Vehicle driving assistance device

Abstract

The invention provides a vehicle driving assistance device which can more reliably and automatically change the lane of a vehicle according to the preference of a driver. The vehicle driving assistance device (10) acquires, as actual lane change characteristics, manual lane change characteristics while an operator of a host vehicle (100) performs manual lane change, and performs automatic lane change in accordance with target lane change characteristics set on the basis of the actual lane change characteristics. The vehicle driving support device acquires, as an actual lane change characteristic, an actual required time from the time when the own vehicle reaches a predetermined state to the time when the own vehicle transitions to a state different from the predetermined state, and an actual maximum lateral velocity, which is the maximum value of the lateral velocity of the own vehicle. The target value of the time from the time when the own vehicle becomes a state corresponding to a predetermined state to the time when the own vehicle transitions to a state corresponding to a different state is set on the basis of the actual required time, and the target value of the maximum value of the lateral velocity is set as the target lane change characteristic on the basis of the actual maximum lateral velocity.

Description

Technical Field

[0001] The invention relates to a vehicle driving assistance device. Background Art

[0002] A vehicle driving assistance device having a function of automatically changing the lane of a vehicle is known. In addition, it is pointed out that when automatically changing the lane of a vehicle, it is desired to change the lane of the vehicle in a manner preferred by the driver (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-101400 Summary of the invention

[0006] However, there is room for improvement in the specific configuration required to automatically change the lane of the vehicle in a manner preferred by the driver.

[0007] An object of the present invention is to provide a vehicle driving assistance device that can more reliably and automatically perform a lane change of a vehicle in a manner preferred by the driver.

[0008] The vehicle driving assistance device according to the present invention includes a control device, and the control device performs lane change control for automatically changing the lane of the own vehicle. The control device is configured to obtain characteristics related to manual lane change as actual lane change characteristics during a period in which the operator of the own vehicle performs manual lane change, that is, during a manual lane change period, and automatically perform lane change according to target lane change characteristics set based on the actual lane change characteristics. The manual lane change is a lane change of the own vehicle performed manually, and the automatic lane change is a lane change of the own vehicle under the lane change control. Furthermore, the control device is configured to obtain an actual required time and an actual maximum lateral speed as the actual lane change characteristic, set a target required time as the target lane change characteristic based on the actual required time, and set a target maximum lateral speed as the target lane change characteristic based on the actual maximum lateral speed, the actual required time being the time required from the time the own vehicle becomes a predetermined state to the time when it changes to a state different from the predetermined state (another state different from the predetermined state), the actual maximum lateral speed being the maximum value of the lateral speed, the target required time being a target value of the time from the time the own vehicle becomes a state corresponding to the predetermined state to the time when the own vehicle changes to a state corresponding to the different state (the other state), and the target maximum lateral speed being a target value of the maximum value of the lateral speed.

[0009] When the operator manually changes the lane of the own vehicle, the operator's preference for lane changes is reflected in, for example, "the time required for the state of the own vehicle to change from a certain state to a different state (actual required time)", such as the time from the activation of the direction indicator to the start of the lateral movement of the own vehicle, and the time from the start of the lateral movement of the own vehicle to the start of crossing the dividing line. In addition, when the operator manually changes the lane of the own vehicle, the operator's preference for lane changes is also reflected in the maximum value of the lateral speed of the own vehicle (actual maximum lateral speed).

[0010] According to the vehicle driving assistance device of the present invention, the actual required time and the actual maximum lateral speed are obtained, a target required time (a target value of the time from when the own vehicle becomes a state corresponding to a predetermined state to when the own vehicle changes to a state corresponding to a different state) is set based on the actual required time, a target maximum lateral speed (a target value of the maximum value of the lateral speed of the own vehicle) is set based on the actual maximum lateral speed, and automatic lane change is performed according to the target required time and the target maximum lateral speed. Therefore, the lane change of the own vehicle can be automatically performed in a manner preferred by the operator more reliably.

[0011] In addition, in the vehicle driving assistance device involved in the present invention, the control device can be configured to obtain an actual maximum lateral speed arrival time as the actual lane change characteristic, the actual maximum lateral speed arrival time is the time required from the start of the lateral movement of the own vehicle to the time when the lateral speed reaches a maximum value, and set a target maximum lateral speed arrival time as the target lane change characteristic based on the actual maximum lateral speed arrival time, the target maximum lateral speed arrival time is a target value of the time from the start of the lateral movement of the own vehicle to the time when the lateral speed reaches a maximum value.

[0012] When the operator manually changes lanes of the own vehicle, the time from the start of lateral movement of the own vehicle to the time when the lateral speed of the own vehicle reaches a maximum value (actual maximum lateral speed reaching time) reflects the operator's preference for lane changes.

[0013] According to the vehicle driving assistance device of the present invention, the actual maximum lateral speed reaching time is obtained, a target maximum lateral speed reaching time (a target value of the time from the start of the lateral movement of the own vehicle to the time when the lateral speed of the own vehicle reaches the maximum value) is set based on the actual maximum lateral speed reaching time, and an automatic lane change is performed according to the target maximum lateral speed reaching time. Therefore, the lane change of the own vehicle can be automatically performed in a more reliable manner in a manner preferred by the operator.

[0014] In addition, in the vehicle driving assistance device involved in the present invention, the control device can be configured to obtain an actual maximum lateral acceleration and an actual maximum lateral acceleration gradient as the actual lane change characteristic, set a target maximum lateral acceleration based on the actual maximum lateral acceleration as the target lane change characteristic, and set a target maximum lateral acceleration gradient based on the actual maximum lateral acceleration gradient as the target lane change characteristic, the actual maximum lateral acceleration is the acceleration of the own vehicle in the lateral direction, that is, the maximum value of the lateral acceleration, the actual maximum lateral acceleration gradient is the rate of change of the lateral acceleration, that is, the maximum value of the lateral acceleration gradient, the target maximum lateral acceleration is a target value of the maximum value of the lateral acceleration, and the target maximum lateral acceleration gradient is a target value of the maximum value of the lateral acceleration gradient.

[0015] When the operator manually changes lanes of the host vehicle, the maximum value of the lateral acceleration of the host vehicle (actual maximum lateral acceleration) and the maximum value of the lateral acceleration gradient of the host vehicle (actual maximum lateral acceleration gradient) reflect the operator's preference for lane changes.

[0016] According to the vehicle driving assistance device of the present invention, the actual maximum lateral acceleration and the actual maximum lateral acceleration gradient are obtained, the target maximum lateral acceleration (the target value of the maximum value of the lateral acceleration of the own vehicle) is set based on the actual maximum lateral acceleration, the target maximum lateral acceleration gradient (the target value of the maximum value of the lateral acceleration gradient of the own vehicle) is set based on the actual maximum lateral acceleration gradient, and the automatic lane change is performed according to the target maximum lateral acceleration and the target maximum lateral acceleration gradient. Therefore, the lane change of the own vehicle can be automatically performed in a manner preferred by the operator more reliably.

[0017] In addition, in the vehicle driving assistance device involved in the present invention, the control device can be configured to obtain an actual lateral speed change profile, an actual lateral acceleration change profile, and an actual lateral acceleration gradient change profile as the actual lane change characteristic, set a target lateral speed change profile as the target lane change characteristic based on the actual lateral speed change profile, set a target lateral acceleration change profile as the target lane change characteristic based on the actual lateral acceleration change profile, and set a target lateral acceleration gradient change profile as the target lane change characteristic based on the actual lateral acceleration gradient change profile, the actual lateral speed change profile is a trajectory of the lateral speed that changes during the manual lane change period, and the The actual lateral acceleration change profile is the acceleration of the own vehicle in the lateral direction that changes during the manual lane change, i.e., the trajectory of the lateral acceleration; the actual lateral acceleration gradient change profile is the rate of change of the acceleration of the own vehicle in the lateral direction that changes during the manual lane change, i.e., the trajectory of the lateral acceleration gradient; the target lateral speed change profile is the trajectory of the target value of the lateral speed that changes by the lane change control; the target lateral acceleration change profile is the trajectory of the target value of the lateral acceleration that changes by the lane change control; and the target lateral acceleration gradient change profile is the trajectory of the target value of the lateral acceleration gradient that changes by the lane change control.

[0018] When the operator manually changes the lane of his own vehicle, the operator's preference for lane changes is reflected in the way the lateral speed of his own vehicle changes (actual lateral speed change profile), the way the lateral acceleration of his own vehicle changes (actual lateral acceleration change profile), and the way the lateral acceleration gradient of his own vehicle changes (actual lateral acceleration gradient change profile).

[0019] According to the vehicle driving assistance device of the present invention, an actual lateral speed change profile, an actual lateral acceleration change profile, and an actual lateral acceleration gradient change profile are obtained, and a target lateral speed change profile (a trajectory of a target value of the lateral speed of the own vehicle that changes through lane change control) is set as a target lane change characteristic based on the actual lateral speed change profile, a target lateral acceleration change profile (a trajectory of a target value of the lateral acceleration of the own vehicle that changes through lane change control) is set as a target lane change characteristic based on the actual lateral acceleration change profile, and a target lateral acceleration gradient change profile (a trajectory of a target value of the lateral acceleration gradient of the own vehicle that changes through lane change control) is set as a target lane change characteristic based on the actual lateral acceleration gradient change profile, and automatic lane change is performed according to the above target lateral speed change profile, target lateral acceleration change profile, and target lateral acceleration gradient change profile. Therefore, the lane change of the own vehicle can be automatically performed in a manner preferred by the operator more reliably.

[0020] In addition, in the vehicle driving assistance device according to the present invention, the control device can be configured to obtain an actual lateral movement start time, an actual crossing start time, and an actual crossing completion time as the actual required time, and set a target lateral movement start time as the target required time based on the actual lateral movement start time, set a target crossing start time as the target required time based on the actual crossing start time, and set a target crossing completion time as the target required time based on the actual crossing completion time, wherein the actual lateral movement start time is the time required from the operator performing an operation indicating the intention to perform the manual lane change to the start of the lateral movement of the own vehicle, and the actual crossing completion time is The crossing start time is the time required from the start of the lateral movement of the own vehicle to the start of the crossing of the dividing line by the own vehicle, the actual crossing completion time is the time required from the start of the crossing of the dividing line by the own vehicle to the completion of the crossing of the dividing line, the target lateral movement start time is the target value of the time from the operation of requesting the execution of the lane change control to the start of the lateral movement of the own vehicle, the target crossing start time is the target value of the time from the start of the lateral movement of the own vehicle to the start of the crossing of the dividing line by the own vehicle, and the target crossing completion time is the target value of the time from the start of the crossing of the dividing line by the own vehicle to the completion of the crossing of the dividing line.

[0021] The time from the operator's operation indicating the intention to make a manual lane change to the start of the lateral movement of the own vehicle (actual lateral movement start time), the time from the start of the lateral movement of the own vehicle to the start of the own vehicle crossing the dividing line (actual crossing start time), and the time from the start of the own vehicle crossing the dividing line to the completion of the crossing of the dividing line (actual crossing completion time) reflect the operator's preference for lane changes.

[0022] According to the vehicle driving assistance device of the present invention, the actual lateral movement start time, the actual crossing start time and the actual crossing completion time are obtained, and the target lateral movement start time (the target value of the time from the operation of requesting lane change control to the start of the lateral movement of the own vehicle) is set based on the actual lateral movement start time, the target crossing start time (the target value of the time from the start of the lateral movement of the own vehicle to the start of the crossing of the own vehicle) is set based on the actual crossing start time, and the target crossing completion time (the target value of the time from the start of the crossing of the own vehicle to the end of the crossing of the dividing line) is set based on the actual crossing completion time, and the automatic lane change is performed according to the above-mentioned target lateral movement start time, target crossing start time and target crossing completion time. Therefore, the lane change of the own vehicle can be automatically performed in a manner preferred by the operator more reliably.

[0023] Furthermore, the vehicle driving assistance device according to the present invention may be configured to learn the actual required time and the like, and to perform the learning using an AI technique such as so-called machine learning or deep learning.

[0024] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and additional advantages of the present invention will be easily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention.

[0026] Figure 2 FIG. 1 is a diagram showing a manual lane change of the own vehicle.

[0027] Figure 3 FIG. 1 is a diagram showing a lane change of the own vehicle under lane change control.

[0028] Figure 4 This is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention.

[0029] Figure 5This is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention.

[0030] Description of Reference Numerals

[0031] 10… vehicle driving assistance device, 20… driving device, 30… direction indicator, 40… turn signal lever, 50… own vehicle behavior acquisition device, 60… external information acquisition device, 90… ECU, 100… own vehicle. DETAILED DESCRIPTION

[0032] Hereinafter, a vehicle driving assistance device 10 according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 1 1 shows a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on the own vehicle 100. The vehicle driving assistance device 10 is described below by taking the case where the operator of the own vehicle 100 is a person who rides in the own vehicle 100 and drives the own vehicle 100 (that is, the driver of the own vehicle 100) as an example.

[0033] However, the operator of the own vehicle 100 may be a person who drives the own vehicle 100 remotely without riding in the own vehicle 100 (i.e., a remote operator of the own vehicle 100). In the case where the operator of the own vehicle 100 is a remote operator, the vehicle driving assistance device 10 is respectively mounted on the own vehicle 100 and a remote operation device provided outside the own vehicle 100 for driving the own vehicle 100 remotely, and the functions of the vehicle driving assistance device 10 described below are respectively shared and performed by the vehicle driving assistance device 10 mounted on the own vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation device.

[0034] like Figure 1 As shown, the vehicle driving assistance device 10 has an ECU (electronic control unit) 90 as a control device. The ECU 90 has a microcomputer as a main part. The microcomputer includes a storage medium such as a CPU, ROM, RAM, and a non-volatile memory, and an interface (INTERFACE), etc. The CPU implements various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving assistance device 10 stores programs that implement various controls performed by the vehicle driving assistance device 10 in the storage medium.

[0035] In this example, the vehicle driving support device 10 includes only one ECU 90 , but may be configured to include a plurality of ECUs, with each ECU sharing and performing the functions of the vehicle driving support device 10 described below.

[0036] Furthermore, the vehicle driving assistance device 10 may be configured to be able to update the program stored in the storage medium through wireless communication (for example, Internet communication) with an external device.

[0037] Furthermore, the own vehicle 100 is equipped with a travel device 20 , a direction indicator 30 , a turn signal lever 40 , an own vehicle behavior acquisition device 50 , and an external information acquisition device 60 .

[0038] The travel device 20 is a device for traveling the host vehicle 100, and the vehicle driving support device 10 can travel the host vehicle 100 by controlling the operation of the travel device 20. The travel device 20 includes a drive device 21, a brake device 22, and a steering device 23.

[0039] The drive device 21 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the driving force applied to the own vehicle 100 by controlling the operation of the drive device 21, thereby accelerating the own vehicle 100.

[0040] In addition, the brake device 22 is also electrically connected to the ECU 90. The vehicle driving support device 10 can control the braking force applied to the own vehicle 100 by controlling the operation of the brake device 22, thereby being able to decelerate the own vehicle 100.

[0041] In addition, the steering device 23 is also electrically connected to the ECU 90. The vehicle driving support device 10 can control the steering force applied to the own vehicle 100 by controlling the operation of the steering device 23, thereby being able to steer the own vehicle 100.

[0042] In addition, the direction indicator 30 is a device that indicates the direction of the turn of the own vehicle 100 by flashing. The direction indicator 30 includes a right direction indicator 31 and a left direction indicator 32. The right direction indicator 31 and the left direction indicator 32 are electrically connected to the ECU 90, respectively. The vehicle driving assistance device 10 can selectively flash the right direction indicator 31 and the left direction indicator 32.

[0043] In addition, the turn signal lever 40 is a device operated by the driver and is electrically connected to the ECU 90. When the driver operates the turn signal lever 40 and a predetermined condition is satisfied (a condition of "requesting the flashing of the right direction indicator 31 or the left direction indicator 32"), the vehicle driving assistance device 10 flashes one of the right direction indicator 31 and the left direction indicator 32 according to the type of the operation. On the other hand, when the driver operates the turn signal lever 40 and another condition is satisfied (a condition of "requesting the execution of the lane change control described later"), the vehicle driving assistance device 10 determines that "the execution of the lane change control described later" is requested. In this way, in this example, the turn signal lever 40 also functions as a lane change switch for the driver to request the execution of the lane change control. In addition, a lane change switch may be provided separately from the turn signal lever 40.

[0044] The own vehicle behavior acquisition device 50 is a device that acquires data (own vehicle behavior information IE) related to the behavior of the own vehicle 100. In this example, the own vehicle behavior acquisition device 50 includes a vehicle speed detection device 51 and a lateral acceleration sensor 52.

[0045] The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle driving support device 10 obtains the traveling speed of the own vehicle 100 as the own vehicle speed V through the vehicle speed detection device 51.

[0046] In addition, the lateral acceleration sensor 52 is also electrically connected to the ECU 90. The vehicle driving support device 10 obtains the acceleration of the own vehicle 100 in the lateral direction as the lateral acceleration Gy through the lateral acceleration sensor 52.

[0047] In addition, the external information acquisition device 60 is a device that acquires information (external information IO) related to the external environment or surrounding conditions of the own vehicle 100. The vehicle driving assistance device 10 acquires the external information IO through the external information acquisition device 60. In this example, the external information acquisition device 60 includes an electromagnetic wave sensor 61, an image sensor 62, a GPS signal receiver 63, and a map database 64.

[0048] The electromagnetic wave sensor 61 is a sensor such as a millimeter wave radar or a laser radar, and is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains information related to a target object existing around the own vehicle 100 (for example, target object information such as the distance between the own vehicle 100 and other vehicles) as external information IO through the electromagnetic wave sensor 61.

[0049] The image sensor 62 is a sensor such as a camera sensor, and is electrically connected to the ECU 90. The vehicle driving support device 10 acquires image data (image information IC) obtained by photographing the surroundings of the own vehicle 100 through the image sensor 62 as the external information IO.

[0050] In addition, the GPS signal receiver 63 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires GPS signals via the GPS signal receiver 63, and acquires the current position of the own vehicle 100 based on the acquired GPS signals.

[0051] The map database 64 is a device that records map information and is electrically connected to the ECU 90. The vehicle driving assistance device 10 compares the current position of the own vehicle 100 obtained based on the GPS signal with the map information recorded in the map database 64, thereby obtaining information on the area where the own vehicle 100 is traveling (for example, road information such as information related to the road on which the own vehicle 100 is traveling) as the external information IO.

[0052] <Operation of vehicle driving assistance device>

[0053] The vehicle driving assistance device 10 is configured as follows: Figure 2 As shown in FIG. 1 , during a period (manual lane change period) when the driver of the own vehicle 100 manually changes the lane of the own vehicle 100 (manual lane change), the characteristics related to the manual lane change are obtained as actual lane change characteristics, such as Figure 3 As shown, the lane change (automatic lane change) of the own vehicle 100 executed by the lane change control is performed according to the target lane change characteristics set based on the acquired actual lane change characteristics.

[0054] In addition, lane change control is a type of autonomous driving control. Figure 3 As shown in FIG. 1 , the lane change control of the own vehicle 100 from the current driving lane LN1 to the designated adjacent lane LN2 is automatically performed. The current driving lane LN1 is the lane in which the own vehicle 100 is currently traveling. In addition, the designated adjacent lane LN2 is a lane that can travel in the same direction as the traveling direction of the own vehicle 100, is adjacent to the current driving lane LN1, and is on the side indicated by the direction indicator 30 in operation.

[0055] The vehicle driving assistance device 10 executes the Figure 4 The routine shown in the figure obtains and stores the actual lane change characteristics used in the lane change control, and executes the routine at every predetermined time interval. Figure 5 The routine shown hereby executes lane change control when predetermined conditions are met.

[0056] Therefore, when the predetermined timing is reached, the vehicle driving assistance device 10 Figure 4 The routine shown starts processing at step S400, and the process proceeds to step S405, where it is determined whether the manual lane change condition C1 is satisfied.

[0057] The manual lane change condition C1 is satisfied, for example, when the turn signal lever 40 is operated during manual driving, and becomes unsatisfactory when the lane change (manual lane change) of the own vehicle 100 performed manually is completed or when the lane change of the own vehicle 100 performed manually is not performed and the operation of the direction indicator 30 stops. In addition, the manual lane change condition C1 may also include the condition that an adjacent lane exists on the side indicated by the operating direction indicator 30. The adjacent lane is a lane that can travel in the same direction as the traveling direction of the own vehicle 100 and is adjacent to the current driving lane LN1. The vehicle driving assistance device 10 can determine whether an adjacent lane exists on the side indicated by the operating direction indicator 30 based on the external information IO.

[0058] When the manual lane change condition C1 is satisfied, the vehicle driving assistance device 10 determines "yes" in step S405, and proceeds to step S410 to obtain the lane change characteristics and store the lane change characteristics as temporary lane change characteristics. Next, the vehicle driving assistance device 10 proceeds to step S495 to temporarily terminate the processing of this routine.

[0059] In this example, the lane change characteristics obtained in step S410 are: actual required time T, actual maximum lateral velocity Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual maximum lateral velocity arrival time T_Vy_max, actual lateral velocity change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy.

[0060] The actual required time T is the time required for the vehicle 100 to change from a predetermined state to a state different from the predetermined state (another state different from the predetermined state) during manual driving or manual lane change. In particular, in this example, the actual required time T is the actual lateral movement start time T1, the actual crossing start time T2, and the actual crossing completion time T3.

[0061] The actual lateral movement start time T1 is the time required from the driver's operation indicating the intention to change lanes manually (in this example, the operation of the turn signal lever 40) to the start of the lateral movement of the own vehicle 100 (lateral movement of the own vehicle 100) during manual driving. Figure 2 In the example shown, the actual lateral movement start time T1 is the time required from when the turn signal lever 40 is operated and the right direction indicator 31 starts flashing until the own vehicle 100 starts lateral movement to the right during manual driving.

[0062] The actual crossing start time T2 is the time required from the start of the lateral movement of the own vehicle 100 to the start of the crossing of the dividing line LM by the own vehicle 100 during the manual lane change period. Figure 2 In the example shown, the actual crossing start time T2 is the time required from the start of the lateral movement of the own vehicle 100 to the right until the right front corner or the right front wheel of the own vehicle 100 reaches the dividing line LM. In addition, the dividing line LM is a line that divides the current driving lane LN1 and the designated adjacent lane LN2. In addition, the vehicle driving assistance device 10 recognizes the dividing line LM based on the external information IO.

[0063] The actual crossing completion time T3 is the time required from the start of the vehicle 100 crossing the dividing line LM to the completion of the crossing of the dividing line LM during the manual lane change period. Figure 2 In the example shown, the actual crossing completion time T3 is the time required from when the right front corner or the right front wheel of the vehicle 100 reaches the dividing line LM to when the left rear corner or the left rear wheel of the vehicle 100 passes the dividing line LM.

[0064] The vehicle driving assistance device 10 acquires the actual required time T based on the external information IO (particularly, the image information IC).

[0065] Furthermore, in this example, the actual maximum lateral speed Vy_max is the maximum value of the lateral speed Vy (i.e., the moving speed of the own vehicle 100 in the lateral direction) during the manual lane change. In addition, the actual maximum lateral acceleration Gy_max is the maximum value of the lateral acceleration Gy (i.e., the acceleration of the own vehicle 100 in the lateral direction) during the manual lane change. In addition, the actual maximum lateral acceleration gradient Jy_max is the maximum value of the lateral acceleration gradient Jy (i.e., the rate of change of the acceleration of the own vehicle 100 in the lateral direction) during the manual lane change.

[0066] The vehicle driving assistance device 10 obtains the actual maximum lateral velocity Vy_max, the actual maximum lateral acceleration Gy_max, and the actual maximum lateral acceleration gradient Jy_max based on the data of the lateral acceleration Gy detected by the lateral acceleration sensor 52 .

[0067] The actual maximum lateral velocity reaching time T_Vy_max is the time required from when the host vehicle 100 starts to move laterally until the lateral velocity Vy of the host vehicle 100 reaches a maximum value during the manual lane change period.

[0068] In addition, the actual lateral velocity change profile P_Vy is the trajectory of the lateral velocity Vy that changes during the manual lane change. In addition, the actual lateral acceleration change profile P_Gy is the trajectory of the lateral acceleration Gy that changes during the manual lane change. In addition, the actual lateral acceleration gradient change profile P_Jy is the trajectory of the lateral acceleration gradient Jy that changes during the manual lane change.

[0069] The vehicle driving assistance device 10 obtains the actual lateral velocity variation profile P_Vy, the actual lateral acceleration variation profile P_Gy, and the actual lateral acceleration gradient variation profile P_Jy based on the data of the lateral acceleration Gy detected by the lateral acceleration sensor 52 .

[0070] Furthermore, for example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are change profiles with respect to the elapsed time Telsp from the start of the manual lane change, or with respect to the distance D between the dividing line LM and the own vehicle 100. For example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are change profiles obtained by a statistical method based on the distribution of the lateral velocity Vy, the lateral acceleration Gy, and the lateral acceleration gradient Jy with respect to the elapsed time Telsp from the start of each manual lane change when the manual lane change is performed multiple times. In addition, for example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are change profiles obtained by statistical methods based on the distribution of the lateral velocity Vy, the lateral acceleration Gy, and the lateral acceleration gradient Jy relative to the distance D between the dividing line LM and the own vehicle 100 in each manual lane change when manual lane changes are performed multiple times.

[0071] On the other hand, when the manual lane change condition C1 is not satisfied, the vehicle driving assistance device 10 determines "No" in step S405, and proceeds to step S415 to determine whether the manual lane change completion condition C2 is satisfied. The manual lane change completion condition C2 is satisfied when the manual lane change is completed. In addition, for example, after the processing of the next step S420 is executed, the manual lane change completion condition C2 becomes not satisfied.

[0072] If the manual lane change completion condition C2 is satisfied, the vehicle driving assistance device 10 proceeds to step S420 to store the temporary lane change characteristics stored in step S410 as the actual lane change characteristics. Next, the vehicle driving assistance device 10 proceeds to step S495 to temporarily terminate the processing of this routine.

[0073] On the other hand, when the manual lane change completion condition C2 is not satisfied, the vehicle driving assistance device 10 advances the processing to step S425 to determine whether the manual lane change non-implementation condition C3 is satisfied. The manual lane change non-implementation condition C3 is satisfied when the manual lane change condition C1 becomes not satisfied in a state where the manual lane change is not performed after the manual lane change condition C1 is satisfied. In addition, for example, after the next step S430 is executed, the manual lane change non-implementation condition C3 becomes not satisfied.

[0074] If the manual lane change non-implementation condition C3 is satisfied, the vehicle driving assistance device 10 proceeds to step S430 to delete the temporary lane change characteristic data stored in step S410. Next, the vehicle driving assistance device 10 proceeds to step S495 to temporarily terminate the processing of this routine.

[0075] On the other hand, when the manual lane change non-implementation condition C3 is not satisfied, the vehicle driving assistance device 10 makes a "No" determination in step S425, directly proceeds to step S495, and temporarily ends the processing of this routine.

[0076] Furthermore, when a predetermined timing is reached, the vehicle driving assistance device 10 Figure 5 The routine shown starts processing from step S500, and the processing proceeds to step S505, where it is determined whether the value of the automatic lane change flag X1 is "0". When the value of the automatic lane change flag X1 is "1", it indicates that the lane change control is being executed, in other words, it indicates that the lane change control has started, and when the value is "0", it indicates that the lane change control is not being executed. The lane change control is a control of the automatic lane change of the own vehicle 100 by the vehicle driving assistance device 10 autonomously controlling the operation of the travel device 20.

[0077] When the value of the automatic lane change flag X1 is "0" (i.e., when the lane change control is being executed), the vehicle driving assistance device 10 determines "yes" in step S505, and proceeds to step S510 to determine whether the automatic lane change request condition C4 is satisfied. The automatic lane change request condition C4 is a condition for requesting a lane change of the own vehicle 100 under the lane change control.

[0078] When the automatic lane change request condition C4 is satisfied, the vehicle driving assistance device 10 determines "yes" in step S510 and starts lane change control. That is, when the vehicle driving assistance device 10 determines "yes" in step S510, it advances the process to step S515 and sets the lane change path Rtgt.

[0079] The vehicle driving assistance device 10 sets a path that enables the own vehicle 100 to move safely to the designated adjacent lane LN2 as the lane change path Rtgt based on the external information 10. At this time, the vehicle driving assistance device 10 may also set the lane change path Rtgt by considering the path that the own vehicle 100 moves to the designated adjacent lane LN2 when a manual lane change is performed.

[0080] Next, the vehicle driving assistance device 10 advances the processing to step S520, based on Figure 4 The target lane change characteristic is set based on the actual lane change characteristic stored in step S420 of the illustrated routine.

[0081] In this example, the target lane change characteristics set in step S520 are: target required time Ttgt, target maximum lateral speed Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target maximum lateral speed arrival time T_Vy_max_tgt, target lateral speed change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt and target lateral acceleration gradient change profile P_Jy_tgt.

[0082] The target required time Ttgt is a target value of the time from when the own vehicle 100 becomes a state corresponding to the above-mentioned predetermined state to when the own vehicle 100 changes to a state corresponding to the above-mentioned different state. In particular, in this example, the target required time Ttgt is a target lateral movement start time T1_tgt, a target crossing start time T2_tgt, and a target crossing completion time T3_tgt. The target required time Ttgt is set based on the actual required time T. For example, the target required time Ttgt is set to a time equal to or substantially equal to the actual required time T.

[0083] The target lateral movement start time T1_tgt is a target value of the time from when an operation requesting execution of lane change control is performed to when the lateral movement of the own vehicle 100 is started. Figure 3In the example shown, the target lateral movement start time T1_tgt is a target value of the time from when the driver performs an operation requesting execution of lane change control and the vehicle driving assistance device 10 starts flashing the right direction indicator 31 to when the lateral movement of the own vehicle 100 starts. The target lateral movement start time T1_tgt is set based on the actual lateral movement start time T1. For example, the target lateral movement start time T1_tgt is set to a time equal to or substantially equal to the actual lateral movement start time T1.

[0084] The target crossing start time T2_tgt is a target value of the time from when the lateral movement of the own vehicle 100 starts to when the own vehicle 100 starts crossing the dividing line LM. Figure 3 In the example shown, the target crossing start time T2 is a target value of the time from the start of the lateral movement of the own vehicle 100 to the right to the start of the crossing of the own vehicle 100 across the dividing line LM. The target crossing start time T2_tgt is set based on the actual crossing start time T2. For example, the target crossing start time T2_tgt is set to a time equal to or substantially equal to the actual crossing start time T2.

[0085] In addition, the target crossing completion time T3_tgt is a target value of the time from when the vehicle 100 starts crossing the dividing line LM to when the crossing of the dividing line LM is completed. The target crossing completion time T3_tgt is set based on the actual crossing completion time T3. For example, the target crossing completion time T3_tgt is set to a time equal to or substantially equal to the actual crossing completion time T3.

[0086] The target maximum lateral speed Vy_max_tgt is a target value of the maximum value of the lateral speed Vy during the execution of the lane change control. The target maximum lateral speed Vy_max_tgt is set based on the actual maximum lateral speed Vy_max. For example, the target maximum lateral speed Vy_max_tgt is set to a value equal to or substantially equal to the actual maximum lateral speed Vy_max.

[0087] In addition, the target maximum lateral acceleration Gy_max_tgt is a target value of the maximum value of the lateral acceleration Gy during the execution of the lane change control. The target maximum lateral acceleration Gy_max_tgt is set based on the actual maximum lateral acceleration Gy_max. For example, the target maximum lateral acceleration Gy_max_tgt is set to a value equal to or substantially equal to the actual maximum lateral acceleration Gy_max.

[0088] In addition, the target maximum lateral acceleration gradient Jy_max_tgt is a target value of the maximum value of the lateral acceleration gradient Jy during the execution of the lane change control. The target maximum lateral acceleration gradient Jy_max_tgt is set based on the actual maximum lateral acceleration gradient Jy_max. For example, the target maximum lateral acceleration gradient Jy_max_tgt is set to a value equal to or substantially equal to the actual maximum lateral acceleration gradient Jy_max.

[0089] The target maximum lateral velocity reaching time T_Vy_max_tgt is a target value of the time from the start of the lateral movement of the own vehicle 100 to the time when the lateral velocity Vy reaches the maximum value. Figure 3 In the example shown, the target maximum lateral speed reaching time T_Vy_max_tgt is a target value of the time from the start of the lateral movement of the own vehicle 100 to the time when the lateral speed Vy reaches the maximum value. The target maximum lateral speed reaching time T_Vy_max_tgt is set based on the actual maximum lateral speed reaching time T_Vy_max. For example, the target maximum lateral speed reaching time T_Vy_max_tgt is set to a time equal to or substantially equal to the actual maximum lateral speed reaching time T_Vy_max.

[0090] The target lateral speed change profile P_Vy_tgt is a locus of a target value of the lateral speed Vy changed by the lane change control. The target lateral speed change profile P_Vy_tgt is set based on the actual lateral speed change profile P_Vy. For example, the target lateral speed change profile P_Vy_tgt is set to the same profile or substantially the same profile as the actual lateral speed change profile P_Vy.

[0091] In addition, the target lateral acceleration change profile P_Gy_tgt is a trajectory of a target value of the lateral acceleration Gy that changes due to the lane change control. The target lateral acceleration change profile P_Gy_tgt is set based on the actual lateral acceleration change profile P_Gy. For example, the target lateral acceleration change profile P_Gy_tgt is set to the same profile or substantially the same profile as the actual lateral acceleration change profile P_Gy.

[0092] In addition, the target lateral acceleration gradient change profile P_Jy_tgt is a trajectory of a target value of the lateral acceleration gradient Jy that changes due to the lane change control. The target lateral acceleration gradient change profile P_Jy_tgt is set based on the actual lateral acceleration gradient change profile P_Jy. For example, the target lateral acceleration gradient change profile P_Jy_tgt is set to the same profile as the actual lateral acceleration gradient change profile P_Jy or a substantially same profile.

[0093] After executing the process of step S520, the vehicle driving assistance device 10 proceeds to step S525 to determine whether the lane change permission condition C5 is satisfied. The lane change permission condition C5 is a condition that "the own vehicle 100 can safely enter the designated adjacent lane LN2". The lane change permission condition C5 is satisfied, for example, when no other vehicle exists in the area of ​​the designated adjacent lane LN2 that the own vehicle 100 wants to enter. Alternatively, the lane change permission condition C5 is satisfied, for example, when no other vehicle comes into contact with the own vehicle 100 when the own vehicle 100 moves along the lane change path Rtgt set in step S515 according to the target lane change characteristics set in step S520.

[0094] When the vehicle driving assistance device 10 determines "yes" in step S525, the processing enters step S530, starts controlling the operation of the driving device 20, and moves the own vehicle 100 along the lane change path Rtgt set in step S515 according to the target lane change characteristics set in step S520.

[0095] Next, the vehicle driving assistance device 10 advances the process to step S535 and sets the value of the automatic lane change in progress flag X1 to “1.” Next, the vehicle driving assistance device 10 advances the process to step S595 and temporarily ends the process of this routine.

[0096] On the other hand, when the determination result is “NO” in step S510 or step S525 , the vehicle driving assistance device 10 directly proceeds to step S595 and temporarily ends the processing of this routine.

[0097] Furthermore, when the determination result in step S505 is "NO", the vehicle driving assistance device 10 advances the process to step S540 to determine whether the automatic lane change completion condition C6 is satisfied.

[0098] If the determination result in step S540 is "yes", the vehicle driving assistance device 10 proceeds to step S545 to terminate the control of the operation of the travel device 20. Next, the vehicle driving assistance device 10 proceeds to step S550 to set the value of the automatic lane change flag X1 to "0". Next, the vehicle driving assistance device 10 proceeds to step S595 to temporarily terminate the processing of this routine.

[0099] On the other hand, when the determination in step S540 is "NO", the vehicle driving assistance device 10 advances the process to step S555 to continue controlling the operation of the travel device 20. Next, the vehicle driving assistance device 10 advances the process to step S595 to temporarily terminate the process of this routine.

[0100] The above is the operation of the vehicle driving assistance device 10 .

[0101] When the driver manually changes lanes of his own vehicle 100, the actual required time T (actual lateral movement start time T1, actual crossing start time T2, and actual crossing completion time T3), actual maximum lateral speed Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual maximum lateral speed arrival time T_Vy_max, actual lateral speed change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy reflect the driver's preference for lane changes of his own vehicle 100.

[0102] According to the vehicle driving assistance device 10, the target lateral movement start time T1_tgt, the target crossing start time T2_tgt, the target crossing completion time T3_tgt, the target maximum lateral speed Vy_max_tgt, the target maximum lateral acceleration Gy_max_tgt, the target maximum lateral acceleration gradient Jy_max_tgt, the target maximum lateral speed arrival time T_Vy_max, the actual lateral speed change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are set based on the actual lateral movement start time T1, the actual crossing start time T2, the actual crossing completion time T3, the actual maximum lateral speed Vy_max, the actual maximum lateral acceleration Gy_max, the actual maximum lateral acceleration gradient Jy_max, the actual maximum lateral speed arrival time T_Vy_max_tgt, the target lateral speed change profile P_Vy_tgt, the target lateral acceleration change profile P_Gy_tgt, and the target lateral acceleration gradient change profile P_Jy_tgt. Furthermore, the automatic lane change is performed according to the target lateral movement start time T1_tgt, the target crossing start time T2_tgt, the target crossing completion time T3_tgt, the target maximum lateral speed Vy_max_tgt, the target maximum lateral acceleration Gy_max_tgt, the target maximum lateral acceleration gradient Jy_max_tgt, the target maximum lateral speed arrival time T_Vy_max_tgt, the target lateral speed change profile P_Vy_tgt, the target lateral acceleration change profile P_Gy_tgt, and the target lateral acceleration gradient change profile P_Jy_tgt. Therefore, the lane change of the own vehicle 100 can be performed more reliably and automatically in a manner preferred by the driver.

[0103] In addition, the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

Claims

1. A vehicle driving assistance device, comprising a control device, The control device performs lane change control for automatically changing the lane of the own vehicle. The control device is configured as follows: During a period in which the operator of the own vehicle performs a manual lane change, that is, a manual lane change period, characteristics related to the manual lane change are obtained as actual lane change characteristics, wherein the manual lane change is a lane change of the own vehicle performed manually, performing an automatic lane change according to a target lane change characteristic set based on the actual lane change characteristic, wherein the automatic lane change is a lane change of the own vehicle performed by the lane change control, In vehicle driving assistance devices, The control device is configured as follows: An actual required time and an actual maximum lateral speed are obtained as the actual lane change characteristics, wherein the actual required time is the time required from when the own vehicle becomes a predetermined state to when it changes to a state different from the predetermined state, and the actual maximum lateral speed is the maximum value of the lateral speed, which is the moving speed of the own vehicle in the lateral direction. A target required time is set based on the actual required time as the target lane change characteristic, and a target maximum lateral speed is set based on the actual maximum lateral speed as the target lane change characteristic, the target required time being a target value of the time from when the own vehicle becomes a state corresponding to the predetermined state to when the own vehicle is changed to a state corresponding to the different state, and the target maximum lateral speed is a target value of the maximum value of the lateral speed.

2. The vehicle driving assistance device according to claim 1, The control device is configured as follows: obtaining an actual maximum lateral speed reaching time as the actual lane change characteristic, wherein the actual maximum lateral speed reaching time is the time required from the start of the lateral movement of the own vehicle to the time when the lateral speed reaches a maximum value, A target maximum lateral speed reaching time is set as the target lane change characteristic based on the actual maximum lateral speed reaching time, the target maximum lateral speed reaching time being a target value of the time from when the own vehicle starts moving in the lateral direction until the lateral speed reaches a maximum value.

3. The vehicle driving assistance device according to claim 1, The control device is configured as follows: The actual maximum lateral acceleration and the actual maximum lateral acceleration gradient are obtained as the actual lane change characteristic, wherein the actual maximum lateral acceleration is the acceleration of the own vehicle in the lateral direction, that is, the maximum value of the lateral acceleration, and the actual maximum lateral acceleration gradient is the rate of change of the lateral acceleration, that is, the maximum value of the lateral acceleration gradient. A target maximum lateral acceleration is set based on the actual maximum lateral acceleration as the target lane change characteristic, and a target maximum lateral acceleration gradient is set based on the actual maximum lateral acceleration gradient as the target lane change characteristic, the target maximum lateral acceleration being a target value of the maximum value of the lateral acceleration, and the target maximum lateral acceleration gradient being a target value of the maximum value of the lateral acceleration gradient.

4. The vehicle driving assistance device according to claim 1, The control device is configured as follows: an actual lateral speed change profile, an actual lateral acceleration change profile, and an actual lateral acceleration gradient change profile as the actual lane change characteristics, wherein the actual lateral speed change profile is a trajectory of the lateral speed that changes during the manual lane change period, the actual lateral acceleration change profile is a trajectory of the lateral acceleration, that is, the acceleration of the own vehicle in the lateral direction that changes during the manual lane change period, and the actual lateral acceleration gradient change profile is a trajectory of the lateral acceleration gradient, that is, the rate of change of the acceleration of the own vehicle in the lateral direction that changes during the manual lane change period. A target lateral velocity change profile is set based on the actual lateral velocity change profile as the target lane change characteristic, a target lateral acceleration change profile is set based on the actual lateral acceleration change profile as the target lane change characteristic, and a target lateral acceleration gradient change profile is set based on the actual lateral acceleration gradient change profile as the target lane change characteristic. The target lateral velocity change profile is a trajectory of the target value of the lateral velocity that changes through the lane change control, the target lateral acceleration change profile is a trajectory of the target value of the lateral acceleration that changes through the lane change control, and the target lateral acceleration gradient change profile is a trajectory of the target value of the lateral acceleration gradient that changes through the lane change control.

5. The vehicle driving assistance device according to claim 1, The control device is configured as follows: An actual lateral movement start time, an actual crossing start time, and an actual crossing completion time are obtained as the actual required time, the actual lateral movement start time being the time required from the operator performing an operation indicating the intention to perform the manual lane change to the start of the lateral movement of the own vehicle, the actual crossing start time being the time required from the start of the lateral movement of the own vehicle to the start of the crossing of the own vehicle, and the actual crossing completion time being the time required from the start of the crossing of the own vehicle to the completion of the crossing of the dividing line. A target lateral movement start time is set based on the actual lateral movement start time as the target required time, a target crossing start time is set based on the actual crossing start time as the target required time, and a target crossing completion time is set based on the actual crossing completion time as the target required time, the target lateral movement start time being a target value of the time from the operation of requesting the lane change control to the start of the lateral movement of the own vehicle, the target crossing start time being a target value of the time from the start of the lateral movement of the own vehicle to the start of the crossing of the own vehicle, and the target crossing completion time being a target value of the time from the start of the crossing of the own vehicle to the completion of the crossing of the dividing line.

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