs steering control of the vehicle 1 by controlling the action of the steering actuator based on instructions from the lane change status management unit 39.

[0097] (action)

[0098] Figure 4This is a flowchart illustrating an example of the process for handling an overtaking proposal. In step S1, the overtaking proposal determination unit 35 determines whether there is a vehicle traveling ahead of the vehicle 1. If there is a vehicle traveling ahead (step S1: Yes), the process proceeds to step S2. If there is no vehicle traveling ahead (step S1: No), the process ends.

[0099] In step S2, the overtaking proposal determination unit 35 determines whether the relative speed Vr of the preceding vehicle is less than the threshold speed Vt. If the relative speed Vr is less than the threshold speed Vt (step S2: Yes), the process proceeds to step S3. If the relative speed Vr is not less than the threshold speed Vt (step S2: No), the process ends. In step S3, the overtaking proposal determination unit 35 sets the interval threshold Dp to the value d1.

[0100] In step S4, the overtaking proposal determination unit 35 determines whether the distance d between other vehicles in the destination lane and the vehicle 1 is greater than or equal to the distance threshold Dp. If the distance d is greater than or equal to the distance threshold Dp (step S4: Yes), the process proceeds to step S5. If the distance d is not greater than or equal to the distance threshold Dp (step S4: No), the process ends.

[0101] In step S5, the override proposal determination unit 35 determines whether the override assistance function is valid. If the override assistance function is valid (step S5: Yes), the process proceeds to step S6. If the override assistance function is invalid (step S5: No), the process ends.

[0102] In step S6, the overtaking proposal judgment unit 35 outputs an overtaking proposal request to the coordination unit 37. In step S7, the coordination unit 37 coordinates the overtaking proposal request and the route travel proposal request. Then the process ends.

[0103] Figure 5 This is a flowchart of an example of the process when resuming a lane proposal. In step S10, the overtaking proposal determination unit 35 sets the interval threshold Dp to the value d1.

[0104] In step S11, the overtaking proposal determination unit 35 determines whether the distance d between other vehicles in the destination lane and the vehicle 1 is greater than or equal to the distance threshold Dp. If the distance d is greater than or equal to the distance threshold Dp (step S11: Yes), the process proceeds to step S12. If the distance d is not greater than or equal to the distance threshold Dp (step S11: No), the process ends.

[0105] In step S12, the override proposal determination unit 35 determines whether the override assistance function is valid. If the override assistance function is valid (step S12: Yes), the process proceeds to step S13. If the override assistance function is invalid (step S12: No), the process ends.

[0106] In step S13, the overtaking proposal judgment unit 35 outputs a lane restoration proposal request to the coordination unit 37. In step S14, the coordination unit 37 coordinates the lane restoration proposal request and the route travel proposal request. Then the process ends.

[0107] Figure 6 This is a flowchart illustrating an example of route proposal processing. In step S20, the route proposal determination unit 36 ​​selects a target lane for traveling along the target route.

[0108] In step S21, the route proposal determination unit 36 ​​determines whether the route driving assistance function is effective. If the route driving assistance function is effective (step S21: Yes), the process proceeds to step S22. If the route driving assistance function is ineffective (step S21: No), the process ends.

[0109] In step S22, the route proposal determination unit 36 ​​determines whether the driving lane of the vehicle 1 and the target lane are different. If the driving lane of the vehicle 1 and the target lane are different (step S22: Yes), the process proceeds to step S23. If the driving lane of the vehicle 1 and the target lane are the same (step S22: No), the process ends.

[0110] In step S23, the route proposal determination unit 36 ​​determines whether a lane change to the target lane is permissible. If a lane change to the target lane is permissible (step S23: Yes), the process proceeds to step S24. If a lane change to the target lane is not permissible (step S23: No), the process ends.

[0111] In step S24, the route proposal determination unit 36 ​​determines whether the distance dr from the current position of the vehicle 1 to the location of the change in driving direction is less than or equal to distance da and greater than distance db. If the distance dr is less than or equal to distance da and greater than distance db (step S24: Yes), the process proceeds to step S25. If the distance dr is not less than or equal to distance da and greater than distance db (step S24: No), the process ends.

[0112] In step S25, the route proposal determination unit 36 ​​outputs a route proposal request to the coordination unit 37. In step S26, the coordination unit 37 coordinates the overtaking proposal request and the route proposal request. Alternatively, it coordinates the lane restoration proposal request and the route proposal request. Then the process ends.

[0113] Figure 7This is a flowchart illustrating an example of the process when performing a lane change in the event of an overtaking proposal. In step S30, the lane change status management unit 39 prompts the occupant with an overtaking proposal. In step S31, the lane change status management unit 39 sets the interval threshold Dp to the value d2.

[0114] In step S32, the lane change status management unit 39 determines whether the relative speed Vr of the preceding vehicle is less than the threshold speed Vt. If the relative speed Vr is less than the threshold speed Vt (step S32: Yes), the process proceeds to step S33. If the relative speed Vr is not less than the threshold speed Vt (step S37: No), the process proceeds to step S37.

[0115] In step S33, the lane change status management unit 39 determines whether the overtaking assist function is effective. If the overtaking assist function is effective (step S33: Yes), the process proceeds to step S34. If the overtaking assist function is ineffective (step S33: No), the process proceeds to step S37.

[0116] In step S34, the lane change status management unit 39 determines whether the interval d between other vehicles in the destination lane and the vehicle 1 is greater than or equal to the interval threshold Dp. If the interval d is greater than or equal to the interval threshold Dp (step S34: Yes), the process proceeds to step S35. If the interval d is not greater than or equal to the interval threshold Dp (step S34: No), the process proceeds to step S37.

[0117] In step S35, the lane change status management unit 39 determines whether the occupant has approved the overtaking proposal. If the occupant has approved the overtaking proposal (step S35: Yes), the process proceeds to step S36. If the occupant has not approved the overtaking proposal (step S35: No), the process returns to step S32.

[0118] In step S36, the lane change determination unit 38 determines whether the overtaking execution conditions are met. If the overtaking execution conditions are met, the lane change status management unit 39 executes a lane change that moves the vehicle 1 into the destination lane. Then the process ends. In step S37, the lane change status management unit 39 cancels the overtaking proposal. Then the process ends.

[0119] Figure 8 This is a flowchart illustrating an example of the process when performing a lane change after resuming a lane proposal. In step S40, the lane change status management unit 39 prompts the occupant to resume the lane proposal. In step S41, the lane change status management unit 39 sets the interval threshold Dp to the value d2.

[0120] In step S42, the lane change status management unit 39 determines whether the overtaking assist function is effective. If the overtaking assist function is effective (step S42: Yes), the process proceeds to step S43. If the overtaking assist function is ineffective (step S42: No), the process proceeds to step S46.

[0121] In step S43, the lane change status management unit 39 determines whether the interval d between other vehicles in the destination lane and the vehicle 1 is greater than or equal to the interval threshold Dp. If the interval d is greater than or equal to the interval threshold Dp (step S44: Yes), the process proceeds to step S44. If the interval d is not greater than or equal to the interval threshold Dp (step S43: No), the process proceeds to step S46.

[0122] In step S44, the lane change status management unit 39 determines whether the occupant has approved the overtaking proposal. If the occupant has approved the overtaking proposal (step S44: Yes), the process proceeds to step S45. If the occupant has not approved the overtaking proposal (step S45: No), the process returns to step S42.

[0123] In step S45, the lane change determination unit 38 determines whether the lane return execution conditions are met. If the lane return execution conditions are met, the lane change status management unit 39 performs an automatic lane change that returns the vehicle 1 to its original lane before overtaking. Then the process ends. In step S46, the automatic lane change is canceled. Then the process ends.

[0124] Figure 9 This is a flowchart illustrating an example of the process for performing a lane change when a route proposal has been adopted. In step S50, the lane change status management unit 39 prompts the occupant with the route proposal. In step S51, the lane change status management unit 39 sets the interval threshold Dp to the value d2.

[0125] In step S52, the lane change status management unit 39 determines whether the route driving assistance function is effective. If the route driving assistance function is effective (step S52: Yes), the process proceeds to step S53. If the route driving assistance function is ineffective (step S52: No), the process proceeds to step S62.

[0126] In step S53, the lane change status management unit 39 determines whether the driving lane of the vehicle 1 and the target lane are different. If the driving lane of the vehicle 1 and the target lane are different (step S53: Yes), the process proceeds to step S54. If the driving lane of the vehicle 1 and the target lane are the same (step S53: No), the process proceeds to step S62.

[0127] In step S54, the lane change status management unit 39 determines whether the distance dr from the current position of the vehicle 1 to the direction change location is less than or equal to distance da and greater than distance db. If the distance dr is less than or equal to distance da and greater than distance db (step S54: Yes), the process proceeds to step S55. If the distance dr is not less than or equal to distance da and greater than distance db (step S54: No), the process proceeds to step S62.

[0128] In step S55, the lane change status management unit 39 determines whether the occupant has approved the route proposal. If the occupant has approved the route proposal (step S55: Yes), the process proceeds to step S56. If the occupant has not approved the route proposal (step S55: No), the process returns to step S52.

[0129] In steps S56 to S58, the lane change determination unit 38 performs the same processing as in steps S52 to S54. If the distance dr to the direction change location is less than or equal to the distance da and greater than the distance db (step S58: Yes), the process proceeds to step S59.

[0130] In step S59, the lane change determination unit 38 determines whether a lane change to the target lane can be performed. If a lane change to the target lane can be performed (step S59: Yes), the process proceeds to step S60. If a lane change to the target lane cannot be performed (step S59: No), the process returns to step S56.

[0131] In step S60, the lane change determination unit 38 determines whether the interval d between other vehicles in the destination lane and the vehicle 1 is greater than or equal to the interval threshold Dp. If the interval d is greater than or equal to the interval threshold Dp (step S60: Yes), the process proceeds to step S61. If the interval d is not greater than or equal to the interval threshold Dp (step S60: No), the process returns to step S56.

[0132] In step S61, the lane change status management unit 39 performs an automatic lane change that moves the vehicle 1 into the destination lane. Then the process ends. In step S62, the lane change status management unit 39 cancels the automatic lane change. Then the process ends.

[0133] (Effects of the implementation method)

[0134] (1) The controller 20 executes a lane change proposal and performs lane change driver assistance control based on autonomous driving control based on the occupant's approval behavior. When the controller 20 detects a vehicle traveling at a speed relatively lower than the vehicle speed of the vehicle 1, it performs the following processing: when it is determined that the distance between the vehicle 1 and other vehicles in the first adjacent lane is greater than or equal to a first threshold, it initiates a lane change proposal (suggestion) to the first adjacent lane; it continues the lane change proposal to the first adjacent lane if the first distance is greater than or equal to a second threshold smaller than the first threshold; and if the occupant's approval behavior is performed during the lane change proposal to the first adjacent lane, it activates the direction indicator on the first adjacent lane side.

[0135] In this way, by setting a condition for continuing the lane change proposal at a more lenient first interval than the initial lane change proposal condition, and combining this with a condition for activating the turn signal, the lane change proposal can continue even if the distance between the lane change proposal and other vehicles in adjacent lanes changes after the lane change proposal has been made. Furthermore, since the turn signal can be activated as the approval (agreement) action is performed, the distance between the lane change proposal and other vehicles in adjacent lanes is unlikely to change after the turn signal is activated. Therefore, the frequency of lane change proposal cancellations after a lane change has been made can be reduced.

[0136] In addition, it can reduce the possibility that passengers may mistakenly approve a proposal even if it is canceled immediately after the proposal is changed lanes.

[0137] (2) If the controller 20 receives occupant approval during the process of proposing a lane change to the first adjacent lane, it may begin lateral movement of the vehicle 1 toward the first adjacent lane if the first interval is at least a second threshold. In this way, by combining the conditions for continuing the lane change proposal and the conditions for starting lateral movement, even if lateral movement does not begin even if the proposal is approved, the occupant can easily recognize that the situation of the first adjacent lane has changed since the moment the approval was made.

[0138] (3) The controller 20 can perform the following processing: setting the location of the proposed lane change to the second adjacent lane based on a preset target driving path; proposing a lane change to the second adjacent lane when the vehicle 1 arrives at the proposed location; determining whether the occupant has approved the proposal to change lanes to the second adjacent lane; if the occupant has approved the proposal to change lanes to the second adjacent lane, and if it is determined that the distance between the vehicle 1 and other vehicles in the second adjacent lane is greater than or equal to a second threshold, then activating the direction indicator on the second adjacent lane side; and starting the vehicle 1 to move laterally towards the second adjacent lane side based on the condition that the second distance is greater than or equal to the second threshold. Thus, when proposing a lane change based on a preset target driving path, by not judging the available space in the second adjacent lane at the time of proposal, the proposal can be made at the desired time (i.e., the occupant's intention can be confirmed at an early stage). Thus, the distance traveled from the time of approval to the start of lateral movement can be ensured. In addition, it can suppress the situation where the proposal is immediately canceled due to changes in the surrounding environment after the proposal. Furthermore, by using the same second threshold as the one used in determining the available space in adjacent lanes after the proposal is approved, both in the lane change proposal made by vehicle 1 based on the target driving path and in the lane change proposal caused by a vehicle traveling slower than vehicle 1, a series of system judgments on lane changes after the approved behavior can be unified, thus making it easier for occupants to predict the actions of the vehicle after the approved behavior.

[0139] All examples and conditional terms described herein are intended for illustrative purposes to aid the reader's understanding of the invention and the concepts provided by the inventors for technological advancement, and should be understood as not being limited to the specific examples and conditions described above, as well as the structures of the examples in this specification relating to the superiority and inferiority of the invention. While embodiments of the invention have been described in detail, it should be understood that various changes, substitutions, and modifications can be made thereto without departing from the spirit and scope of the invention.

[0140] Symbol Explanation

[0141] 1: This vehicle; 10: Driving assistance device; 11: Sensor; 12: Positioning device; 13: Map database; 14: In-vehicle equipment; 15: Navigation system; 16: Display device; 17: Audio output device; 18: Input device; 19: Vehicle behavior control device; 20: Controller.

Claims

1. A driving assistance method that proposes a lane change and performs autonomous driving control lane change based on the occupant's approved behavior, characterized in that, The controller should perform the following processing: If a vehicle traveling ahead at a speed relatively lower than the vehicle's speed is detected, and it is determined that the distance between the vehicle and other vehicles in the first adjacent lane, i.e., the first distance, is greater than or equal to a first threshold, then the processing of a lane change proposal to the first adjacent lane begins. During the period when the first interval is greater than or equal to a second threshold which is smaller than the first threshold, the proposal to change lanes to the first adjacent lane continues from the start of the proposal to change lanes to the first adjacent lane. If the first interval is less than the second threshold during the period of making the proposal to change lanes to the first adjacent lane, the processing of the lane change proposal is cancelled. If the occupant approves the lane change proposal during the process of making the proposal to change lanes to the first adjacent lane, the process of activating the direction indicator on the side of the first adjacent lane.

2. The driving assistance method as described in claim 1, characterized in that, If the occupant approves the lane change proposal during the process of the controller making the proposal to change lanes to the first adjacent lane, the controller will start to move the vehicle laterally toward the first adjacent lane if the first interval is greater than or equal to the second threshold.

3. The driving assistance method as described in claim 1 or 2, characterized in that, Perform the following processing: Based on the pre-set target driving path, the location where the proposal changes lanes to the second adjacent lane is set, i.e., the proposal location is processed. When the vehicle arrives at the proposed location, the proposed lane change to the second adjacent lane is processed. Determine whether the passenger has approved the proposal to change lanes to the second adjacent lane; In the case of the approval action for the lane change proposal to the second adjacent lane, if it is determined that the distance between the vehicle and other vehicles in the second adjacent lane, i.e. the second distance, is greater than or equal to the second threshold, then the process of activating the direction indicator on the second adjacent lane side is performed. The process of initiating lateral movement of the vehicle toward the second adjacent lane side is initiated when the second interval is equal to or greater than the second threshold.

4. A driving assistance device that proposes a lane change and performs autonomous driving control of the lane change based on the occupant's approved behavior, characterized in that, It has a controller that performs the following processing: If a vehicle traveling ahead at a speed relatively lower than the vehicle's speed is detected, and it is determined that the distance between the vehicle and other vehicles in the first adjacent lane, i.e., the first distance, is greater than or equal to a first threshold, then the processing of a lane change proposal to the first adjacent lane begins. During the period when the first interval is greater than or equal to a second threshold which is smaller than the first threshold, the proposal to change lanes to the first adjacent lane continues from the start of the proposal to change lanes to the first adjacent lane. If the first interval is less than the second threshold during the period of making the proposal to change lanes to the first adjacent lane, the processing of the lane change proposal is cancelled. If the occupant approves the lane change proposal during the process of making the proposal to change lanes to the first adjacent lane, the process of activating the direction indicator on the side of the first adjacent lane.

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