Vehicle driving control device

Abstract

Vehicle driving control device (1) which includes: a driving environment information receiving unit (11) that receives driving environment information, wherein the driving environment information includes at least lane line information of a lane along which the vehicle is driving, and Information about the vehicle ahead is included; a driving information detector (12) that detects driving information from the vehicle itself; and a control unit (10) that performs steering control based on driving environment information and driving information, wherein the control unit (10) performs steering control based on lane line information when the driving environment information receiving unit (11) receives only lane line information and when the driving environment information receiving unit (11) receives both lane line information and the vehicle ahead information; wherein the control unit (10) performs a steering control that allows the own vehicle to follow the vehicle ahead when the driving environment information receiving unit (11) is unable to receive the lane line information as a result of an inter-vehicle distance (Lfo) between the own vehicle and a vehicle ahead being less than a predetermined distance; and the control unit (10) performs a control that allows the inter-vehicle distance (Lfo) between the own vehicle and the vehicle ahead to be extended to a distance at which lane line information is available when the driving environment information receiving unit (11) detects both a branch road of the lane ahead of the own vehicle and an intention of the vehicle ahead to change lanes to the branch road, with the own vehicle following the vehicle ahead.

Description

CROSS-REFERENCE TO RELATED REGISTRATIONS

[0001] The present application claims priority over Japanese patent application No. 2016-020150, filed on February 4, 2016, the entire contents of which are hereby incorporated by reference. BACKGROUND

[0002] The invention relates to a vehicle driving control device which detects the environment of a moving vehicle and performs steering control based on a lane line along which the vehicle is driving, or steering control to follow a vehicle driving ahead.

[0003] Various techniques utilizing driver assistance or automatic driving control have been developed and put into practical use to enable drivers to operate their vehicles more comfortably. For example, the unexamined Japanese patent application JP 2014-51241A discloses a technique for a vehicle control device. The vehicle control device disclosed in JP 2014-51241A detects a lane marking in an image captured in front of the vehicle, calculates a recognition confidence for the lane marking, and detects a vehicle traveling ahead of the vehicle.If the vehicle ahead is detected and the lane line recognition confidence is lower than a predetermined value, the vehicle control device moves its own vehicle so that the distance between its own vehicle and the vehicle ahead increases, in order to allow the lane line recognition confidence to become equal to or higher than the predetermined value.

[0004] DE 10 2012 104 786 A1 describes a system and a method for accurately estimating a lane in which a vehicle is traveling.

[0005] DE 10 2013 101 618 A1 describes a tracking control device for tracking a vehicle ahead. SUMMARY

[0006] In circumstances where the distance between the vehicle and the vehicle ahead is too small to detect the lane markings, such as in a traffic jam, the vehicle control device disclosed in JP 2014-51241A performs a control action to automatically follow the vehicle ahead. Such a vehicle control device performs a control action for: a case where only lane marking information is detected; a case where both lane marking information and information about the vehicle ahead are obtained; and a case where only information about the vehicle ahead is obtained.

[0007] It is desirable to specify a vehicle driving control device that makes it possible to execute steering controls precisely depending on the information received.

[0008] One aspect of the invention specifies a vehicle driving control device comprising: a driving environment information receiving unit that receives driving environment information, wherein the driving environment information includes at least lane line information of a lane along which the vehicle is traveling and information about a vehicle ahead; a driving information detector that detects driving information of the vehicle itself; and a control unit that performs steering control based on the driving environment information and the driving information. If the driving environment information receiving unit receives only the lane line information, and if the driving environment information receiving unit receives both the lane line information and the information about a vehicle ahead, the control unit performs steering control based on the lane line information.The control unit performs a steering control that allows the vehicle to follow the vehicle ahead if the driving environment information receiving unit is unable to obtain lane line information as a result of the intervehicle distance between the vehicle and the vehicle ahead being less than a predetermined distance. The control unit performs a control that allows the intervehicle distance between the vehicle and the vehicle ahead to be increased to a distance at which lane line information is available if the driving environment information receiving unit detects both a branch road of the lane ahead and an intention by the vehicle ahead to change lanes to the branch road, with the vehicle following the vehicle ahead. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 shows an overall configuration of a vehicle driving control device according to a first embodiment of the invention. Fig. Figure 2 is a flowchart of an example of a vehicle control program according to the first embodiment of the invention. Fig. Figure 3 is a flowchart of an example of a control system for assisting in stopping one's own vehicle according to the first embodiment of the invention. Fig. Figure 4 describes a target course and an estimated location with XY coordinates according to the first embodiment of the invention. Fig. 5 describes the upcoming routes of a preceding vehicle and the target courses of the own vehicle according to the first embodiment of the invention, wherein (a) of Fig. 5 is an example of a case where the vehicle ahead changes lanes on a road other than a branch road, (b) of Fig. 5 is an example of a case where the vehicle travels along the target course without turning, while the vehicle ahead turns onto the branch road, and (c) of Fig. 5 is an example of a case where the ahead route of the vehicle traveling ahead to the branch road coincides with the destination course of the own vehicle. Fig. Figure 6 is a flowchart of an example of a vehicle control program according to a second embodiment of the invention. Fig. Figure 7 is a flowchart of an example of a control system for assisting in the acceleration of the vehicle according to the second embodiment of the invention. Fig. Figure 8 is a flowchart of an example of a vehicle control program according to a third embodiment of the invention. Fig. Figure 9 is a flowchart of an example of a control system for assisting the driving of the own vehicle at a constant speed (performing a constant speed drive) according to the third embodiment of the invention. Fig. Figure 10 is a flowchart of an example of a vehicle control program according to a fourth embodiment of the invention. Fig. Figure 11 is a flowchart of an example of a control system for assisting in decelerating the vehicle according to the fourth embodiment of the invention. DETAILED DESCRIPTION

[0009] The following describes some embodiments of the invention with reference to the accompanying drawings. (First version)

[0010] The Fig. 1, Fig. 2, Fig. 3, Fig. 4 to Fig. Figure 5 shows a first embodiment of the invention. Referring to Fig. 1 includes a vehicle driving control device 1 and a driving control unit 10. The driving control unit 10 can be connected to the following as input devices: an environment detector 11, a driving parameter detector 12, a vehicle position information detector 13, a vehicle-to-vehicle communication device 14, a road traffic information communication device 15, and switches 16. The driving control unit 10 can be connected to the following as output devices: an engine control unit 21, a brake control unit 22, a steering control unit 23, a display unit 24, and a loudspeaker 25. The loudspeaker 25 can also include a buzzer.

[0011] The environment sensing device 11 can include a camera and a reflected wave receiver, which are not shown. The camera can have an element, such as a fixed-state image environment element. The camera can be located inside the vehicle and can capture an image of the vehicle's external environment to obtain image information. The camera can be, for example, a stereo camera, a monocular camera, or a color camera, but is not limited to these types. The reflected wave receiver can be, for example, a radar and / or sonar, but is not limited to these types. The radar and sonar can each receive a reflected wave originating from a three-dimensional object located in the vehicle's environment. The radar can be, for example, a laser radar or a millimeter-wave radar, but is not limited to these types.

[0012] If the camera of the environment detector 11 is the stereo camera, the stereo camera can, for example, contain a pair of cameras that stereoscopically record an object outside the vehicle from different viewpoints, and a stereo image processor that processes the image data received from the cameras. The camera pair can be arranged at a specific distance from each other on a front section of a ceiling in the vehicle interior. The processing of the image data received from the cameras can be carried out in the stereo image processor, for example, in the following way.

[0013] First, distance information can be determined based on a displacement amount between corresponding positions of a pair of stereo images taken by the cameras in the forward direction of the vehicle, in order to generate a distance image.

[0014] When detecting lane lines, such as, but not limited to, white lines, a change in brightness in the lateral direction of a road can be evaluated because the white lines are brighter than the road surface. This evaluation allows the positions of the right and left lane lines to be identified on the image plane. The positions (x, y, z) of the lane lines in real space can be calculated using any coordinate transformation expression, based on the positions (i, j) on the image plane and a parallax calculated from these positions, i.e., based on distance information. In this implementation, without restriction, a coordinate system in real space, based on a position of the vehicle itself as a reference, can be defined as follows. As an example in Fig. As shown in Figure 4, a vehicle longitudinal direction, i.e., a distance direction, can be an X-axis, a vehicle width direction can be a Y-axis, and a vehicle height direction can be a Z-axis, with the road surface immediately below a position at the center of the cameras being defined as the origin O. An XY plane, where z equals zero (0), coincides with the road surface if the road is flat. To obtain a road model, a lane on the road on which the vehicle is traveling can be divided into a plurality of segments in the distance direction, and, for example, the least squares method can be applied to a group of points, each representing the right and left lane lines in each segment, to approximate the right and left lane lines in each segment with a quadratic curve, as expressed in expression (1) below. y=A⋅x2+B⋅x+C

[0015] Based on the distance image data, which represents a three-dimensional distance distribution, the environment recognizer 11 can perform a grouping process and compare it with pre-stored data such as three-dimensional road shape data and three-dimensional object data to extract sidewall data for a guardrail, curb, and median strip along the road, as well as data for three-dimensional objects such as vehicles. The three-dimensional object data allows for the determination of the distance from the vehicle to the three-dimensional object and the change in distance over time (relative speed with respect to the vehicle). Specifically, a vehicle with the following characteristics can be identified as the vehicle ahead.This means that the vehicle on the preceding route of your own vehicle is closest to your vehicle and is traveling at a predetermined speed (e.g., 0 km / h or higher) in approximately the same direction. Information about whether a turn signal switch on the vehicle identified as the preceding vehicle has been activated or deactivated can be detected using factors such as changes in image brightness. It should be noted that a vehicle traveling at approximately 0 km / h among the preceding vehicles can be identified as having come to a complete stop.

[0016] The environmental sensor 11 can detect the position of a reflective three-dimensional object (distance and angle) along with its velocity based on information about a reflected wave received from a radar. In one configuration, the environmental sensor 11 can serve as a vehicle environment information receiving unit.

[0017] The driving parameter detector 12 can detect information about the vehicle's driving behavior. Specific examples of driving information can include factors such as, but are not limited to, vehicle speed, acceleration, steering torque, steering wheel angle, yaw rate, accelerator pedal position, throttle opening angle, gradient of a road surface on which the vehicle is driving, and an estimate of the road surface's coefficient of friction. In one embodiment, the driving parameter detector 12 can function as a driving information detector.

[0018] The Own Vehicle Position Information Detector 13 can be, for example, a navigation system, but is not limited to this. The Own Vehicle Position Information Detector 13 can receive an electrical wave transmitted, for example, by a global positioning system (GPS), and detect a current position based on the information in the received electrical wave. By detecting the current position, the Own Vehicle Position Information Detector 13 can identify the position of the own vehicle on map data. The map data can be pre-stored on a recording medium, such as, but not limited to, flash memory, a compact disc (CD), a digital versatile disc (DVD), a Blu-ray (registered trademark) disc, or a hard disk drive (HDD).

[0019] The pre-stored map data can contain road data and facility data. Road data can include, but is not limited to, information on the positions of sections, the types of sections, the positions of nodes, the types of nodes, the curvature (radii of curvature), and information on the connection between nodes and sections. In other words, the road data can include information on junctions and intersections of a road, information on a maximum vehicle speed on a branch road, and any other information. The facility data can contain multiple records for each facility.The records can contain data which, for example, but not limited to, information about the name of a relevant establishment, information about the location of the establishment, and information about the type of establishment, which can be classified as a department store, a shop, a restaurant, a parking lot, a park, or a repair shop in case of vehicle malfunction. The Own Vehicle Position Information Detector 13 can display the location of the vehicle on a map and allow a driver to enter a destination. Upon entering the destination, the Own Vehicle Position Information Detector 13 can perform a predefined calculation of a route from the point of departure to the destination.The vehicle's own position information detector 13 can display the calculated route on the display device 24, such as, but not limited to, a display and a monitor, and can provide the driver with voice guidance via the loudspeaker 25 to allow full-command guidance. In one embodiment, the vehicle's own position information detector 13 can serve as the driving environment information receiving unit.

[0020] The vehicle-to-vehicle communication device 14 can be a wireless short-range communication device with a communication range of approximately 100 m, such as, but not limited to, a wireless local area network (LAN). The vehicle-to-vehicle communication device 14 can communicate directly with any other vehicle without the intervention of a server or other means to send and receive information. The vehicle-to-vehicle communication device 14 can exchange information, such as, but not limited to, vehicle information, driving information, and traffic environment information, with any other vehicle through mutual communication with that vehicle.Vehicle information can include, but is not limited to, unique information identifying the type of vehicle, such as, in one embodiment, but is not limited to, a passenger car, a truck, or a motorcycle. Driving information can include, but is not limited to, vehicle speed information, position information, information on whether a brake light is illuminated, information on whether a turn signal switch is on or off (signaling right and left turns), and information on whether warning lights are flashing during an emergency stop. Traffic environment information can include information that changes from situation to situation, such as, but is not limited to, information on traffic jams and roadworks. In one embodiment, the vehicle-to-vehicle communication device 14 can serve as the driving environment information receiving unit.

[0021] The Road Traffic Information Communication Device 15 can be a so-called Vehicle Information and Communication System (VICS: registered trademark) or any other suitable system that receives road traffic information. The Road Traffic Information Communication Device 15 can receive real-time road traffic information from FM multiplex radio transmitters or from a transmitter on a road and display the received road traffic information on the previously stored map data described above. The road traffic information can include, for example, but is not limited to, traffic jams, accidents, roadworks, estimated time, and parking. In one embodiment, the Road Traffic Information Communication Device 15 can serve as the traffic environment information receiving unit.

[0022] Switches 16 may be those relating to a driver assistance control. Non-restrictive examples of switches 16 may include: a switch that performs a constant-speed control, in which a speed is set to a previously set constant speed; a switch that performs a following control, in which an inter-vehicle distance or inter-vehicle time between the vehicle and the vehicle ahead is maintained at a previously set constant value; a switch that performs a lane-keeping control, in which a vehicle is kept in a set lane to perform a driving control; a switch that performs a control that prevents the occurrence of a lane departure;a switch that allows an overtaking control to be executed, overtaking the vehicle ahead or a vehicle to be overtaken; a switch that performs an automatic driving control, causing some or all of the above-described controls to be carried out in a coordinated manner; a switch that sets factors required for each of the above-described controls, including, without limitation, vehicle speed, inter-vehicle distance, inter-vehicle time, and speed limit; and a switch that deactivates one or all of the above-described controls.

[0023] The engine control unit 21 can perform primary control with respect to a vehicle engine (not shown) based on vehicle information. This primary control may include, for example, fuel injection control, ignition timing control, and electronic throttle control, but is not limited to these. The vehicle information may include, for example, intake airflow, throttle opening angle, engine coolant temperature, intake air temperature, oxygen concentration, crankshaft angle, and accelerator pedal position, but is not limited to these.When the engine control unit 21 receives an acceleration request (required acceleration) for vehicle controls from the driving control unit 10 during driver assistance or automatic driving, the engine control unit 21 can calculate a drive torque based on the requested acceleration in order to perform engine control using the drive torque as the target torque. Non-restrictive examples of vehicle controls can include constant-speed driving control, following control, lane keeping control, lane departure prevention control, and overtaking control.

[0024] The brake control device 22 can allow control of the four wheel brakes (not shown) independently of any braking action performed by the driver, and can perform anti-lock braking (ABS) control and yaw control, which controls a yaw moment applied to the vehicle. The brake control device 22 can perform this control based on vehicle information, which may include, for example, a brake switch, the wheel speed of each of the four wheels, the steering wheel angle, and the yaw rate, but is not limited to this. The yaw control may, for example, include anti-slip control, but is not limited to this.Upon receiving a deceleration request (required deceleration) from the vehicle control unit 10 during automatic driving, the brake control unit 22 can set a target fluid pressure of a wheel cylinder of a brake of each wheel based on the requested deceleration in order to perform the brake control.

[0025] Non-restrictive examples of vehicle control systems include constant speed control, following control, lane keeping control, lane departure prevention control, and overtaking control.

[0026] The steering control unit 23 can control an auxiliary torque generated by an electric servo steering motor (not shown) integrated into the vehicle's steering system, based on vehicle information which may include, but is not limited to, vehicle speed, steering torque, steering wheel angle, and yaw rate. The steering control unit 23 can enable lane keeping control, which maintains the vehicle's lane position to execute driving controls; lane departure prevention control, which prevents deviations from the lane; following control, which allows the vehicle to follow the vehicle ahead; and automatic steering control, which coordinates and executes these controls.The steering control unit 23 can receive information from the driving control unit 10 on the steering wheel angle or steering torque required for lane keeping control, lane departure prevention control, following driving control and automatic driving steering control calculated by the driving control unit 10, and can control the drive of the electric servo steering motor on the basis of a control amount of the steering wheel angle or steering torque received from the driving control unit 10.

[0027] The display device 24 can provide the driver with a visual warning or message, for example by means of a monitor, display, or warning light, but is not limited to this. The loudspeaker 25 can provide the driver with an audible warning or message.

[0028] The vehicle control unit 10 can, based on each input signal from the environment detector 11, the driving parameter detector 12, the vehicle's own position information detector 13, the vehicle-to-vehicle communication device 14, the road traffic information communication device 15, and the switch 16, execute constant-speed driving control, following driving control, lane keeping control, lane departure prevention control, and other controls in a coordinated manner to perform vehicle controls such as driver assistance control and automatic driving control. In this case, the vehicle control unit 10 can execute steering control based on lane line information if only the lane line is received, and also if both lane line information and the vehicle ahead information are received.If lane line information is not obtained due to an excessively small gap between the vehicle and the vehicle ahead, the vehicle control unit 10 can perform steering controls to follow the vehicle ahead. If a side road is detected in front of the vehicle, and the information indicating the activation of the turn signal switch of the vehicle ahead, which the vehicle is following, shows an intention on the part of the vehicle ahead to change lanes onto the side road, the vehicle control unit 10 can perform a control to allow the gap between the vehicle and the vehicle ahead to increase to a distance at which lane line information is available.In this case, the vehicle control unit 10 can determine whether the turning direction of the vehicle ahead matches the destination course of the vehicle in front. If the route of the vehicle ahead, which is traveling towards the branch road, matches the destination course of the vehicle in front, the vehicle control unit 10 can initiate steering control to follow the vehicle ahead. If a branch road is detected in the lane ahead of the vehicle in front, and the intention of the vehicle ahead, which the vehicle in front is following, to change lanes towards the branch road is detected, the vehicle control unit 10 can initiate steering control based on the status of the vehicle in front after the lane change has been completed, depending on the vehicle's driving state.In particular, the vehicle control unit 10 can prevent the vehicle, which is stopped, from moving (in the first embodiment of the invention). If lane line information is received after the preceding vehicle has completed its lane change, the vehicle control unit 10 can allow the vehicle to move while performing steering control based on this lane line information. Conversely, if no lane line information is received, the vehicle control unit 10 can prevent the vehicle from moving and can stop the steering control in a case where a predetermined time expires and / or a driving operation is performed by the driver. Thus, the vehicle control unit 10 can serve as a control unit.

[0029] The following refers to the flowchart of Fig. 2 An example of a program for the vehicle control is described, which is to be executed by the vehicle control unit 10.

[0030] First, in step 101 (hereinafter abbreviated as "S"), it can be determined whether the lane line is recognized.

[0031] If the lane line is detected as a result of the determination, the flow can continue to step S111, in which a steering assistance control can be carried out based on the lane line information.

[0032] The steering control system based on lane line information can be implemented, for example, as follows. As in Fig. As shown in Figure 4, a target course (e.g., the center of the lane) of the vehicle can be set based on the lane line and can be approximated by the preceding expression (1) of a quadratic curve. The quadratic curve can determine the curvature κ of the target course as equal to 2·A (κ=2·A) and can determine a relative yaw angle θyaw of the target course with respect to a direction of travel of the vehicle as equal to tan -1 (B) (θyaw=tan -1 (B)) determine.

[0033] The estimated route of the vehicle, which is estimated depending on the current driving state of the vehicle, can be calculated, for example, on the basis of the following expression (2) on the basis of an equation of motion of the vehicle. y=(1 / 2)⋅(1 / (1+As⋅V2))⋅(θp / Lw)⋅x2 where V denotes the speed of the vehicle itself, θp denotes a steering wheel angle, As denotes a vehicle-specific stability factor, and Lw denotes a wheelbase.

[0034] Based on the above exemplary procedure, coordinates of a control target point obtained by the above target course (represented by expression (1)) can be set as (xt, yt), and coordinates of the estimated route of the own vehicle, which is shifted in the vehicle width direction from the control target point, can be set as (xt, yv) to enable the calculation of a target steering angle θt based on the following expression (3). θt=Gff⋅κ+Gfb⋅(yt−yv)+Gfby⋅θyaw where Gff denotes a forward feedback factor, Gfb denotes a feedback factor, and Gfby denotes a yaw angle feedback factor, each of which can be a preset value.

[0035] In the preceding expression (3), a first operation term may be a forward-feedback operation term required for driving along the target course; a second operation term may be a feedback operation term directed to correct a change, in the width direction of the own vehicle, at the control target point between the target course and the estimated route; and a third operation term may be a feedback operation term directed to correct a change in a relative yaw angle between the target course and the own vehicle to allow the estimated route of the own vehicle to coincide with the target course.

[0036] The target steering wheel angle θt, calculated on the basis of the preceding expression (3), can be output to the steering control device 23.

[0037] Incidentally, if the steering assistance control is based on lane line information, the driver can be informed of this as needed by means of the display device 24 or the loudspeaker 25. The steering assistance control based on lane line information according to the preceding expression (3) is merely an example, and the steering assistance control is by no means limited to the embodiment of the invention.

[0038] If, however, it is determined in step S101 described above that no lane line is detected, the flow can continue to S102, which determines whether the vehicle ahead is detected.

[0039] If S102 determines that no vehicle ahead is detected, i.e., if neither a lane marking nor a vehicle ahead is detected, the flow can continue to S104. In S104, the steering assist control can be switched off to terminate the program. Incidentally, if the steering assist control is switched off, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0040] If S102 determines that the vehicle ahead has been detected, the flow can continue to S103.

[0041] In S103 it can be determined whether an inter-vehicle distance Lfo between the vehicle ahead and the own vehicle is equal to or greater than a distance Lc that is previously set by experiment, calculation or other means.

[0042] If, in S103, it is determined that the inter-vehicle distance Lfo between the vehicle ahead and the current vehicle is equal to or greater than the distance Lc previously set by experiment, calculation, or other means (Lfo ≥ Lc), the flow can proceed to S104. In S104, the steering assist control can be switched off to terminate the program. Incidentally, if the steering assist control is switched off, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0043] If, however, it is determined that the inter-vehicle distance Lfo between the vehicle ahead and the vehicle in question is smaller than the distance Lc, which was previously set by experiment, calculation, or other means (Lfo < Lc), then it can be determined that the inter-vehicle distance Lfo between the vehicle ahead and the vehicle in question is smaller, and that it is difficult to recognize the lane markings. After this determination, the flow can continue to S105.

[0044] In the process flow to S105, steering assistance control can be performed based on the vehicle ahead information. Steering assistance control based on the vehicle ahead information can be performed, for example, by setting the location of the vehicle ahead to approximately the center of the rear of the vehicle ahead, and approximating the location of the vehicle ahead, as the target course of the own vehicle, using the quadratic curve from expression (1) above. As in the preceding procedure described for steering assistance control based on lane line information, the target steering angle θt can be calculated to allow the estimated route of the own vehicle to match the target course (location of the vehicle ahead), and the calculated target steering angle θt can be output to the steering control unit 23.Incidentally, if the steering assistance control is based on the information about the vehicle ahead, the driver can be informed of this as required by means of the display device 24 or the loudspeaker 25.

[0045] The flow can then continue to S106, where it can be determined whether a branch road of the lane ahead of the vehicle is detected and whether the turning signal switch of the vehicle ahead is activated to indicate an intention of the vehicle ahead to change lanes towards the branch road.

[0046] As a result of the determination, in any of the following cases the flow can return to S105: a case where there is no branch road even though the turn signal switch is turned on (case of a simple lane change, etc., as in (a) of Fig. 5 shown); a case where the turn signal switch is not activated, although a branch road is present; and a case where a branch road is present and the turn signal switch is not activated. In S105, the steering assistance control can be carried out based on the information of the vehicle ahead.

[0047] If it is determined that a branch road of the lane ahead of the vehicle is detected, and that the turn signal switch of the vehicle ahead is activated to indicate an intention of the vehicle ahead to change lanes towards the branch road (cases (b) and (c) of Fig. 5), the river can continue to S107.

[0048] In S107, it can be determined whether the user's vehicle is stopped. If the user's vehicle is stopped, the flow can continue to S112, where the control described later can be performed to assist in stopping the user's vehicle. If, however, the user's vehicle is not stopped, the flow can continue to S108.

[0049] During the process flow to S108, it can be determined whether the direction of travel of the vehicle ahead matches that of the vehicle at the branch road. In the first embodiment of the invention, the direction of travel of the vehicle can be one for the route set by the navigation system of the vehicle position information detector 13, and the determination can be made based on whether the turning direction of the vehicle ahead matches the guided route.

[0050] If S108 determines that the direction of travel of the vehicle ahead coincides with that of the vehicle itself on the branch road (case (c) of Fig. 5) The flow can return to S105 to continuously execute the following control to follow the vehicle ahead. In S105, the steering assistance control can be carried out based on the information about the vehicle ahead. Incidentally, if the vehicle changes lanes to the side road together with the vehicle ahead, the driver can be informed and prompted to activate the turn signal switch, or the turn signal switch can be activated automatically.

[0051] If, according to S108, it is determined that the direction of travel of the vehicle ahead does not coincide with that of the vehicle itself on the branch road (case (b) of Fig. 5) The flow can continue to S109, where a control can be executed to increase the distance between the vehicle and the vehicle ahead. In particular, the engine control unit 21 (reducing engine torque) or the brake control unit 22 (generating braking force) can be activated as needed to reduce the relative speed of the vehicle with respect to the vehicle ahead below the current relative speed. Incidentally, the driver can be informed when the control to increase the distance between the vehicle and the vehicle ahead is executed.

[0052] Following the process of widening the inter-vehicle spacing in S109, the flow can then continue to S110, where it can be determined whether the lane line is recognizable.

[0053] If S110 determines that the lane line is detectable, the flow can continue to S111. In S111, the steering assistance control can be performed based on the lane line information to terminate the program.

[0054] If the lane marking is not visible, the process can be repeated from page S109.

[0055] Now, with reference to a flowchart of Fig. 3, the steering control described above for assisting in stopping the own vehicle is described in S112, which is based on the determination carried out in the preceding step S107 that the own vehicle is stopped.

[0056] First, in S1001, you can prevent your own vehicle from moving.

[0057] The flow can then continue to S1002, where it can be determined whether the movement of the vehicle ahead has been completed, i.e., whether the movement of the vehicle ahead towards the branch road has been completed after its intention to turn has been shown by switching on the turn signal switch.

[0058] If S1002 determines that the movement of the vehicle ahead has not been completed, the process can be repeated from S1001. However, if the movement of the vehicle ahead has been completed—that is, if the vehicle's movement towards the branch road has been completed after its intention to turn was indicated by activating the turn signal switch—the flow can continue to S1003. S1003 determines whether the lane markings are visible.

[0059] If the lane marking is not visible, the flow can continue to S1004 to prevent the vehicle from moving.

[0060] The flow can then proceed to S1005, where it can be determined whether a specific time period has elapsed, which is pre-set by experiment or other means. If the predetermined time period has not elapsed, the flow can proceed to S1006, where it can be determined whether any driving action has been performed by the driver.

[0061] If S1006 determines that there is no driving control from the driver, the process can be repeated from S1003.

[0062] If S1005 indicates that the specified time period has elapsed, or if S1006 indicates that a driving operation has been performed by the driver, the flow can proceed to S1007. In S1007, the steering assist control can be switched off to terminate the program. Incidentally, if the steering assist control is switched off, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0063] If, however, the lane line is detected in the preceding step S1003, the flow can continue to S1008, where the vehicle is allowed to start moving. Afterwards, the flow can continue to S1009, where the steering assistance control can be performed based on the lane line information to terminate the program.

[0064] According to the first embodiment of the invention, when implementing vehicle control functions such as driver assistance control and automatic driving control, steering control can be based on lane line information, both when only lane line information is available and when both lane line information and information about the vehicle ahead are available. If the distance between the vehicle and the vehicle ahead is small, and it is therefore difficult to obtain lane line information, steering control can be performed to follow the vehicle ahead.If the branch road of the lane ahead is detected and the information indicating the activation of the turn signal switch of the vehicle ahead, which the vehicle is following, shows the intention of the vehicle ahead to change lanes towards the branch road, steering control can be initiated to allow the distance between the vehicle ahead and the vehicle ahead to increase to the distance at which lane line information is available. In this case, it can be determined whether the turning direction of the vehicle ahead matches the intended course of the vehicle ahead. If the path of the vehicle ahead heading towards the branch road matches the intended course of the vehicle ahead, steering control can be initiated to follow the vehicle ahead.If the branch road of the lane ahead of the vehicle and the intention of the vehicle ahead, which the vehicle is following, to change lanes to the branch road are detected, steering control can be performed based on the status of the lane line information received after the lane change by the vehicle ahead has been completed, depending on the driving state of the vehicle. In particular, according to the first embodiment of the invention, it is possible to prevent the vehicle, which is stopped, from moving. If the lane line information is received after the lane change by the vehicle ahead has been completed, the vehicle can be allowed to move while steering control is performed based on the lane line information.If, however, no lane marking information is received, the system can prevent the vehicle from moving and stop the steering control if the predetermined time expires and / or the driver is in control. Therefore, if the branch road of the lane ahead and the intention of the vehicle following to change lanes to the branch road are detected, it is possible to precisely control the steering, even when the vehicle is stopped, by correctly utilizing the lane marking information and the information about the vehicle ahead. (Second version)

[0065] Now, regarding the Fig. 6 and Fig. 7 describes a second embodiment of the invention. The second embodiment of the invention is directed to an example where control can be carried out based on the determination of whether the vehicle is accelerating. The control can be carried out when a side road of the lane ahead of the vehicle and the intention of the preceding vehicle, which the vehicle is following, to change lanes towards the side road are detected (in the case of (JA) in S106 of Fig. 2 in the first embodiment). The other components, functions, and effects are similar to those of the first embodiment of the invention, and therefore identical reference numerals have been added to identical components in order to omit their description.

[0066] Referring to Fig. 6. The flow can continue to S106, similar to the first embodiment of the invention. If, in S106, the turning signal switch of the preceding vehicle is activated, and it is thus determined that the preceding vehicle intends to change lanes towards the branch road (cases (b) and (c) of Fig. 5), the river can continue to S201.

[0067] In S201, it can be determined whether the vehicle is accelerating. If the vehicle is accelerating, the flow can continue to S202, where the control described later for assisting the vehicle's acceleration can be performed. If the vehicle is not accelerating, the flow can continue to S108. The process in and after S108 is similar to the process in the first embodiment of the invention, and therefore its descriptions are omitted.

[0068] Now, with reference to a flowchart of Fig. 7 the control described above to assist the own vehicle in accelerating in S202, carried out on the basis of the determination in the preceding step S201 that the own vehicle is accelerating.

[0069] First, in step S2001, it can be prevented that the vehicle itself accelerates.

[0070] The flow can then continue to S2002, where it can be determined whether the movement of the vehicle ahead has been completed, i.e., whether the movement of the vehicle ahead to the branch road has been completed after its wish to turn has been indicated by switching on the turn signal switch.

[0071] If S2002 determines that the movement of the vehicle ahead has not been completed, the process can be repeated from S2001. If the movement of the vehicle ahead has been completed—that is, if the vehicle ahead has completed its movement toward the branch road after indicating its intention to turn by activating the turn signal switch—the flow can continue to S2003. In S2003, it can be determined whether the lane marking is recognizable.

[0072] If the lane marking is not visible, the flow can continue to S2004 to allow the vehicle to travel at a constant speed.

[0073] The flow can then proceed to S2005, where it can be determined whether a specific time period has elapsed, which is previously set by experiment or other means. If the specific time period has not elapsed, the flow can proceed to S2006, where it can be determined whether any driving action has been performed by the driver.

[0074] If S2006 determines that there is no driver-initiated driving operation, the process can be repeated from S2003 onwards.

[0075] If S2005 determines that a certain time period has elapsed, or if S2006 determines that a driving operation has been performed by the driver, the flow can continue to S2007. In S2007, the steering assist control can be switched off to end the program. Incidentally, if the steering assist control is switched off, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0076] If, however, the lane line is detected in the preceding step S2003, the flow can continue to S2008, where the vehicle is allowed to drive while accelerating. Afterwards, the flow can continue to S2009, where steering assistance control based on the lane line information can be performed to terminate the program.

[0077] According to the second embodiment of the invention, if the branch road of the lane ahead of the vehicle and the intention of the preceding vehicle, which the vehicle is following, to change lanes towards the branch road are detected, the vehicle wishing to accelerate can be prevented from doing so. If the lane line information is received after the preceding vehicle has completed its lane change, the vehicle can be allowed to accelerate while steering is controlled based on this lane line information. Conversely, if no lane line information is received, the vehicle can be allowed to maintain a constant speed, and steering control can be stopped if a predetermined time expires and / or the driver takes over.If the branch road of the lane in front of the vehicle and the intention of the vehicle ahead, which the vehicle is following, to change lanes to the branch road are detected, it is possible to perform precise steering control depending on the information received by correctly using the lane line information and the vehicle ahead information, even in a case where the vehicle is accelerating. (Third version)

[0078] Now, regarding the Fig. 8 and Fig. 9 A third embodiment of the invention is described. The third embodiment of the invention is directed to an example where control can be carried out based on the determination of whether the vehicle is traveling at a constant speed. The control can be carried out when the branch road of the lane ahead of the vehicle and the intention of the preceding vehicle, which the vehicle is following, to change lanes to the branch road are detected (in the case of (JA) in S106 in Fig. 2 in the first embodiment). Other components, functions, and effects are similar to those of the first embodiment of the invention, and therefore identical reference numerals have been added to identical components in order to omit their description.

[0079] Referring to Fig. 8. The flow can continue to S106, similar to the first embodiment of the invention. If, in S106, the turning signal switch of the preceding vehicle is activated, and it is thus determined that the preceding vehicle intends to change lanes towards the branch road (cases (b) and (c) of Fig. 5), the river can continue to S301.

[0080] In S301, it can be determined whether the vehicle is traveling at a constant speed. If the vehicle is traveling at a constant speed, the flow can proceed to S302, where the control described later for assisting the vehicle in traveling at a constant speed can be performed. If the vehicle is not traveling at a constant speed, the flow can proceed to S108. The process in and after S108 is similar to the process of the first embodiment of the invention, and therefore its descriptions are omitted.

[0081] Now, with reference to a flowchart in Fig. 9 the control described above for assisting the own vehicle when driving at a constant speed is described in S302, which is carried out on the basis of the determination made in the preceding step S301 that the own vehicle is driving at a constant speed.

[0082] First, in S3001, the vehicle is allowed to decelerate.

[0083] The flow can then continue to S3002, where it can be determined whether the movement of the vehicle ahead has been completed; that is, whether the movement of the vehicle ahead towards the branch road has been completed after its intention to turn was indicated by activating the turn signal switch.

[0084] If it is determined in S3002 that the movement of the vehicle ahead has not been completed, the process can be repeated from S3001. If the movement of the vehicle ahead has been completed, i.e., if the vehicle's movement towards the branch road has been completed after its intention to turn has been indicated by the activation of the turn signal switch, the flow can continue to S3003. In S3003, it can be determined whether the lane marking is recognizable.

[0085] If the lane marking is not visible, the flow can continue to S3004 to allow the vehicle to travel at a constant speed.

[0086] The flow can then proceed to S3005, where it can be determined whether a specific time period, previously set by experiment or other means, has elapsed. If the predetermined time period has not elapsed, the flow can proceed to S3006, where it can be determined whether any driving action has been performed by the driver.

[0087] If S3006 determines that there is no driver-initiated driving operation, the process can be repeated from S3003.

[0088] If S3005 indicates that the specified time period has elapsed, or if S3006 indicates that a driving operation has been performed by the driver, the flow can proceed to S3007. In S3007, the steering assist control can be deactivated to terminate the program. Incidentally, if the steering assist control is deactivated, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0089] If, however, the lane line is detected in the preceding step S3003, the flow can continue to S3008, where the vehicle is allowed to proceed while accelerating. Afterwards, the flow can continue to S3009, where steering assistance control can be performed based on the lane line information to terminate the program.

[0090] According to the third embodiment of the invention, if the branch road of the lane ahead of the vehicle and the intention of the preceding vehicle to change lanes to the branch road are detected, the vehicle, which is traveling at a constant speed, may be permitted to decelerate. If the lane line information is received after the preceding vehicle has completed the lane change, the vehicle may be permitted to accelerate, with steering control based on this lane line information. Conversely, if no lane line information is received, the vehicle may be permitted to maintain a constant speed, and steering control may be stopped when a predetermined time expires and / or the driver takes over driving operations.Thus, if the branch road of the lane in front of the vehicle and the intention of the vehicle ahead, which the vehicle is following, to change lanes to the branch road are detected, it is possible to precisely control the steering depending on the information received by correctly using the lane line information and the vehicle ahead information, even in a case where the vehicle is traveling at a constant speed. (Fourth version)

[0091] Now, with reference to the Fig. 10 and Fig. 11 describes a fourth embodiment of the invention. The fourth embodiment of the invention is directed to an example where control can be carried out based on a determination of whether the vehicle is decelerating. The control can be carried out when the branch road of the lane ahead of the vehicle and the intention of the preceding vehicle, which the vehicle is following, to change lanes to the branch road are detected (in the case of (JA) in S106 in Fig. 2 in the first embodiment). Other components, functions, and effects are similar to those of the first embodiment of the invention, and therefore identical reference numerals are added to identical components in order to omit their description.

[0092] Referring to Fig. 10. The flow can continue to S106, similar to the first embodiment of the invention. If, in S106, the turning signal switch of the preceding vehicle is activated, and it is thus determined that the preceding vehicle intends to change lanes to the branch road (cases (b) and (c) of Fig. 5), the river can continue to S401.

[0093] In S401, it can be determined whether the vehicle is decelerating. If the vehicle is decelerating, the flow can proceed to S402, where the control described later for assisting the vehicle in decelerating can be performed. If the vehicle is not decelerating, the flow can proceed to S108. The process in and after S108 is similar to the process in the first embodiment of the invention, and therefore its descriptions are omitted.

[0094] Now, with reference to a flowchart in Fig.11 the control described above for assisting the own vehicle in deceleration is described in S402, which is carried out on the basis of the determination made in the preceding step S401 that the own vehicle is decelerating.

[0095] Initially, in S4001, you can allow your own vehicle to continue driving while it is decelerating.

[0096] The flow can then continue to S4002, where it can be determined whether the movement of the vehicle ahead has been completed, i.e., whether the movement of the vehicle ahead to the branch road has been completed after the wish to turn has been shown by turning on the turn signal switch.

[0097] If it is determined in S4002 that the movement of the vehicle ahead has not been completed, the process can be repeated from S4001. If the movement of the vehicle ahead has been completed, i.e., if the vehicle's movement towards the branch road has been completed after its intention to turn was indicated by activating the turn signal switch, the flow can continue to S4003. In S4003, it can be determined whether the lane markings are visible.

[0098] If the lane marking is not visible, the flow can continue to S4004 to allow the vehicle to travel at a constant speed.

[0099] The flow can then proceed to S4005, where it can be determined whether a specific time period has elapsed, which is previously set by experiment or other means. If the specific time period has not elapsed, the flow can proceed to S4006, where it can be determined whether any driving action has been performed by the driver.

[0100] If S4006 determines that there is no driver-initiated driving operation, the process can be repeated from S4003.

[0101] If S4005 indicates that the specified time period has elapsed, or if S4006 indicates that a driving operation has been performed by the driver, the flow can proceed to S4007. In S4007, the steering assist control can be deactivated to terminate the program. Incidentally, if the steering assist control is deactivated, the driver can be informed of this, if necessary, via the display unit 24 or the loudspeaker 25.

[0102] If, however, the lane line is detected in the preceding step S4003, the flow can continue to S4008, where the vehicle is allowed to proceed while accelerating. Afterwards, the flow can continue to S4009, where steering assistance control can be performed based on the lane line information to terminate the program.

[0103] According to the fourth embodiment of the invention, if the branch road of the lane ahead of the vehicle and the intention of the preceding vehicle, which the vehicle is following, to change lanes to the branch road are detected, the vehicle, which is decelerating, can be allowed to continue decelerating. If the lane line information is received after the preceding vehicle has completed the lane change, the vehicle can be allowed to accelerate while steering is controlled based on the lane line information. Conversely, if no lane line information is received, the vehicle can be allowed to maintain a constant speed, and steering control can be stopped when a predetermined time expires and / or the driver takes over driving operations.Thus, if the branch road of the lane in front of one's own vehicle and the intention of the vehicle ahead, which is following one's own vehicle, to change lanes to the branch road are detected, it is possible to perform precise steering control depending on the information to be obtained by correctly using the lane line information and the vehicle ahead information, even in a case where one's own vehicle is decelerating.

[0104] According to one embodiment of the invention, steering control can be performed based on lane line information, both when only lane line information is available and when both lane line information and information about the vehicle ahead are available. If the distance between the vehicle and the vehicle ahead is small, making it difficult to obtain lane line information, steering control can be performed to follow the vehicle ahead.When the branch road of the lane ahead of the vehicle is detected, along with information indicating the turn signal switch of the vehicle ahead (which the vehicle is following) signaling its intention to change lanes to the branch road, steering control can be initiated to allow the distance between the vehicle ahead and the vehicle ahead to increase to the distance at which lane line information is available. In this case, it can be determined whether the turning direction of the vehicle ahead matches the target course of the vehicle ahead. If the route of the vehicle ahead heading towards the branch road matches the target course of the vehicle ahead, steering control can be initiated to follow the vehicle ahead.If the branch road of the lane ahead and the intention of the vehicle ahead, which the vehicle is following, to change lanes onto the branch road are detected, steering control can be performed based on the status of lane line information received after the lane change by the vehicle ahead has been completed, depending on the vehicle's driving state. This prevents the following scenario: If the vehicle automatically follows the vehicle ahead, receiving only the information about the vehicle ahead, the vehicle might end up turning onto the branch road or other roads while following the vehicle ahead, which is also turning onto the branch road, thus unintentionally deviating from its lane.Therefore, it becomes possible to perform precise steering control depending on the information to be obtained, by correctly using the lane line information and the information about the vehicle ahead.

[0105] Although some preferred embodiments of the invention have been described above by way of example with reference to the accompanying drawings, the invention is by no means limited to the embodiments described above. It should be understood that modifications and alterations can be made by persons skilled in the art without deviating from the scope as defined in the accompanying claims. The invention is intended to include such modifications and alterations insofar as they fall within the scope of the accompanying claims or their equivalents.

[0106] A vehicle driving control device comprises a receiving unit, a detector, and a control unit. The receiving unit receives driving environment information. This driving environment information includes at least lane marking information for the lane along which the vehicle is traveling, as well as information about the vehicle ahead. The detector detects driving information from the vehicle itself. The control unit performs steering control based on the driving environment information and the vehicle's driving information. If the receiving unit receives only the lane marking information, and if the receiving unit receives both the lane marking information and the vehicle ahead information, the control unit performs steering control based on the lane marking information.

Claims

[1] Vehicle driving control device (1) comprising: a driving environment information receiving unit (11) that receives driving environment information, wherein the driving environment information includes at least lane line information of a lane along which the vehicle is driving, and Information about the vehicle ahead is included; a driving information detector (12) that detects driving information from the vehicle itself; and a control unit (10) that performs steering control based on driving environment information and driving information, wherein the control unit (10) performs steering control based on lane line information when the driving environment information receiving unit (11) receives only lane line information and when the driving environment information receiving unit (11) receives both lane line information and the vehicle ahead information; wherein the control unit (10) performs a steering control that allows the own vehicle to follow the vehicle ahead when the driving environment information receiving unit (11) is unable to receive the lane line information as a result of an inter-vehicle distance (Lfo) between the own vehicle and a vehicle ahead being less than a predetermined distance; and the control unit (10) performs a control that allows the inter-vehicle distance (Lfo) between the own vehicle and the vehicle ahead to be extended to a distance at which lane line information is available when the driving environment information receiving unit (11) detects both a branch road of the lane ahead of the own vehicle and an intention of the vehicle ahead to change lanes to the branch road, with the own vehicle following the vehicle ahead. [2] Vehicle driving control device (1) according to claim 1, wherein the control unit (10) determines whether a route of the vehicle ahead, which is driving towards the branch road, corresponds to a target course of the own vehicle, and performs the steering control that allows the own vehicle to follow the vehicle ahead, provided that the route of the vehicle ahead corresponds to the target course of the own vehicle, if the driving environment information receiving unit (11) detects both the branch road of the lane ahead of the own vehicle and the intention of the vehicle ahead to change lanes towards the branch road, wherein the own vehicle follows the vehicle ahead. [3] Vehicle driving control device (1) according to claim 1 or 2, wherein the control unit (10), depending on the driving state of the own vehicle, performs the steering control on the basis of a status of receiving the lane line information after completion of the lane change carried out by the vehicle ahead, if the driving environment information receiving unit (11) detects both the branch road of the lane in front of the own vehicle and the intention of the vehicle ahead to change lanes towards the branch road, wherein the own vehicle follows the vehicle ahead. [4] Vehicle driving control device (1) according to claim 3, wherein, when the driving environment information receiving unit (11) detects both the branch road of the lane in front of the own vehicle and the intention of the preceding vehicle, which the own vehicle is following, to change lanes towards the branch road, The control unit (10) prevents the vehicle from moving forward, provided that the vehicle is stopped; the control unit (10) allows the vehicle to move forward while steering control is performed on the basis of lane line information, provided that the driving environment information receiving unit (11) receives the lane line information after completion of the lane change performed by the vehicle ahead; and The control unit (10) prevents the vehicle from moving and stops the steering control after a predetermined time and / or a driving operation performed by the driver, provided that the driving environment information receiving unit (11) does not receive the lane line information after the lane change performed by the vehicle ahead has been completed. [5] Vehicle driving control device (1) according to claim 3, wherein, when the driving environment information receiving unit (11) detects both the branch road of the lane in front of the own vehicle and the intention of the preceding vehicle, which the own vehicle is following, to change lanes towards the branch road, The control device (10) prevents the vehicle from accelerating further, provided that the vehicle is currently accelerating. The control unit (10) allows the vehicle to accelerate while steering is controlled based on lane line information, provided that the driving environment information receiving unit (11) receives the lane line information after the lane change performed by the vehicle ahead has been completed, and The control unit (10) prevents the vehicle from accelerating to allow constant-speed driving and stops the steering control after a predetermined time and / or a driving operation performed by the driver, provided that the driving environment information receiving unit (11) does not receive the lane line information after the lane change performed by the vehicle ahead has been completed. [6] Vehicle driving control device (1) according to claim 3, wherein, when the driving environment information receiving unit (11) detects both the branch road of the lane in front of the own vehicle and the intention of the preceding vehicle, which the own vehicle is following, to change lanes towards the branch road, the control device (10) allows the own vehicle to decelerate, provided that the own vehicle is driving at a constant speed, The control unit (10) allows the vehicle to accelerate while steering is controlled based on lane line information, provided that the driving environment information receiving unit (11) receives the lane line information after the lane change performed by the vehicle ahead has been completed, and The control unit (10) allows the vehicle to maintain a constant speed and stops the steering control after a predetermined time and / or a driving operation performed by the driver, provided that the driving environment information receiving unit (11) does not receive the lane line information after the lane change performed by the vehicle ahead has been completed. [7] Vehicle driving control device (1) according to claim 3, wherein, when the driving environment information receiving unit (11) detects both the branch road of the lane in front of the own vehicle and the intention of the preceding vehicle, which the own vehicle is following, to change lanes towards the branch road, The control unit (10) allows the vehicle to continue decelerating, provided that the vehicle is currently decelerating; the control unit (10) allows the vehicle to accelerate while steering control is carried out on the basis of lane line information, provided that the driving environment information receiving unit (11) receives the lane line information after completion of the lane change performed by the vehicle ahead; and The control unit (10) allows the vehicle to maintain a constant speed and stops the steering control after a predetermined time and / or a driving operation performed by the driver, provided that the driving environment information receiving unit (11) does not receive the lane line information after the lane change performed by the vehicle ahead has been completed.

Images