DETECTION DEVICE, DETECTING A VEHICLE AHEAD, FOR A VEHICLE

Abstract

A detection device for a vehicle, comprising a driving environment detection unit, a lane change determination unit, a pre-registration unit, a vehicle pre-registration unit, and a pre-registration cancellation unit. The driving environment detection unit detects information about a driving environment that includes one or more lanes and vehicles on a road. The lane change determination unit determines whether the vehicle is in the process of changing lanes. The vehicle pre-registration unit performs pre-registration from the beginning to the end of the vehicle's lane change, identifying the vehicle ahead as one of the one or more vehicles in a target lane selected as a lane change destination.The pre-registration cancellation unit cancels the pre-registration after the vehicle moves into the destination lane if the vehicle ahead is continuously identified as a neighboring vehicle a specified number of times.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to Japanese Patent Application No. 2023-137229, filed on August 25, 2023. The entire disclosure of Japanese Patent Application No. 2023-137229 is hereby incorporated by reference. FIELD OF THE INVENTION

[0002] The disclosure relates to detection devices detecting a preceding vehicle, or devices for detecting a preceding vehicle, or devices for detecting preceding vehicles, or preceding vehicle detection devices for vehicles, which are designed to detect a preceding vehicle traveling in the lane of the vehicle in question. BACKGROUND OF THE INVENTION

[0003] In recent years, vehicles equipped with driver assistance systems have been widely used in the field of vehicles, such as motor vehicles. Driver assistance systems typically provide driver assistance control by performing functions such as adaptive cruise control (ACC) and active lane keeping centering (ALKC).

[0004] Typically, ACC selectively performs constant-speed cruise control or vehicle-following cruise control. Constant-speed cruise control is designed to keep the subject vehicle at a set speed set by the driver operating the vehicle. This constant-speed cruise control can be selected when there is no registered preceding vehicle in front of the subject vehicle to be followed. With vehicle-following cruise control, the driver assistance systems maintain a target inter-vehicle distance between the subject vehicle and the preceding vehicle. This vehicle-following cruise control can be selected when there is a registered preceding vehicle in front of the subject vehicle.

[0005] Leading vehicle registration primarily targets another vehicle traveling in the lane of the subject vehicle. Thus, when the subject vehicle initiates a lane change, the preceding vehicle registration is temporarily suspended until the subject vehicle completes the transition from the original lane to the target lane. In this regard, for example, Japanese Patent Application Laid-Open No. 2021-62760 discloses a technology that proactively registers a vehicle in the target lane as the leading vehicle while the subject vehicle is in the process of changing lanes, provided that the vehicle in the target lane meets certain conditions. SUMMARY

[0006] One aspect of the disclosure provides a preceding vehicle detection device for a vehicle. The preceding vehicle detection device includes a driving environment detection unit, a lane change determination unit, a pre-registration unit, and a pre-registration cancellation unit. The driving environment detection unit is configured to detect information about a driving environment including one or more lanes and one or more vehicles on a road. The lane change determination unit is configured to determine whether the vehicle is in the process of changing lanes.The pre-registration unit, which pre-registers a preceding vehicle, is configured to perform pre-registration from the beginning to the end of the vehicle's lane change, identifying one of the one or more vehicles as a preceding vehicle located in a target lane selected as a lane change destination. The pre-registration cancellation unit is configured to cancel the pre-registration after the vehicle moves into the target lane if the preceding vehicle is continuously identified as a neighboring vehicle a predetermined number of times.

[0007] One aspect of the disclosure provides a preceding vehicle detection device for a vehicle. The preceding vehicle detection device includes a processor. The processor is configured to detect information about a driving environment including one or more lanes and one or more vehicles on a road. The processor is configured to determine whether the vehicle is in the process of changing lanes. The processor is configured to perform pre-registration, from the beginning to the end of the vehicle's lane change, which designates or detects as a preceding vehicle one of the one or more vehicles located in a target lane selected as a lane change destination.The processor is configured to cancel pre-registration after the vehicle has moved into the target lane if the preceding vehicle is continuously identified as an adjacent vehicle for a specified number of times. BRIEF DESCRIPTION OF THE CHARACTERS

[0008] The accompanying drawings are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate one embodiment and, together with the specification, serve to describe the principles of the disclosure. Fig. 1 is a schematic diagram illustrating a configuration of a driving assistance system for a vehicle; Fig. 2 represents a preceding vehicle registered in a lane of a vehicle in question; Fig. 3 represents a preceding vehicle pre-registered during a lane change; Fig. 4 represents a preceding vehicle registered in a lane of a vehicle in question after changing lanes; Fig. 5 is a flowchart illustrating a routine or program for registering the preceding vehicle and for deregistering the preceding vehicle; Fig. 6 is a flowchart illustrating a routine for pre-registering the preceding vehicle; Fig. 7 is a flowchart (part 1) showing a routine for canceling the pre-registration of the preceding vehicle; Fig. Fig. 8 is a flowchart (part 2) showing the routine for canceling the pre-registration of the preceding vehicle; Fig. 9 shows an image of a driving environment at the beginning of a lane change; and Fig. 10 shows an image of the driving environment after moving into a target lane. DETAILED DESCRIPTION OF THE INVENTION

[0009] During lane changes, the accuracy of lane detection may be lower than usual. Especially when a curve is ahead of the vehicle, the distinction between the target lane and other lanes may be unclear. In such situations, when a vehicle traveling in a non-target lane is proactively still mistakenly registered as the vehicle ahead during lane changes, there is room for improvement to avoid unnecessary deceleration, such as that caused by vehicle-following control.

[0010] It is desirable to provide preceding vehicle detection devices for vehicles designed to immediately cancel the registration of a vehicle that is erroneously registered as a preceding vehicle during lane changes.

[0011] In the following, an embodiment of the disclosure will be described in detail with reference to the accompanying drawings. It should be noted that the following description is directed to an illustrative example of the disclosure and is not to be construed as limiting the disclosure. Factors including, without limitation, numerical values, shapes, materials, components, positions of the components, and how the components are coupled or connected to each other are merely illustrative and not to be construed as limiting the disclosure. Furthermore, elements in the following exemplary embodiment that are not recited in a most generic independent claim of the disclosure are optional and may be provided as needed. The drawings are schematic and are not intended to be drawn to scale.In this specification and the drawings, elements having substantially the same function and configuration are designated by the same reference numerals to avoid redundant description.

[0012] Fig. 1 is a schematic diagram illustrating a configuration of a driving assistance system for a vehicle.

[0013] As in Fig. 1, a driver assistance system 1 includes a camera unit 10. The camera unit 10 is attached, for example, to the upper center of the front part of the cabin of a respective vehicle O to which the driver assistance system 1 is applied.

[0014] The camera unit 10 includes a stereo camera 11 serving as an image acquisition unit, an image processing unit (IPU) 12, an image recognition unit (Image Recognition ECU) 13 and a driving control unit (Driving ECU) 14.

[0015] The stereo camera 11 includes a main camera 11a and a sub-camera 11b as sensors. The main camera 11a and the sub-camera 11b include imaging elements such as complementary metal oxide semiconductor (CMOS) devices. The main camera 11a and the sub-camera 11b are positioned symmetrically, for example, on the left and right sides of the center of the vehicle in the vehicle width direction. As a result, the main camera 11a and the sub-camera 11b capture stereo images of the driving environment of the outside area in front of the vehicle from different viewing angles at predetermined image acquisition intervals with synchronization between the main camera 11a and the sub-camera 11b.

[0016] The IPU 12 is operable to process images of the driving environment captured by the stereo camera 11 in a predetermined manner. The IPU 12 thereby detects the edges of various objects depicted in the images, such as three-dimensional objects and boundary lines on the road surface. The IPU 12 is also operable to obtain distance information based on the degree of misalignment, or misalignment, between corresponding edges in the left and right images. Accordingly, the IPU 12 generates image information including distance information (distance image information).

[0017] The image recognition ECU 13 is operable to recognize lane boundary lines that define travel lanes on the road based on related information, including distance image information, received from the IPU 12. For example, the image recognition ECU 13 calculates the curvature [1 / m] of the left and right lane boundary lines that define individual travel lanes on the road and the width between the left and right boundary lines (lane width). The image recognition ECU 13 is also operable to calculate the lane width based on the difference in curvature between the left and right boundary lines. Through these lane boundary line recognition operations, the image recognition ECU 13 recognizes the travel lanes on the road, including the travel lane (the subject vehicle's lane) in which the subject vehicle O is traveling.

[0018] The image recognition ECU 13 is also operable to perform other operations, including predetermined pattern matching on distance image information. This enables the image recognition ECU 13 to recognize three-dimensional objects, such as guardrails extending along the road, curbs, and surrounding vehicles traveling on the road. To recognize three-dimensional objects, the image recognition ECU 13 identifies features such as the object type, the object distance, the object speed, and the relative speed between the object and the subject vehicle O.

[0019] The various types of information recognized by the image recognition ECU 13 can be output to the driving ECU 14 as driving environment information.

[0020] The driving ECU 14 serves as the control unit for the overall control of the driving assistance system 1.

[0021] The driving ECU 14 is coupled or connected to various control units, such as a cockpit control unit (CP_ECU) 21, an engine control unit (E / G_ECU) 22, a transmission control unit (T / M_ECU) 23, a brake control unit (BK_ECU) 24 and a power steering control unit or power steering control unit (PS_ECU) 25, via vehicle-internal communication lines, such as a Controller Area Network (CAN).

[0022] Human-machine interfaces (HMIs) installed near the driver's seat, such as a driver assistance switch 31a and a turn signal switch 31b, are coupled to the CP_ECU 21.

[0023] The driving assistance switch 31a is configured to set or configure various settings related to the driving assistance control. For example, the driving assistance switch 31a allows the driver to select a desired driving assistance mode from several driving assistance modes preset in the driving ECU 14. The driving assistance switch 31a also allows the driver to set a target speed (set speed or target speed Vtarget) for the constant speed driving control, which will be described later.

[0024] Components including a throttle actuator or throttle valve actuator 32 for an electronic control throttle or electronic control throttle valve or electronically controlled throttle valve are coupled to the output side of the E / G_ECU 22. Various sensors, such as an accelerator pedal sensor (not shown), are coupled to the input side of the E / G_ECU 22.

[0025] The E / G_ECU 22 is operable to perform driving control of the components including the throttle actuator 32, for example, based on control signals from the drive ECU 14 or detection signals from the various sensors. By performing this driving control, the E / G_ECU 22 adjusts the engine airflow rate to produce the desired engine power. The E / G_ECU 22 is also operable to output signals detected by the various sensors, such as the degree of accelerator pedal opening, to the drive ECU 14.

[0026] A hydraulic control circuit 33 is coupled to the output side of the T / M_ECU 23. Various sensors, such as a shift position sensor (not shown), are coupled to the input side of the T / M_ECU 23.

[0027] The T / M_ECU 23 is operable to perform driving control of the components comprising the hydraulic control circuit 33, for example, based on engine torque signals estimated by the E / G_ECU 22 and detection signals from the various sensors. By performing this driving control, the T / M_ECU 23 activates components provided in an automatic transmission, such as friction engagement elements and rollers, to change the engine output to achieve the desired gear ratio. The T / M_ECU 23 is also operable to output signals detected by the various sensors, such as the shift position, to the Driving ECU 14.

[0028] A brake actuator 34 is coupled to the output side of the BK_ECU 24. The brake actuator 34 is configured to individually adjust the pressure of the brake fluid output to the brake wheel cylinders provided for the wheels. Various sensors, such as a vehicle speed sensor, a yaw rate sensor, a brake pedal sensor, and a front / rear acceleration sensor, are coupled to the input side of the BK_ECU 24.

[0029] The BK_ECU 24 is operable to perform driving control of the components including the brake actuator 34 based on control signals from the Driving ECU 14 or detection signals from the various sensors. By performing this driving control, the BK_ECU 24 applies braking forces to individual wheels as needed to provide control, such as emergency braking control or yaw rate control, to the subject vehicle O. The BK_ECU 24 is also operable to output signals detected by the various sensors, such as the brake application state, yaw rate, front / rear acceleration, and vehicle speed, to the Driving ECU 14.

[0030] An electric power steering motor 35 is coupled to the output side of the PS_ECU 25. The electric power steering motor 35 is operable to supply steering torque to a steering mechanism, which torque is generated by the motor's rotational force. Various sensors, such as a steering torque sensor and a steering angle sensor, are coupled to the input side of the PS_ECU 25.

[0031] The PS_ECU 25 is operable to perform driving control of the components including the electric power steering motor 35 based on control signals from the driving ECU 14 or detection signals from the various sensors. By performing this driving control, the PS_ECU 25 generates a steering torque for the steering mechanism. The PS_ECU 25 is also operable to output signals detected by the various sensors, such as the steering torque and the steering angle, to the driving ECU 14.

[0032] For example, the driving ECU 14 provides driving assistance control by outputting various control signals to the E / G ECU 22, the T / M ECU 23, the BK ECU 24, and the PS ECU 25.

[0033] This driving assistance control is achieved by appropriately combining technologies such as adaptive cruise control (ACC), active lane keeping centering (ALKC), emergency lane keeping support (ELKA), and automatic lane change (ALC). For example, the driving ECU 14 implements driving assistance control corresponding to the specific driving assistance mode selected by the driver by appropriately combining the control technologies.

[0034] ACC is implemented by selectively performing vehicle-following control or constant-speed driving control. In ACC, the driving ECU 14 performs an operation to register preceding vehicles based on driving environment information. When a preceding vehicle in front of the subject vehicle O meets predetermined registration conditions, the driving ECU 14 registers this preceding vehicle as the preceding vehicle. When a registered preceding vehicle exists in front of the subject vehicle O, the driving ECU 14 performs vehicle-following control. In this vehicle-following control, the driving ECU 14 sets a target inter-vehicle distance based on factors such as the speed of the preceding vehicle and performs acceleration / deceleration control to maintain the set target inter-vehicle distance.When there is no registered preceding vehicle L in front of the subject vehicle O, the driving ECU 14 performs constant-speed driving control. In this constant-speed driving control, the driving ECU 14 performs acceleration / deceleration control for the subject vehicle O using the set speed Vtarget input by the driver as the target speed.

[0035] ALKC and ELKA can be performed based on information included in driving environment information, such as lane boundary line information. For example, the driving ECU 14 determines the center of the subject vehicle's lane as a target travel path aligned with the lane boundary lines on the left and right sides. Accordingly, the driving ECU 14 performs controls, including feedforward control and feedback control for steering, based on the target travel path. Thus, the driving ECU 14 keeps the subject vehicle O centered in the lane.

[0036] ALC can be performed based on information included in driving environment information, such as lane boundary line information. For example, the driving ECU 14 sets a target lateral position in a lane adjacent to the lane of the subject vehicle. The driving ECU 14 also sets a target path leading from a target route of the subject vehicle O to the target lateral position. Accordingly, the driving ECU 14 performs controls, including feedforward control and feedback control for steering, based on the target path. Thus, the driving ECU 14 causes the vehicle to move into the adjacent lane.

[0037] In the ACC described above, the driving ECU 14 primarily registers a vehicle (the leading vehicle) traveling in the lane of the subject vehicle as the leading vehicle. Thus, registration of the leading vehicle primarily requires that the driving ECU 14 has registered any lane on the road as the lane of the subject vehicle.

[0038] If the preceding vehicle traveling in the lane of the vehicle in question meets preset registration conditions, the driving ECU 14 registers the preceding vehicle as the preceding vehicle. For example, if, as in Fig. 2, a leading vehicle P1 is in the lane of the subject vehicle, in the case where a distance Dp between the leading vehicle P1 and the subject vehicle O is smaller than a set threshold Dth (for example, smaller than 105 [m]) and a speed Vp of the leading vehicle P1 is smaller than the set speed Vset, the driving ECU 14 registers the leading vehicle P1 as the preceding vehicle.

[0039] This preceding vehicle registration can be canceled if preset cancellation conditions are met. For example, if the preceding vehicle P1 no longer meets the registration conditions as the preceding vehicle with respect to the vehicle O in question, the driving ECU 14 cancels the preceding vehicle registration.

[0040] For example, if the subject vehicle O begins to change lanes to an adjacent lane, the driving ECU 14 cancels the registration of the preceding vehicle. This is because the registration of the subject vehicle's lane is canceled as soon as a lane change is initiated. The determination of whether a lane change has begun is made based, for example, on whether a turn signal lamp has started flashing. The determination in this case can be made regardless of whether the turn signal lamp flashes due to the driver's operation of the turn signal switch 31b or due to ALC.

[0041] Here, the driving ECU 14 pre-registers, as an exception, a vehicle (front vehicle) that satisfies preset pre-registration conditions from the time the subject vehicle O starts a lane change until the subject vehicle O completes the lane change.

[0042] For example, if, as in Fig. 3, a leading vehicle P2 is located in the target lane determined as a lane change destination into which the subject vehicle O attempts to move, in the case where a distance Dp between the leading vehicle P2 and the subject vehicle O is less than the set threshold Dth and a speed Vp of the leading vehicle P2 is less than the set speed Vset, the driving ECU 14 pre-registers the leading vehicle P2 as the leading vehicle. Once the leading vehicle has been pre-registered, the driving ECU 14 performs vehicle-following travel control for the pre-registered leading vehicle.

[0043] This pre-registration of the preceding vehicle can be canceled if preset cancellation conditions are met. For example, if the preceding vehicle P2 no longer meets the pre-registration conditions as the preceding vehicle with respect to the vehicle O in question, the driving ECU 14 cancels the pre-registration of the preceding vehicle. For example, if, as in Fig. 4, the target lane is registered as the lane of the subject vehicle and the front vehicle P2 is definitely registered as the preceding vehicle traveling in the lane of the subject vehicle, the driving ECU 14 accordingly cancels the pre-registration of the front vehicle P2 as the preceding vehicle.

[0044] Furthermore, if the driving ECU 14 determines that the pre-registration of the preceding vehicle is erroneous, the driving ECU 14 cancels the pre-registration of the preceding vehicle. For example, after the subject vehicle O completes a lane change into the target lane, if the front vehicle P2, which was pre-registered as the preceding vehicle, is continuously identified as an adjacent vehicle for a predetermined number of times (e.g., three frames), the driving ECU 14 cancels the pre-registration as the preceding vehicle. In this case, when the lane boundary lines defining the target lane are unclear, it is appropriate to determine whether the preceding vehicle is an adjacent vehicle after a predetermined period of time (e.g., two seconds) has elapsed since the subject vehicle O entered the target lane.

[0045] Next, a process for registering the preceding vehicle and deregistering the preceding vehicle will be described by a flowchart showing a routine or program for registering the preceding vehicle and deregistering the preceding vehicle in Fig. 5. This routine can be repeated by the driving ECU 14 at specified time intervals.

[0046] Once the routine is started, the driving ECU 14 checks in step S101 whether the vehicle O in question is in the process of changing lanes.

[0047] If it is determined in step S101 that the subject vehicle O is in the process of lane change (YES in step S101), the driving ECU 14 exits the routine.

[0048] If it is determined in step S101 that the subject vehicle O is not in the process of lane change (NO in step S101), the drive ECU 14 proceeds to step S102.

[0049] In step S102, the driving ECU 14 checks whether a preceding vehicle P is currently registered as the preceding vehicle.

[0050] When it is determined in step S102 that a preceding vehicle P is registered as the preceding vehicle (YES in step S102), the driving ECU 14 proceeds to step S109.

[0051] When it is determined in step S102 that no preceding vehicle P has been registered as the preceding vehicle (NO in step S102), the driving ECU 14 proceeds to step S103.

[0052] In step S103, the driving ECU 14 checks whether any lane on the road is currently registered as the lane of the subject vehicle.

[0053] If it is determined in step S103 that the lane of the subject vehicle has not been registered (NO in step S103), the drive ECU 14 exits the routine.

[0054] If it is determined in step S103 that the lane of the subject vehicle has been registered (YES in step S103), the driving ECU 14 proceeds to step S104.

[0055] In step S104, the driving ECU 14 checks whether a vehicle (the preceding vehicle P) is in the lane of the vehicle in question.

[0056] If it is determined in step S104 that there is no preceding vehicle P in the lane of the subject vehicle (NO in step S104), the driving ECU 14 exits the routine.

[0057] If it is determined in step S104 that a preceding vehicle P is in the lane of the subject vehicle (YES in step S104), the driving ECU 14 proceeds to step S105.

[0058] In step S105, the driving ECU 14 checks whether the inter-vehicle distance Dp between the preceding vehicle P and the subject vehicle O is smaller than the set threshold value Dth.

[0059] When it is determined in step S105 that the inter-vehicle distance Dp is greater than or equal to the set threshold Dth (NO in step S105), the drive ECU 14 exits the routine.

[0060] When it is determined in step S105 that the inter-vehicle distance Dp is smaller than the set threshold Dth (YES in step S105), the drive ECU 14 proceeds to step S106.

[0061] In step S106, the driving ECU 14 checks whether the speed Vp of the preceding vehicle P is smaller than the set speed Vsoll of the vehicle O in question.

[0062] If it is determined in step S106 that the speed Vp of the preceding vehicle P is greater than or equal to the set speed Vdesired (NO in step S106), the driving ECU 14 exits the routine.

[0063] If it is determined in step S106 that the speed Vp of the preceding vehicle P is smaller than the set speed Vdes (YES in step S106), the driving ECU 14 proceeds to step S107.

[0064] In step S107, the driving ECU 14 checks whether a situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has continued for a set number of frames.

[0065] When it is determined in step S107 that the situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has not continued for the set number of frames (NO in step S107), the driving ECU 14 exits the routine.

[0066] When it is determined in step S107 that the situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has continued for the set number of frames (YES in step S107), the driving ECU 14 proceeds to step S108.

[0067] When proceeding from step S107 to step S108, the driving ECU 14 registers the preceding vehicle P as the preceding vehicle and exits the routine.

[0068] When proceeding from step S102 to step S109, the driving ECU 14 checks whether the preceding vehicle registration cancellation conditions are met. As one of the cancellation conditions, the driving ECU 14 checks, for example, whether the preceding vehicle has lost or disappeared from the lane of the subject vehicle. As one of the cancellation conditions, the driving ECU 14 also checks, for example, whether a situation in which the inter-vehicle distance Dp is greater than or equal to the set threshold Dth has continued for a set number of frames. As one of the cancellation conditions, the driving ECU 14 also checks, for example, whether the speed Vp has been constantly greater than or equal to the set speed Vtarget for a set period of time.

[0069] If it is determined in step S109 that the cancellation conditions for the registration of the preceding vehicle are met (YES in step S109), the driving ECU 14 proceeds to step S111.

[0070] If it is determined in step S109 that the cancellation conditions for the registration of the preceding vehicle are not satisfied (NO in step S109), the driving ECU 14 proceeds to step S110.

[0071] In step S110, the driving ECU 14 checks whether a turn signal lamp corresponding to an adjacent lane has started flashing.

[0072] If it is determined in step S110 that no turn signal lamp is flashing (NO in step S110), the drive ECU 14 exits the routine.

[0073] If it is determined in step S110 that a turn signal lamp has started flashing (YES in step S110), the drive ECU 14 proceeds to step S111.

[0074] When proceeding from step S109 or S110 to step S111, the drive ECU 14 cancels the registration of the preceding vehicle P as the preceding vehicle and then exits the routine.

[0075] Next, a process for pre-registering the preceding vehicle is described by a flowchart showing a routine for pre-registering the preceding vehicle in Fig. 6. This routine can be repeated by the driving ECU 14 at specified time intervals.

[0076] Once the routine is started, the driving ECU 14 checks in step S201 whether the vehicle O in question is in the process of changing lanes.

[0077] If it is determined in step S201 that the subject vehicle O is not in the process of lane change (NO in step S201), the driving ECU 14 exits the routine.

[0078] If it is determined in step S201 that the subject vehicle O is in the process of lane change (YES in step S201), the driving ECU 14 proceeds to step S202.

[0079] In step S202, the driving ECU 14 checks whether a preceding vehicle P is currently pre-registered as the preceding vehicle.

[0080] When it is determined in step S202 that there is a preceding vehicle P pre-registered as the preceding vehicle (YES in step S202), the driving ECU 14 exits the routine.

[0081] When it is determined in step S202 that no preceding vehicle P has been pre-registered as the preceding vehicle (NO in step S202), the driving ECU 14 proceeds to step S203.

[0082] In step S203, the driving ECU 14 checks whether a vehicle (the preceding vehicle P) is located in the target lane determined as the lane change destination.

[0083] If it is determined in step S203 that there is no preceding vehicle P in the target lane (NO in step S203), the driving ECU 14 exits the routine.

[0084] If it is determined in step S203 that a preceding vehicle P is in the target lane (YES in step S203), the driving ECU 14 proceeds to step S204.

[0085] In step S204, the driving ECU 14 checks whether the inter-vehicle distance Dp between the preceding vehicle P and the subject vehicle O is smaller than the set threshold value Dth.

[0086] If it is determined in step S204 that the inter-vehicle distance Dp is greater than or equal to the set threshold Dth (NO in step S204), the drive ECU 14 exits the routine.

[0087] If it is determined in step S204 that the inter-vehicle distance Dp is smaller than the set threshold Dth (YES in step S204), the drive ECU 14 proceeds to step S205.

[0088] In step S205, the driving ECU 14 checks whether the speed Vp of the preceding vehicle P is smaller than the set speed Vsoll of the vehicle O in question.

[0089] If it is determined in step S205 that the speed Vp of the preceding vehicle P is greater than or equal to the set speed Vsoll (NO in step S205), the driving ECU 14 exits the routine.

[0090] If it is determined in step S205 that the speed Vp of the preceding vehicle P is smaller than the set speed Vdes (YES in step S205), the driving ECU 14 proceeds to step S206.

[0091] In step S206, the driving ECU 14 checks whether a situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has continued for a set number of frames.

[0092] When it is determined in step S206 that the situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has not continued for the set number of frames (NO in step S206), the driving ECU 14 exits the routine.

[0093] When it is determined in step S206 that the situation in which the inter-vehicle distance Dp is smaller than the set threshold Dth and the speed Vp is smaller than the set speed Vset has continued for the set number of frames (YES in step S206), the driving ECU 14 proceeds to step S207.

[0094] When proceeding from step S206 to step S207, the driving ECU 14 registers the preceding vehicle P as the preceding vehicle and exits the routine.

[0095] Next, a process for canceling the pre-registration of the preceding vehicle by a routine or program for canceling the pre-registration of the preceding vehicle described in the Fig. 7 and Fig. 8. This routine can be repeated by the driving ECU 14 at specified time intervals.

[0096] Once the routine is started, the driving ECU 14 checks in step S301 whether the preceding vehicle has disappeared from the target lane.

[0097] If it is determined in step S301 that the preceding vehicle has disappeared (YES in step S301), the driving ECU 14 proceeds to step S312.

[0098] If it is determined in step S301 that the preceding vehicle has not disappeared (NO in step S301), the driving ECU 14 proceeds to step S302.

[0099] In step S302, the driving ECU 14 checks whether the preceding vehicle P pre-registered as the preceding vehicle has been newly registered as the preceding vehicle or has been identified as the second preceding vehicle that is farther away from the subject vehicle O than the preceding vehicle.

[0100] When the preceding vehicle P is definitely registered as the preceding vehicle in step S302 or when the preceding vehicle P is identified as the second preceding vehicle (YES in step S302), the driving ECU 14 proceeds to step S312.

[0101] When the preceding vehicle P is not definitely registered as the preceding vehicle in step S302 and the preceding vehicle P is not identified as the second preceding vehicle (NO in step S302), the driving ECU 14 proceeds to step S303.

[0102] In step S303, the driving ECU 14 checks whether a time to collision TTC with the pre-registered preceding vehicle is less than or equal to two seconds and whether the envelopment ratio of the subject vehicle O with the pre-registered preceding vehicle is 0 [%]. For example, in situations where the time to collision TTC is less than or equal to two seconds and the envelopment ratio is 0 [%], it is assumed that the pre-registered preceding vehicle is traveling almost parallel to the subject vehicle O and that the subject vehicle O is likely to overtake the pre-registered preceding vehicle.

[0103] When it is determined in step S303 that the time to collision TTC is less than or equal to two seconds and the enveloping ratio is 0 [%] (YES in step S303), the driving ECU 14 proceeds to step S312.

[0104] When the time to collision TTC is greater than two seconds in step S303 or when the enveloping ratio is greater than 0 [%] (NO in step S303), the driving ECU 14 proceeds to step S304.

[0105] In step S304, the driving ECU 14 checks whether the inter-vehicle distance Dp to the pre-registered preceding vehicle is greater than or equal to the set threshold Dth.

[0106] When it is determined in step S304 that the inter-vehicle distance Dp is greater than or equal to the set threshold Dth (YES in step S304), the drive ECU 14 proceeds to step S312.

[0107] When it is determined in step S304 that the inter-vehicle distance Dp is smaller than the set threshold Dth (NO in step S304), the drive ECU 14 proceeds to step S305.

[0108] In step S305, the driving ECU 14 checks whether the vehicle O in question has moved into the target lane.

[0109] If it is determined in step S305 that the subject vehicle O has not moved into the target lane (NO in step S305), the drive ECU 14 proceeds to step S311.

[0110] If it is determined in step S305 that the subject vehicle O has moved into the target lane (YES in step S305), the drive ECU 14 proceeds to step S306.

[0111] In step S306, the driving ECU 14 checks whether the lane boundary lines defining the target lane are clearly recognized.

[0112] If it is determined in step S306 that the lane marking lines are clearly recognized (YES in step S306), the driving ECU 14 proceeds to step S308.

[0113] If it is determined in step S306 that the lane marking lines are not clearly recognized (NO in step S306), the driving ECU 14 proceeds to step S307.

[0114] In step S307, the driving ECU 14 checks whether a predetermined time period (for example, two seconds) has elapsed since the subject vehicle O moved into the target lane.

[0115] If it is determined in step S307 that two seconds have not elapsed since the subject vehicle O moved into the target lane (NO in step S307), the drive ECU 14 proceeds to step S311.

[0116] If it is determined in step S307 that two seconds have elapsed since the subject vehicle O moved into the target lane (YES in step S307), the drive ECU 14 proceeds to step S308.

[0117] When proceeding from step S306 or S307 to step S308, the driving ECU 14 checks whether a situation in which the pre-registered preceding vehicle was identified as an adjacent vehicle has continued for a predetermined number of frames (for example, three frames).

[0118] If in step S308, the situation in which the pre-registered preceding vehicle was identified as an adjacent vehicle has continued for three frames (YES in step S308), the driving ECU 14 proceeds to step S312.

[0119] If in step S308 the preceding vehicle is not identified as an adjacent vehicle or if the situation in which the pre-registered preceding vehicle was identified as an adjacent vehicle has not continued for three frames (NO in step S308), the driving ECU 14 proceeds to step S309.

[0120] In step S309, the driving ECU 14 checks whether a predetermined time period (for example, three seconds) has elapsed since the subject vehicle O left the subject vehicle's original lane at the start of the lane change.

[0121] If it is determined in step S309 that three seconds have not elapsed since the subject vehicle O left the subject vehicle lane (NO in step S309), the drive ECU 14 proceeds to step S311.

[0122] If it is determined in step S309 that three seconds have elapsed since the subject vehicle O left the subject vehicle lane (YES in step S309), the drive ECU 14 proceeds to step S310.

[0123] In step S310, the driving ECU 14 checks whether the enveloping ratio of the subject vehicle O with the pre-registered preceding vehicle is smaller than a preset threshold.

[0124] When it is determined in step S310 that the envelope ratio of the subject vehicle O is greater than or equal to the threshold value (NO in step S310), the driving ECU 14 proceeds to step S311.

[0125] If it is determined in step S310 that the envelope ratio of the subject vehicle O is smaller than the threshold value (YES in step S310), the driving ECU 14 proceeds to step S312.

[0126] When proceeding from step S305, S307, or S309 to step S311, the driving ECU 14 exits the routine but maintains the pre-registration of the preceding vehicle.

[0127] When proceeding from step S301, S302, S303, S304, S308, or S310 to step S312, the driving ECU 14 cancels the pre-registration of the preceding vehicle and then exits the routine.

[0128] In this embodiment, the driving ECU 14 pre-registers the leading vehicle P, which is located in the target lane as the lane change target, as the leading vehicle from the beginning to the end of the lane change of the subject vehicle O. The driving ECU 14 then performs vehicle-following control based on the pre-registered leading vehicle. With this configuration, if the leading vehicle P, which can be registered as the leading vehicle after the lane change, is located in the target lane, vehicle-following control can be performed when the subject vehicle's lane is ambiguous during a lane change.

[0129] After the subject vehicle O moves into the target lane, or has moved, if the pre-registered preceding vehicle is continuously identified as an adjacent vehicle for a specified number of times, the driving ECU 14 cancels the pre-registration of the preceding vehicle. With this configuration, if the leading vehicle P is erroneously pre-registered as the preceding vehicle, the pre-registration can be canceled immediately. For example, as shown in Fig. As shown in Figure 9, if there is a curve in front of the road on which the vehicle in question O is traveling, it may be unclear whether the preceding vehicle is the front vehicle traveling in the original lane of the vehicle in question, in which the vehicle in question O was traveling before the lane change, or the front vehicle traveling in the target lane. In the case where such a front vehicle is / becomes pre-registered erroneously as the preceding vehicle, for example, as in Fig. 10, if the pre-registered preceding vehicle is / is identified as an adjacent vehicle after the vehicle O in question has moved into the target lane, the pre-registration can be canceled immediately.

[0130] In this case, when the lane boundary lines defining the target lane are unclear, the driving ECU 14 determines whether the preceding vehicle is an adjacent vehicle after a specified period of time has elapsed since the subject vehicle O entered the target lane. With this configuration, when lane boundary lines are unclear, the determination of whether the preceding vehicle is / will be an adjacent vehicle can be performed in a stable manner.

[0131] In the embodiment described above, the control units including the image recognition ECU 13, the driving ECU 14, the CP ECU 21, the E / G ECU 22, the T / M ECU 23, the BK ECU 24, and the PS ECU 25 are implemented by a known microcomputer including elements such as a central processing unit (CPU), a random access memory (RAM), a read-only memory (ROM), and a non-volatile memory, as well as peripheral devices. Programs to be executed by the CPU and fixed data such as data tables may be previously stored in the ROM. All or part of the functions of the processor may be implemented by logic or analog circuits. In addition, the operations of the various programs may be performed by an electronic circuit such as a field-programmable gate array (FPGA).

[0132] The image recognition ECU 13, the driving ECU 14, the CP ECU 21, the E / G ECU 22, the T / M ECU 23, the BK ECU 24 and the PS ECU 25, which are Fig. 1 may be implemented by a circuit including at least one semiconductor integrated circuit, such as at least one processor (e.g., a central processing unit (CPU)), at least one application-specific integrated circuit (ASIC), and / or at least one field-programmable gate array (FPGA). At least one processor may be configured to perform all or part of the functions of the image recognition ECU 13, the driving ECU 14, the CP ECU 21, the E / G ECU 22, the T / M ECU 23, the BK ECU 24, and the PS ECU 25 by reading instructions from at least one machine-readable tangible medium. Such a medium may take many forms, including, but not limited to, any type of magnetic medium, such as a hard disk, any type of optical medium, such as a CD and a DVD, any type of semiconductor memory (i.e.,Semiconductor circuit), such as a volatile memory and a non-volatile memory. The volatile memory may include DRAM and SRAM, and the non-volatile memory may include ROM and NVRAM. The ASIC is an integrated circuit (IC) tailored to perform, and the FPGA is an integrated circuit designed to be configured after manufacturing to perform all or part of the functions of the modules included in . Fig. 1 are illustrated.

[0133] The disclosure described in the above-mentioned embodiment is not limited to this specific embodiment. Various modifications may be applied in the implementation stage without departing from the spirit of the disclosure. Furthermore, the embodiment includes examples at different stages, and various combinations of the disclosed configuration features can be appropriately selected to produce various examples.

[0134] For example, if some configuration features are removed from those described in the embodiment, the described problems are still addressed and the described effects are achieved, the configuration omitting these configuration features can be selected as an example.

[0135] The preceding vehicle detection devices for vehicles according to some embodiments of the disclosure can immediately deregister a vehicle that is / becomes erroneously registered as a preceding vehicle during lane changes. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2023-137229

[0001] JP 2021-62760

[0005]

Claims

[1] A detection device for detecting a preceding vehicle for a vehicle, the detection device comprising: a driving environment recognition unit configured to recognize information about a driving environment including one or more lanes and one or more vehicles on a road; a lane change detection unit configured to determine whether the vehicle is in the process of changing lanes; a pre-registration unit pre-registering a preceding vehicle, which is configured to perform, from the beginning to the end of the lane change of the vehicle, pre-registration that determines as a preceding vehicle one of the one or more vehicles that is located in a target lane selected as a lane change destination; and a pre-registration cancellation unit configured to cancel the pre-registration after the vehicle moves into the target lane when the preceding vehicle is continuously identified as an adjacent vehicle for a predetermined number of times. [2] A preceding vehicle detecting device for a vehicle according to claim 1, wherein the pre-registration cancellation unit is configured to cancel the pre-registration in a case where a lane boundary line defining the target lane is unclear when the preceding vehicle is continuously identified as the adjacent vehicle for the predetermined number of times after the vehicle moves into the target lane and remains in the target lane for a predetermined period of time. [3] A detection device for detecting a preceding vehicle for a vehicle, the detection device comprising: a processor that is configured to detect information about a driving environment that includes one or more lanes and one or more vehicles on a road, to determine whether the vehicle is in the process of changing lanes, from the beginning to the end of the lane change of the vehicle, to carry out a pre-registration that determines as a preceding vehicle one of the one or more vehicles that is located in a target lane selected as a lane change destination, and after the vehicle moves into the target lane, cancel the pre-registration if the preceding vehicle is continuously identified as an adjacent vehicle for a specified number of times.

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