Front vehicle recognition device for vehicle

Abstract

The present invention provides a preceding vehicle recognition device for a vehicle capable of quickly cancelling registration of a vehicle which is wrongly registered as a preceding vehicle during a transition of lane change. The travel ECU (14) temporarily registers a preceding vehicle (P) existing in a target lane of a lane change destination as a preceding vehicle at the time of a transition from start to end of the lane change of the host vehicle (O), and, after the host vehicle (O) has moved to the target lane, determines that the temporarily registered preceding vehicle is a parallel vehicle continuously for a set number of times, and if the determination has been made that the temporarily registered preceding vehicle is a parallel vehicle. The temporary registration of the preceding vehicle is released.

Description

Technical Field

[0001] The present invention relates to a front vehicle recognition device for recognizing a front vehicle traveling in front of a lane in which a vehicle is traveling. Background Art

[0002] In recent years, in the field of automobiles and other vehicles, many vehicles equipped with driving assistance devices have been put into practical use. Driving assistance devices basically implement driving assistance control by executing following vehicle distance control (ACC: Adaptive Cruise Control) and lane center keeping control (ALKC: Active Lane Keep Centering).

[0003] In the following vehicle distance control, the constant speed driving control and the following driving control are basically selectively performed. The constant speed driving control is a control for maintaining the vehicle speed of the host vehicle at the set vehicle speed set by the driver. The constant speed driving control is selected when there is no preceding vehicle registered in front of the host vehicle to be followed. On the other hand, the following driving control is a control for the driving assistance device to maintain the vehicle distance between the host vehicle and the preceding vehicle at the target vehicle distance. The following driving control is selected when there is a preceding vehicle registered in front of the host vehicle.

[0004] Here, the registration of the vehicle ahead is basically performed for the vehicle ahead of the lane in which the vehicle is traveling. Therefore, when the vehicle starts changing lanes, the registration of the vehicle ahead is temporarily canceled until the vehicle moves from the original lane to the target lane. In this regard, for example, Patent Document 1 discloses a technology that registers a vehicle in the target lane as the vehicle ahead in advance when the vehicle satisfies a predetermined condition even during the transition of the vehicle's lane change.

[0005] Prior art literature Patent Literature Patent Document 1: Japanese Patent Application Publication No. 2021-62760 Summary of the invention Technical issues However, during the transition of lane change, the lane recognition accuracy is lower than usual. In particular, when there is a curve ahead of the vehicle, the distinction between the target lane and lanes other than the target lane becomes blurred. In addition, during the transition of lane change, if a vehicle traveling in a lane other than the target lane is misregistered as the vehicle ahead in advance, unnecessary deceleration may be performed due to following driving control, etc.

[0006] An object of the present invention is to provide a vehicle ahead recognition device capable of quickly deregistering a vehicle that has been mistakenly registered as a ahead vehicle during a transition period of a lane change.

[0007] Technical Solution A vehicle ahead identification device of one form of the present invention comprises: a driving environment identification device that identifies driving environment information including lanes on a road and vehicles; a lane change determination device that determines a lane change of the vehicle; a front vehicle temporary registration device that temporarily registers a vehicle existing in a target lane of a lane change destination as a front vehicle during a transition from the start to the end of the lane change of the vehicle ahead; and a temporary registration release device that releases the temporary registration when, after the vehicle ahead moves to the target lane, the determination that the vehicle ahead is a parallel vehicle is continuously performed for a set number of times.

[0008] In addition, a front vehicle identification device of another form of the present invention includes a processor, which identifies driving environment information including lanes on the road and vehicles, and determines the lane change of the vehicle. During the transition from the start to the end of the lane change of the vehicle, a vehicle existing in a target lane at the lane change destination is temporarily registered as the front vehicle. After the vehicle moves to the target lane, when the determination that the front vehicle is a parallel vehicle is continuously performed for a set number of times, the temporary registration is released.

[0009] Technical Effects According to the vehicle forward vehicle recognition device of the present invention, it is possible to quickly deregister a vehicle that has been mistakenly registered as a forward vehicle during a transition period of a lane change. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a diagram schematically showing the configuration of a driving assistance device for a vehicle.

[0011] Figure 2 It is an explanatory diagram showing a preceding vehicle registered in the lane in which the own vehicle is traveling.

[0012] Figure 3 It is an explanatory diagram showing a leading vehicle that is temporarily registered when changing lanes.

[0013] Figure 4 It is an explanatory diagram showing a preceding vehicle registered in the lane in which the host vehicle is traveling after a lane change.

[0014] Figure 5 1 is a flowchart showing a procedure for registering and cancelling a preceding vehicle.

[0015] Figure 6 is a flowchart showing a temporary registration procedure of a leading vehicle.

[0016] Figure 7 1 is a flowchart showing a procedure for releasing temporary registration of a preceding vehicle.

[0017] Figure 8 This is a flowchart showing a procedure for releasing temporary registration of a preceding vehicle (part 2).

[0018] Fig. 9 1 is an image diagram showing a traveling environment image when a lane change starts.

[0019] Fig.10 is an image diagram showing a traveling environment image after moving to a target lane.

[0020] Explanation of symbols 1…Driving assistance devices 10…Camera unit 11…Stereo camera 11a…Main Camera 11b…Secondary camera 13…Image recognition_ECU 14…Driving_ECU 21…CP_ECU 22…E / G_ECU 23…T / M_ECU 24…BK_ECU 25…PS_ECU 31a…Driver assistance switch 31b…Turn signal switch 32…Throttle actuator 33…Hydraulic control circuit 34…Brake actuator 35…Electric power steering motor DETAILED DESCRIPTION Hereinafter, the present invention will be described with reference to the accompanying drawings. Figure 1 This is a diagram schematically showing the configuration of a driving assistance device for a vehicle.

[0021] like Figure 1 As shown in FIG. 1 , the driving assistance device 1 is configured to include a camera unit 10. The camera unit 10 is fixed to the center of the upper front portion of the interior of the vehicle (host vehicle) O, for example.

[0022] The camera unit 10 has a stereo camera 11 as a photographing device, an image processing unit (IPU) 12 , an image recognition unit (image recognition_ECU) 13 , and a travel control unit (travel_ECU) 14 .

[0023] The stereo camera 11 includes a main camera 11a and a sub-camera 11b as sensors. The main camera 11a and the sub-camera 11b are configured with imaging elements such as CMOS. The main camera 11a and the sub-camera 11b are arranged at left-right symmetrical positions across the center of the vehicle width direction, for example. Thus, the main camera 11a and the sub-camera 11b perform stereoscopic imaging from different viewpoints in the driving environment of the front area outside the vehicle at a predetermined imaging cycle that is synchronized with each other.

[0024] The IPU 12 performs predetermined image processing on the driving environment image captured by the stereo camera 11. As a result, the IPU 12 detects the edges of various objects such as three-dimensional objects and dividing lines on the road surface represented on the image. In addition, the IPU 12 obtains distance information based on the positional offset of the corresponding edges on the left and right images. As a result, the IPU 12 generates image information (distance image information) including the distance information.

[0025] Image recognition_ECU13 recognizes lane dividing lines that divide lanes on the road based on the distance image information received from IPU12. For example, image recognition_ECU13 obtains the curvature of the left and right lane dividing lines that divide each lane on the road [1 / m], and the width between the left and right dividing lines (lane width). In addition, image recognition_ECU13 calculates the lane width from the difference in curvature of the left and right dividing lines. By the recognition processing of these lane dividing lines, image recognition_ECU13 recognizes the lane on the road including the lane where the host vehicle O is traveling (host vehicle driving lane).

[0026] In addition, the image recognition_ECU13 performs predetermined pattern matching on the distance image information. Thus, the image recognition_ECU13 recognizes three-dimensional objects such as guardrails and curbstones extending along the road and surrounding vehicles traveling on the road. Here, in the recognition of three-dimensional objects in the image recognition_ECU13, for example, the type of the three-dimensional object, the distance to the three-dimensional object, the speed of the three-dimensional object, and the relative speed between the three-dimensional object and the host vehicle O are recognized.

[0027] Various types of information recognized by the image recognition_ECU 13 are output to the driving_ECU 14 as driving environment information.

[0028] The travel_ECU 14 is a control unit for overall control of the driving assistance device 1 .

[0029] Various control units such as a cockpit control unit (CP_ECU) 21, an engine control unit (E / G_ECU) 22, a transmission control unit (T / M_ECU) 23, a brake control unit (BK_ECU) 24, and a power steering control unit (PS_ECU) 25 are connected to the driving_ECU 14 via an in-vehicle communication circuit such as a CAN (Controller Area Network).

[0030] The CP_ECU 21 is connected to a driving assist switch 31 a , a turn signal switch 31 b , and the like as a human machine interface (HMI) disposed around a driver's seat.

[0031] The driving assist switch 31a is a switch for making various settings for driving assist control. For example, the driving assist switch 31a can select a driving assist mode corresponding to the driver's request from a plurality of driving assist modes pre-set in the driving_ECU 14. In addition, the driving assist switch 31a can also set a target vehicle speed (set vehicle speed Vset) when performing a constant speed driving control described later.

[0032] A throttle actuator 32 for electronically controlling throttle and the like are connected to the output side of the E / G_ECU 22. Various sensors such as an accelerator sensor (not shown) are connected to the input side of the E / G_ECU 22.

[0033] The E / G_ECU 22 controls the driving of the throttle actuator 32 and the like based on control signals from the driving_ECU 14 or detection signals from various sensors. Thus, the E / G_ECU 22 adjusts the intake air volume of the engine to generate a desired engine output. In addition, the E / G_ECU 22 outputs signals such as the accelerator opening detected by various sensors to the driving_ECU 14.

[0034] The hydraulic control circuit 33 is connected to the output side of the T / M_ECU 23. In addition, various sensors such as a shift position sensor (not shown) are connected to the input side of the T / M_ECU 23.

[0035] T / M_ECU23 performs drive control of the hydraulic control circuit 33 etc. based on the engine torque signal estimated in E / G_ECU22, detection signals from various sensors etc. Thus, T / M_ECU23 operates the friction engagement member, pulley etc. provided in the automatic transmission to shift the engine output at a desired speed ratio. In addition, T / M_ECU23 outputs signals such as the gear position detected by various sensors etc. to the driving_ECU14.

[0036] The output side of BK_ECU24 is connected to a brake actuator 34 for adjusting the brake fluid pressure output to the wheel cylinders provided at each wheel. In addition, the input side of BK_ECU24 is connected to various sensors such as a vehicle speed sensor, a yaw rate sensor, a brake pedal sensor, and a front and rear acceleration sensor.

[0037] The BK_ECU 24 performs drive control on the brake actuator 34 and the like based on the control signal from the driving_ECU 14 or the detection signals from various sensors. Thus, the BK_ECU 24 appropriately generates a braking force on each wheel for performing a compulsory braking control and / or a yaw rate control on the host vehicle O. In addition, the BK_ECU 24 outputs signals such as the brake operation state, the yaw rate, the longitudinal acceleration, and the host vehicle speed detected by various sensors to the driving_ECU 14.

[0038] An electric power steering motor 35 that applies a steering torque caused by a rotational force of the motor to a steering mechanism is connected to the output side of the PS_ECU 25. Various sensors such as a steering torque sensor and a steering angle sensor are connected to the input side of the PS_ECU 25.

[0039] The PS_ECU 25 controls the driving of the electric power steering motor 35 and the like based on the control signal from the driving_ECU 14 or the detection signal from various sensors. Thus, the PS_ECU 25 generates a steering torque for the steering mechanism. In addition, the PS_ECU 25 outputs the steering torque and the steering angle and other signals detected by various sensors to the driving_ECU 14.

[0040] The travel_ECU 14 performs driving assistance control by, for example, outputting various control signals to the E / G_ECU 22 , the T / M_ECU 23 , the BK_ECU 24 , and the PS_ECU 25 .

[0041] The driving assistance control is realized by appropriately combining the following vehicle distance control (ACC: Adaptive Cruise Control), lane centering control (ALKC: Active Lane Keep Centering), emergency lane departure prevention control (ELKA: Emergency Lane Keep Assist) and automatic lane change control (ALC: Auto Lane Changing). For example, the driving_ECU 14 realizes the driving assistance control corresponding to the driving assistance mode selected by the driver by appropriately combining each control.

[0042] The following vehicle distance control is realized by selectively executing the following driving control and the constant speed driving control. In the following vehicle distance control, the driving_ECU14 performs the registration process of the leading vehicle based on the driving environment information. That is, when there is a leading vehicle that meets the predetermined registration conditions in front of the vehicle O, the driving_ECU14 registers the leading vehicle as the leading vehicle. Then, when there is a leading vehicle registered in front of the vehicle O, the driving_ECU14 performs the following driving control. In the following driving control, the driving_ECU14 sets the target vehicle distance corresponding to the speed of the leading vehicle, etc., and performs the acceleration and deceleration control for maintaining the set target vehicle distance. On the other hand, when there is no registered leading vehicle L in front of the vehicle O, the driving_ECU14 performs the constant speed driving control. In the constant speed driving control, the driving_ECU14 uses the set vehicle speed Vset input by the driver as the target vehicle speed to perform the acceleration and deceleration control of the vehicle O.

[0043] The lane center maintenance control and lane departure suppression control are performed based on the lane dividing line information included in the driving environment information. That is, the driving_ECU 14 sets a target travel path along the left and right lane dividing lines in the center of the lane where the vehicle is traveling, for example. Then, the driving_ECU 14 performs feedforward control and feedback control of the steering based on the target travel path. Thus, the driving_ECU 14 maintains the vehicle O in the center of the lane.

[0044] The automatic lane change control is performed based on the lane dividing line information and the like included in the driving environment information. That is, the driving_ECU 14 sets a target lateral position in a lane adjacent to the driving lane of the host vehicle. In addition, the driving_ECU 14 sets a target path from the target route of the host vehicle O to the target lateral position. Then, the driving_ECU 14 performs feedforward control and feedback control of the steering along the target path. Thus, the driving_ECU 14 performs a lane change to an adjacent lane.

[0045] However, in the above-mentioned following vehicle distance control, the driving_ECU 14 basically registers the vehicle (the preceding vehicle) traveling ahead of the host vehicle's driving lane as the preceding vehicle. Therefore, the registration of the preceding vehicle is basically based on the premise that the driving_ECU 14 registers one lane on the road as the host vehicle's driving lane.

[0046] Then, when the preceding vehicle in the lane where the vehicle is traveling meets the pre-set registration conditions, the driving_ECU 14 registers the preceding vehicle as the preceding vehicle. Figure 2As shown, when there is a leading vehicle P1 in the driving lane of the vehicle, when the inter-vehicle distance Dp between the leading vehicle P1 and the vehicle O is less than the set threshold Dth (for example, less than 105 [m]) and the vehicle speed Vp of the leading vehicle P1 is less than the set vehicle speed Vset, the driving_ECU14 registers the leading vehicle P1 as the front vehicle.

[0047] The registration of the preceding vehicle is cancelled when a preset cancellation condition is satisfied. That is, when the preceding vehicle P1 does not satisfy the registration condition as the preceding vehicle in relation to the host vehicle O, the travel_ECU 14 cancels the registration of the preceding vehicle.

[0048] In addition, for example, when the vehicle O starts to change lanes to an adjacent lane, the driving_ECU 14 cancels the registration of the vehicle ahead. This is because the registration of the lane in which the vehicle is traveling is canceled when the lane change starts. It should be noted that the determination of whether to start the lane change is made, for example, by whether the flashing of the turn signal lamp starts. The flashing of the turn signal lamp in this case may be caused by the driver's operation of the turn signal switch 31b, or may be caused by the automatic lane change control.

[0049] Here, at the time of transition from the start of lane change to the end of lane change of the host vehicle O, the travel_ECU 14 exceptionally temporarily registers a vehicle (preceding vehicle) that satisfies a preset temporary registration condition as a preceding vehicle.

[0050] For example, Figure 3 As shown, when there is a preceding vehicle P2 in the target lane as the lane change destination of the host vehicle O, when the inter-vehicle distance Dp between the preceding vehicle P2 and the host vehicle O is less than the set threshold value Dth and the vehicle speed Vp of the preceding vehicle P2 is less than the set vehicle speed Vset, the driving_ECU 14 temporarily registers the preceding vehicle P2 as the preceding vehicle. Then, if the preceding vehicle is temporarily registered, the driving_ECU 14 performs the following driving control of the temporarily registered preceding vehicle.

[0051] Such temporary registration of the preceding vehicle is cancelled when a preset cancellation condition is satisfied. That is, when the preceding vehicle P2 does not satisfy the temporary registration condition as the preceding vehicle in relation to the host vehicle O, the travel_ECU 14 cancels the temporary registration of the preceding vehicle. Figure 4 As shown, when the target lane is registered as the host vehicle driving lane and the preceding vehicle P2 is formally registered as the preceding vehicle traveling in the host vehicle driving lane, the travel_ECU 14 progressively cancels the temporary registration of the preceding vehicle P2 as the preceding vehicle.

[0052] In addition, when the driving_ECU 14 determines that the temporary registration of the front vehicle is made by mistake, the temporary registration of the front vehicle is cancelled. For example, after the host vehicle O moves to the target lane by lane change, when the determination that the preceding vehicle P2 temporarily registered as the preceding vehicle is a parallel vehicle is continuously performed for a set number of times (for example, 3 frames), the driving_ECU 14 cancels the temporary registration as the preceding vehicle. In this case, when the lane dividing line dividing the target lane is unclear, it is preferable to determine whether the preceding vehicle is a parallel vehicle after a set time (for example, 2 [s]) has passed since the host vehicle O moved to the target lane.

[0053] Then, follow the Figure 5 The flowchart of the preceding vehicle registration and deregistration routine shown in FIG. 1 will explain the preceding vehicle registration and deregistration processing. This routine is repeatedly executed by the travel_ECU 14 at set time intervals.

[0054] When the routine starts, the driving_ECU 14 checks in step S101 whether the host vehicle O is changing lanes.

[0055] Then, in step S101 , when it is determined that the host vehicle O is changing lanes (step S101 : Yes), the travel_ECU 14 exits the routine without changing.

[0056] On the other hand, when it is determined in step S101 that the host vehicle O is not changing lanes (step S101 : No), the travel_ECU 14 proceeds to step S102 .

[0057] In step S102 , the travel_ECU 14 checks whether there is currently a preceding vehicle P registered as a preceding vehicle.

[0058] Then, in step S102 , when it is determined that there is a preceding vehicle P registered as a preceding vehicle (step S102 : Yes), the travel_ECU 14 proceeds to step S109 .

[0059] On the other hand, when it is determined in step S102 that there is no preceding vehicle P registered as the preceding vehicle (step S102 : No), the travel_ECU 14 proceeds to step S103 .

[0060] In step S103 , the travel_ECU 14 checks whether a lane on the road is currently registered as the vehicle travel lane.

[0061] Then, in step S103 , when it is determined that the vehicle travel lane is not registered (step S103 : No), the travel_ECU 14 exits the routine without changing.

[0062] On the other hand, when it is determined in step S103 that the vehicle travel lane is registered (step S103 : Yes), the travel_ECU 14 proceeds to step S104 .

[0063] In step S104 , the travel_ECU 14 checks whether there is a vehicle (previous vehicle P) in the lane in which the host vehicle is traveling.

[0064] Then, in step S104 , when it is determined that there is no preceding vehicle P in the lane in which the vehicle is traveling (step S104 : No), the traveling_ECU 14 exits the routine without changing.

[0065] On the other hand, when it is determined in step S104 that there is a preceding vehicle P in the lane in which the vehicle is traveling (step S104 : Yes), the travel_ECU 14 proceeds to step S105 .

[0066] In step S105 , the travel_ECU 14 checks whether the inter-vehicle distance Dp between the preceding vehicle P and the host vehicle O is smaller than a set threshold value Dth.

[0067] Then, in step S105 , when it is determined that the inter-vehicle distance Dp is equal to or larger than the set threshold value Dth (step S105 : No), the travel_ECU 14 exits the routine without changing.

[0068] On the other hand, when it is determined in step S105 that the inter-vehicle distance Dp is smaller than the set threshold value Dth (step S105 : Yes), the travel_ECU 14 proceeds to step S106 .

[0069] In step S106 , the travel_ECU 14 investigates whether the vehicle speed Vp of the preceding vehicle P is lower than the set vehicle speed Vset of the host vehicle O. As shown in FIG.

[0070] Then, in step S106 , when it is determined that the vehicle speed Vp of the preceding vehicle P is equal to or higher than the set vehicle speed Vset (step S106 : No), the travel_ECU 14 exits the routine without changing.

[0071] On the other hand, in step S106 , when it is determined that the vehicle speed Vp of the preceding vehicle P is lower than the set vehicle speed Vset (step S106 : Yes), the travel_ECU 14 proceeds to step S107 .

[0072] In step S107 , the travel_ECU 14 checks whether the state in which the inter-vehicle distance Dp is smaller than the set threshold value Dth and the vehicle speed Vp is smaller than the set vehicle speed Vset continues for a set frame.

[0073] Then, in step S107 , if it is determined that the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset for a set frame (step S107 : No), the travel_ECU 14 exits the routine without changing.

[0074] On the other hand, in step S107 , if it is determined that the inter-vehicle distance Dp is smaller than the set threshold value Dth and the vehicle speed Vp is smaller than the set vehicle speed Vset for a set frame (step S107 : Yes), the travel_ECU 14 proceeds to step S108 .

[0075] When the process proceeds from step S107 to step S108 , the driving_ECU 14 registers the preceding vehicle P as the preceding vehicle and then exits the routine.

[0076] In addition, when the process proceeds from step S102 to step S109, the driving_ECU 14 checks whether the conditions for cancelling the registration of the vehicle ahead are satisfied. As the cancelling condition, the driving_ECU 14 checks, for example, whether the vehicle ahead has disappeared from the driving lane of the vehicle. In addition, as the cancelling condition, the driving_ECU 14 checks, for example, whether the state where the vehicle distance Dp is greater than the set threshold value Dth has continued for a set frame. In addition, as the cancelling condition, the driving_ECU 14 checks, for example, whether the state where the vehicle speed Vp is greater than the set vehicle speed Vset has continued for a set time.

[0077] Then, in step S109 , when it is determined that the cancellation condition for the preceding vehicle registration is satisfied (step S109 : Yes), the travel_ECU 14 proceeds to step S111 .

[0078] On the other hand, when it is determined in step S109 that the cancellation condition for the preceding vehicle registration is not satisfied (step S109 : NO), the travel_ECU 14 proceeds to step S110 .

[0079] In step S110 , the driving_ECU 14 checks whether the turn signal lamp for the adjacent lane has started blinking.

[0080] Then, in step S110 , when it is determined that the turn signal lamp is not flashing (step S110 : NO), the driving_ECU 14 exits the routine without changing.

[0081] On the other hand, when it is determined in step S110 that the blinking of the turn signal lamp has started (step S110 : YES), the driving_ECU 14 proceeds to step S111 .

[0082] When the process proceeds from step S109 or step S110 to step S111 , the driving_ECU 14 cancels the preceding vehicle registration of the preceding vehicle P and then exits the routine.

[0083] Then, follow the Figure 6 The flowchart of the temporary registration routine of the preceding vehicle shown in FIG. 1 will explain the temporary registration processing of the preceding vehicle. This routine is repeatedly executed by the driving_ECU 14 at set time intervals.

[0084] When the routine is started, the driving_ECU 14 checks in step S201 whether the host vehicle O is changing lanes.

[0085] Then, in step S201 , when it is determined that the host vehicle O is not changing lanes (step S201 : No), the travel_ECU 14 exits the routine without changing.

[0086] On the other hand, when it is determined in step S201 that the host vehicle O is changing lanes (step S201 : Yes), the travel_ECU 14 proceeds to step S202 .

[0087] In step S202 , the travel_ECU 14 checks whether there is currently a preceding vehicle P that is temporarily registered as a preceding vehicle.

[0088] Then, in step S202 , when it is determined that there is a preceding vehicle P that is temporarily registered as the preceding vehicle (step S202 : Yes), the travel_ECU 14 exits the routine without changing.

[0089] On the other hand, when it is determined in step S202 that there is no preceding vehicle P provisionally registered as the preceding vehicle (step S202 : No), the travel_ECU 14 proceeds to step S203 .

[0090] In step S203 , the travel_ECU 14 checks whether there is a vehicle (previous vehicle P) in the target lane of the lane change destination.

[0091] Then, in step S203 , when it is determined that there is no preceding vehicle P in the target lane (step S203 : No), the travel_ECU 14 exits the routine without changing.

[0092] On the other hand, when it is determined in step S203 that the preceding vehicle P is present in the target lane (step S203 : Yes), the travel_ECU 14 proceeds to step S204 .

[0093] In step S204 , the travel_ECU 14 checks whether the inter-vehicle distance Dp between the preceding vehicle P and the host vehicle O is smaller than a set threshold value Dth.

[0094] Then, in step S204 , when it is determined that the inter-vehicle distance Dp is equal to or greater than the set threshold value Dth (step S204 : No), the travel_ECU 14 exits the routine without changing.

[0095] On the other hand, when it is determined in step S204 that the inter-vehicle distance Dp is smaller than the set threshold value Dth (step S204 : Yes), the travel_ECU 14 proceeds to step S205 .

[0096] In step S205 , the travel_ECU 14 investigates whether the vehicle speed Vp of the preceding vehicle P is lower than the set vehicle speed Vset of the host vehicle O.

[0097] Then, in step S205 , when it is determined that the vehicle speed Vp of the preceding vehicle P is equal to or higher than the set vehicle speed Vset (step S205 : No), the travel_ECU 14 exits the routine without changing.

[0098] On the other hand, in step S205 , when it is determined that the vehicle speed Vp of the preceding vehicle P is lower than the set vehicle speed Vset (step S205 : Yes), the travel_ECU 14 proceeds to step S206 .

[0099] In step S206 , the travel_ECU 14 checks whether the state in which the inter-vehicle distance Dp is smaller than the set threshold value Dth and the vehicle speed Vp is smaller than the set vehicle speed Vset continues for a set frame.

[0100] Then, in step S206 , if it is determined that the set frame does not continue in the state where the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset (step S206 : No), the travel_ECU 14 exits the routine without changing.

[0101] On the other hand, in step S206 , if it is determined that the inter-vehicle distance Dp is less than the set threshold Dth and the vehicle speed Vp is less than the set vehicle speed Vset for a set frame (step S206 : Yes), the travel_ECU 14 proceeds to step S207 .

[0102] When the process proceeds from step S206 to step S207 , the driving_ECU 14 temporarily registers the preceding vehicle P as the preceding vehicle and then exits the routine.

[0103] Then, follow the Figure 7 , 8 The temporary registration cancellation process of the preceding vehicle will be described in detail below. This process is repeatedly executed by the travel_ECU 14 at set time intervals.

[0104] When the program starts, in step S301 , the driving_ECU 14 checks whether the leading vehicle has disappeared from the target lane.

[0105] Then, in step S301 , when it is determined that the leading vehicle has disappeared (step S301 : Yes), the travel_ECU 14 proceeds to step S312 .

[0106] On the other hand, when it is determined in step S301 that the leading vehicle has not disappeared (step S301 : No), the travel_ECU 14 proceeds to step S302 .

[0107] In step S302 , the travel_ECU 14 checks whether the preceding vehicle P temporarily registered as the preceding vehicle is newly registered as the preceding vehicle and whether the preceding vehicle P temporarily registered as the preceding vehicle is determined to be a vehicle before the preceding vehicle.

[0108] Then, in step S302 , when the preceding vehicle P is officially registered as the preceding vehicle, or when the preceding vehicle P is determined to be the vehicle before the preceding vehicle (step S302 : Yes), the travel_ECU 14 proceeds to step S312 .

[0109] On the other hand, in step S302 , when the preceding vehicle P is not officially registered as the preceding vehicle and the preceding vehicle P is not determined to be the vehicle before the preceding vehicle (step S302 : No), the travel_ECU 14 proceeds to step S303 .

[0110] In step S303, the driving_ECU 14 checks whether the inter-vehicle time TTC (Time To Collision) with the temporarily registered front vehicle is less than 2 [s] and the overlap rate of the host vehicle O with respect to the temporarily registered front vehicle is 0 [%]. Here, the inter-vehicle time TTC is less than 2 [s] and the overlap rate is 0 [%], for example, it is assumed that the temporarily registered front vehicle and the host vehicle O are in a substantially parallel state and the host vehicle O is likely to overtake the temporarily registered front vehicle.

[0111] Then, in step S303 , when it is determined that the inter-vehicle time interval TTC is 2 [s] or less and the overlap rate is 0 [%] (step S303 : Yes), the travel_ECU 14 proceeds to step S312 .

[0112] On the other hand, in step S303 , when the inter-vehicle time TTC is greater than 2 [s] or when the overlap rate is greater than 0 [%] (step S303 : No), the travel_ECU 14 proceeds to step S304 .

[0113] In step S304 , the travel_ECU 14 checks whether the inter-vehicle distance Dp to the provisionally registered preceding vehicle is equal to or larger than a set threshold value Dth.

[0114] Then, in step S304 , when it is determined that the inter-vehicle distance Dp is equal to or larger than the set threshold value Dth (step S304 : Yes), the travel_ECU 14 proceeds to step S312 .

[0115] On the other hand, when it is determined in step S304 that the inter-vehicle distance Dp is smaller than the set threshold value Dth (step S304 : No), the travel_ECU 14 proceeds to step S305 .

[0116] In step S305 , the travel_ECU 14 checks whether the host vehicle O has moved to the target lane.

[0117] Then, in step S305 , when it is determined that the host vehicle O has not moved to the target lane (step S305 : No), the travel_ECU 14 proceeds to step S311 .

[0118] On the other hand, when it is determined in step S305 that the host vehicle O has moved to the target lane (step S305 : Yes), the travel_ECU 14 proceeds to step S306 .

[0119] In step S306 , the driving_ECU 14 checks whether the lane dividing line dividing the target lane is clearly recognized.

[0120] Then, in step S306 , when it is determined that the lane dividing line is clearly recognized (step S306 : Yes), the driving_ECU 14 proceeds to step S308 .

[0121] On the other hand, when it is determined in step S306 that the lane dividing line is not clearly recognized (step S306 : No), the travel_ECU 14 proceeds to step S307 .

[0122] In step S307 , the travel_ECU 14 checks whether a set time (eg, 2 [s]) has elapsed since the host vehicle O moved to the target lane.

[0123] Then, in step S307 , when it is determined that 2 [s] has not elapsed since the host vehicle O moved to the target lane (step S307 : No), the travel_ECU 14 proceeds to step S311 .

[0124] On the other hand, in step S307 , when it is determined that 2 [s] have passed since the host vehicle O moved to the target lane (step S307 : Yes), the travel_ECU 14 proceeds to step S308 .

[0125] When the process proceeds from step S306 or step S307 to step S308 , the travel_ECU 14 checks whether the state in which the provisionally registered leading vehicle is determined to be a parallel-travel vehicle continues for a set number of frames (eg, 3 frames).

[0126] Then, in step S308 , when the state where the vehicle ahead is determined to be a parallel running vehicle continues for three frames (step S308 : Yes), the travel_ECU 14 proceeds to step S312 .

[0127] On the other hand, in step S308 , if the preceding vehicle is not determined to be a parallel-running vehicle, or if the preceding vehicle is determined to be a parallel-running vehicle for less than three frames (step S308 : No), the travel_ECU 14 proceeds to step S309 .

[0128] In step S309 , the travel_ECU 14 checks whether a set time (for example, 3 [s]) has elapsed since the vehicle O left the lane in which the vehicle O was traveling when the lane change started.

[0129] Then, in step S309 , when it is determined that 3 [s] have not passed since the vehicle O left the vehicle driving lane (step S309 : No), the driving_ECU 14 proceeds to step S311 .

[0130] On the other hand, when it is determined in step S309 that 3 [s] have passed since the vehicle O left the vehicle driving lane (step S309 : Yes), the driving_ECU 14 proceeds to step S310 .

[0131] In step S310 , the travel_ECU 14 checks whether the overlap ratio of the host vehicle O with respect to the provisionally registered preceding vehicle is smaller than a preset threshold value.

[0132] Then, in step S310 , when it is determined that the overlap ratio of the host vehicle O is equal to or greater than the threshold value (step S310 : No), the travel_ECU 14 proceeds to step S311 .

[0133] On the other hand, when it is determined in step S310 that the overlap ratio of the host vehicle O is smaller than the threshold value (step S310 : Yes), the travel_ECU 14 proceeds to step S312 .

[0134] When the process proceeds from step S305 , step S307 , or step S309 to step S311 , the driving_ECU 14 exits the routine while maintaining the temporary registration of the vehicle ahead.

[0135] In addition, when the process proceeds to step S312 from step S301, step S302, step S303, step S304, step S308, or step S310, the driving_ECU 14 cancels the temporary registration of the vehicle ahead and then exits the program.

[0136] According to such an embodiment, the driving_ECU 14 temporarily registers the preceding vehicle P existing in the target lane of the lane change destination as the preceding vehicle during the transition from the start to the end of the lane change of the host vehicle O. Then, the driving_ECU 14 performs the following driving control based on the temporarily registered preceding vehicle. Thus, in the case where there is a preceding vehicle P in the target lane that can be registered as the preceding vehicle after the lane change, the following driving control can be performed even during the lane change in which the host vehicle's driving lane becomes ambiguous.

[0137] Furthermore, after the host vehicle O moves to the target lane, if the determination that the temporarily registered front vehicle is a parallel vehicle continues for a set number of times, the driving_ECU 14 cancels the temporary registration of the front vehicle. Thus, even if the front vehicle P is mistakenly temporarily registered as the front vehicle, the temporary registration can be quickly canceled. That is, for example, Fig. 9 As shown in FIG. 1 , when there is a curve ahead of the vehicle O on the road on which it is traveling, it is sometimes unclear whether the vehicle ahead is the preceding vehicle traveling in the lane of the vehicle before the lane change or the preceding vehicle traveling in the target lane. Furthermore, if such a preceding vehicle is temporarily registered as the preceding vehicle by mistake, for example, Fig.10 As shown, even when it is determined that the temporarily registered preceding vehicle is a parallel-travel vehicle after the host vehicle O moves to the target lane, the temporary registration can be quickly released.

[0138] In this case, when the lane dividing line dividing the target lane is unclear, the driving_ECU 14 determines whether the preceding vehicle is a parallel vehicle after a set time has passed since the host vehicle O moved to the target lane. Thus, even when the lane dividing line is unclear, it is possible to stably determine whether the preceding vehicle is a parallel vehicle.

[0139] Here, in the above-mentioned embodiment, the image recognition_ECU13, the driving_ECU14, the CP_ECU21, the E / G_ECU22, the T / M_ECU23, the BK_ECU24, the PS_ECU25, etc. are composed of a well-known microcomputer and its peripheral devices having a CPU, a RAM, a ROM, a non-volatile storage unit, etc., and the ROM pre-stores a program executed by the CPU, fixed data such as a data table, etc. It should be noted that all or part of the functions of the processor may be composed of a logic circuit or an analog circuit, and various programs may be processed by an electronic circuit such as an FPGA.

[0140] The invention described in the above embodiments is not limited to these modes, and various changes can be implemented in the implementation stage without departing from the scope of its purpose. In addition, the inventions of various stages included in the above-mentioned modes can be extracted by appropriate combinations of the disclosed multiple constituent elements.

[0141] For example, when the above-described problem can be solved and the above-described effect can be obtained even if some components are deleted from all the components shown in each embodiment, the configuration without the components can be extracted as an invention.

Claims

1. A vehicle front vehicle recognition device, characterized in that: have: A driving environment recognition device that recognizes driving environment information including lanes on the road and vehicles; a lane change determination device for determining a lane change of the host vehicle; a front vehicle temporary registration device that temporarily registers a vehicle existing in a target lane at a lane change destination as a front vehicle during a transition from the start to the end of the lane change of the host vehicle; as well as The temporary registration canceling device cancels the temporary registration when the determination that the preceding vehicle is a parallel-travel vehicle is continuously performed for a set number of times after the host vehicle moves to the target lane.

2. The vehicle ahead vehicle recognition device according to claim 1, characterized in that: When a lane dividing line dividing the target lane is unclear, the temporary registration canceling device cancels the temporary registration when the determination that the preceding vehicle is a parallel vehicle is continuously performed for a set number of times after a set time has passed since the host vehicle moved to the target lane.

3. A vehicle front vehicle recognition device, characterized in that: The front vehicle recognition device of the vehicle includes a processor, The processor identifies driving environment information including lanes on the road and vehicles, The processor determines a lane change of the host vehicle, The processor temporarily registers a vehicle existing in a target lane at a lane change destination as a leading vehicle during a transition from the start to the end of the lane change of the host vehicle, The processor cancels the temporary registration when the determination that the preceding vehicle is a parallel-travel vehicle is continuously performed for a set number of times after the host vehicle moves to the target lane.

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