Onboard electronic control device

Abstract

A cost-effective onboard electronic control device 100 is provided, capable of appropriately modifying the control of an ACC function without relying on map data when the vehicle next passes another vehicle by moving into an oncoming lane, based on a lane direction determination procedure without erroneous determination, taking into account the other vehicle passing the vehicle by moving into the oncoming lane. The onboard electronic control device 100 includes: a starting vehicle detection unit 244, which detects the other vehicle starting from a stopped state in a different lane, distinct from the vehicle's own lane, based on a detection result from external detection sensors 210, 220 mounted on the vehicle's own; and a direction-of-travel determination unit 245, which determines a direction of travel of a lane around its own lane including the other lane based on a direction of travel of its own lane, a starting direction of the started other vehicle and a lane position of the other lane.

Description

Technical area

[0001] The present invention relates to an on-board electronic control device that determines a traveling direction of a lane around an own vehicle and changes the control of a driving support function accordingly. State of the art

[0002] In recent years, the adaptive cruise control (ACC) function for automatically executing acceleration or deceleration of the vehicle and controlling the vehicle to follow a preceding vehicle on high-standard highways, such as expressways or motorways, has become widely used. This functionality is mostly designed so that it cannot be used on so-called general roads other than high-standard highways or is not recommended for use on general roads. In the future, the operating scope of the ACC function is considered to be extended to general roads, and for this purpose, it is necessary to perform control considering various driving scenes.

[0003] PTL 1 describes a lane detection device that determines the presence or absence of an adjacent lane and determines a traveling direction of the adjacent lane from a behavior of another vehicle when the adjacent lane exists. Citation listPatent literature

[0004] PTL 1: JP 2005-301603 A Summary of the inventionTechnical problem

[0005] As an example of the driving scene to be considered when controlling the ACC function, an overtaking scene during ACC control is shown as in Fig. 11 illustrates this.

[0006] In Fig. 11, in a catching-up scene 110 of a preceding vehicle, while a host vehicle SV is traveling on a dedicated lane L1 at a set vehicle speed using the ACC function, the host vehicle SV catches up with a preceding vehicle OB1, brakes, maintains a constant inter-vehicle distance, and follows the preceding vehicle OB1.

[0007] Subsequently, in an overtaking scene 120 of a preceding vehicle, in which time elapses after the host vehicle SV catches up with the preceding vehicle OB1, the host vehicle SV jumps to an opposite lane L2 and overtakes the preceding vehicle OB1. At this point, in the conventional ACC function, the vehicle speed is automatically accelerated to an originally set vehicle speed.

[0008] Next, in an original lane return scene 130, a case where an oncoming vehicle OB2 is approaching is considered. Since at this time, the host vehicle is automatically accelerated to the originally set vehicle speed by the intervention of the automatic control, there is a possibility that the driver's speed adjustment may not be successful in causing a collision with the oncoming vehicle OB2. Therefore, it is necessary to appropriately change the control of the ACC function in this scene.

[0009] To perform the control change as described above, it is necessary to determine whether the lane to which the lane change is made at the time of overtaking is the lane in the same traveling direction as the host vehicle (forward traveling lane). Such a determination can be made based on the map data including lane information and satellite positioning information. However, since the map data is expensive, it is desirable to configure a system that makes the determination based on external detection information without depending on the map data. In this case, a method is conceivable in which a lane around the host vehicle is detected by an external detection device, and at the same time, a behavior of another vehicle traveling in the lane is detected and the traveling direction of the surrounding lane is determined.

[0010] In the case where it is specifically considered to determine the traveling direction of the lane from the behavior of another vehicle traveling in the lane surrounding the own vehicle, if there exists another vehicle traveling in the same traveling direction as the own vehicle, the lane to which the other vehicle belongs is determined as the forward traveling lane.

[0011] However, when the lane travel direction determination method described above is applied, when another vehicle passing the own vehicle while advancing to the opposite lane appears, the other vehicle travels in the same travel direction as the own vehicle during overtaking, and there is a possibility that the opposite lane is erroneously determined as the forward travel lane.

[0012] Consequently, when the vehicle moves into the opposite lane to overtake another vehicle, the control of the ACC function cannot be appropriately changed.

[0013] PTL 1 only describes the determination of the traveling direction of the adjacent lane based on a distance and a relative speed between the own vehicle and another vehicle traveling in the adjacent lane, and does not consider the case where another vehicle passing the own vehicle while advancing to the opposite lane appears.

[0014] For this reason, an object of the present invention is to provide an on-board electronic control device and an on-board electronic control method at low cost, which are capable of appropriately changing the control of the ACC function without depending on the map data when the own vehicle next passes another vehicle by protruding to the opposite lane, based on a lane traveling direction determination method without erroneous determination taking into account the other vehicle passing the own vehicle by protruding to the opposite lane. Solution to the problem

[0015] To achieve the above object, the present invention is configured as follows.

[0016] An on-board electronic control device includes: a starting vehicle detection unit that detects another vehicle starting from a stopped state in another lane different from an own lane in which an own vehicle is traveling, based on a detection result of an external detection sensor mounted on the own vehicle; and a traveling direction determination unit that determines a traveling direction of a lane around the own lane including the other lane based on a traveling direction of the own lane, a starting direction of the started another vehicle, and a lane position of the other lane.

[0017] An on-board electronic control method includes: detecting another vehicle starting from a stopped state in another lane different from an own lane in which an own vehicle is traveling; and determining a traveling direction of a lane around the own lane including the other lane based on a traveling direction of the own lane, a starting direction of the started other vehicle, and the lane position of the other lane. Advantageous effects of the invention

[0018] The on-board electronic control device and the on-board electronic control method capable of appropriately changing the control of the ACC function without depending on the map data when the own vehicle next passes another vehicle by protruding to the opposite lane based on a lane traveling direction determination method without erroneous determination taking into account the other vehicle passing the own vehicle by protruding to the opposite lane can be provided at a low cost. Short description of the drawings Fig. 1 is a view illustrating a configuration example of an on-board electronic control device according to an embodiment of the present invention. Fig. 2 is a view illustrating a state in which a traffic light at an intersection describing the present embodiment is at a red light. Fig. 3 is a view illustrating a state in which the traffic light at the intersection describing the present embodiment has changed from the red light to a green light. Fig. 4 is a plan view illustrating a detection range of an outdoor detection sensor describing the present embodiment. Fig. 5 is a plan view illustrating a stop and start scene of a vehicle at successive intersections describing the present embodiment. Fig. 6 is a plan view illustrating a lane narrowing scene describing the present embodiment. Fig. 7 is a plan view illustrating a scene in which a vehicle turns left at the intersection describing the present embodiment. Fig. 8 is a plan view illustrating a passing scene during an ACC control change describing the present embodiment. Fig. 9 is a flowchart illustrating a processing procedure according to the present embodiment. Fig. 10 is a flowchart illustrating a processing procedure according to the present embodiment. Fig. 11 is a plan view illustrating a vehicle overtaking scene during ACC control describing a prior art of the present invention. Description of the embodiment

[0019] An embodiment of the present invention will be described below with reference to the drawings. Embodiment

[0020] Fig. 1 is a view illustrating a configuration example of an on-board electronic control device 100 according to an embodiment of the present invention.

[0021] The on-board electronic control device 100 in Fig. 1 is mounted on a vehicle and includes a camera 210, a radar 220, a vehicle movement information acquisition device 230, an arithmetic device 240, a brake control device 250, a brake actuator 260, a motor control device 270, and a throttle actuator 280.

[0022] In addition, in describing a processing content of each component in the present embodiment, a scene in which a traffic light TL changes from a red light state as shown in Fig. 2 illustrates, to a green light, as in Fig. 3 illustrates, changes, considered as a representative example.

[0023] In the Fig. In the embodiment illustrated in Figure 1, the camera 210 is an external detection sensor that uses an imaging element, detects an object, calculates target information such as a relative position, a relative velocity vector, and a type with respect to a host vehicle SV, and calculates white line information such as a relative position between the host vehicle SV and a peripheral white line and an approximate expression of the white line. A detection target is mainly the vehicle and may include a traffic light or a traffic sign. In this case, a light color of the traffic light TL to be turned on and a regulation content of the traffic sign are also determined.

[0024] The radar 220 is the external detection sensor that uses a millimeter wave, a laser, or the like. It detects the object and calculates target information, such as a relative position, a relative velocity vector, and a type, with respect to the host vehicle SV. Although the radar 220 is illustrated here, an external detection sensor, such as a sonar using an ultrasonic wave or a LiDAR that scans a laser over a wide area, may be used.

[0025] In the embodiment, the camera 210 and the radar 220 are mounted on the own vehicle SV, as shown in Fig. 4 illustrates the detection area to cover the entire circumference of the own vehicle SV as a detection area. A front camera CM is mounted toward a front side of the own vehicle SV and covers a front camera detection area CA. A front center radar RD1 is also mounted toward the front side of the own vehicle SV and covers a front center radar detection area RA1, which includes an area farther away than the front camera CM. Front corner radars RD2, RD3 are mounted toward the left and right diagonal front sides of the own vehicle SV and cover front corner radar detection areas RA2, RA3. Rear corner radars RD4, RD5 are mounted toward the left and right diagonal rear sides of the own vehicle SV and cover rear corner radar detection areas RA4, RA5.

[0026] The vehicle movement information acquisition device 230 includes a vehicle speed sensor that acquires vehicle speed information about the host vehicle SV, a yaw rate sensor that acquires yaw rate information, an accelerator opening sensor that acquires accelerator opening information, and the like, and acquires vehicle movement information in which the vehicle speed sensor, the yaw rate sensor, the accelerator opening sensor, and the like are collected.

[0027] The arithmetic device 240 is mounted on an ECU including a CPU and memory (ROM, RAM), and executes various processing programs previously stored in the memory. The arithmetic device 240 includes functional blocks of a lane recognition processing unit 241, a target recognition processing unit 242, a start determination unit 243 (own vehicle start determination unit), a start vehicle detection unit 244, a travel direction determination unit 245, a travel direction storage unit 246, and a drive assistance controller 247.

[0028] The lane recognition processing unit 241 estimates the position (area) of the lane around the own vehicle based on the white line information calculated by the camera 210. Through this processing, areas of lanes L3 to L9 around the own vehicle SV in each Fig. 2 and Fig. 3 illustrated situation.

[0029] The target recognition processing unit 242 determines another vehicle traveling around the host vehicle in each lane based on the target information and lane area information calculated by the camera 210 and the radar 220. Through this processing, the relative position, relative speed, and type of other vehicles OB3 to OB8 in each lane are Fig. 2 and Fig. 3. At the same time, based on the area information about each lane and the relative position information about each other vehicle, it is determined that the own vehicle SV belongs to the lane L3, another vehicle OB3 belongs to the lane L4, another vehicle OB4 belongs to the lane L5, another vehicle OB5 belongs to the lane L6, another vehicle OB6 belongs to the lane L7, another vehicle OB7 belongs to the lane L8, and another vehicle OB8 belongs to the lane L9.

[0030] The start determination unit 243 determines that the host vehicle SV starts from a stopped state based on the vehicle movement information acquired by the vehicle movement information acquisition device 230, and generates start information for the host vehicle. Through this processing, the start information about the host vehicle SV is stored in the Fig. 3 is generated. The traveling direction determination unit 245 may also be configured to determine the traveling direction of the lane around the own lane when the own-vehicle start determination unit 243 determines that the own vehicle SV starts.

[0031] When determining that the own vehicle SV is about to start based on the own vehicle start information, the vehicle speed information, and the yaw rate information of the own vehicle SV, and the relative velocity vector information of another vehicle, the start vehicle detection unit 244 detects another vehicle that starts from the stopped state before the intersection in a different lane and passes through the intersection in the same direction as the traveling direction of the own vehicle SV as a forward-moving another vehicle at the start. That is, the start vehicle detection unit 244 detects another vehicle that starts from the stopped state in a different lane from the own lane in which the own vehicle SV is traveling, based on a detection result of the camera 210 or the radar 220, which is the external detection sensor mounted on the own vehicle SV.

[0032] Specifically, an absolute velocity vector of the own vehicle SV is calculated based on the vehicle speed information and the yaw rate information, using the starting information for the own vehicle as a trigger. Furthermore, the absolute velocity vector of each other vehicle is calculated from the absolute velocity vector of the own vehicle SV and the relative velocity vector information about each other vehicle. At this point, it is determined that another vehicle, for which the magnitude (absolute value) of the absolute velocity vector shifts from a value close to zero to an increase, is starting from the stopped state.

[0033] Subsequently, the direction of the absolute velocity vector of the own vehicle SV and the direction of the absolute velocity vector of another vehicle are compared for a specified time (for example, approximately 5 seconds), and another vehicle (forward-moving vehicle) with the same traveling direction as the own vehicle SV is determined. At this point, if the own vehicle SV has a traveling direction X and a direction Y orthogonal to the traveling direction X, the absolute velocity vectors of the own vehicle SV and another vehicle are considered to be decomposed into an X direction and a Y direction.In the case where an X component of the absolute velocity vector of another vehicle is a square value and the difference between the Y component of the absolute velocity vector of the own vehicle SV and a Y component of the absolute velocity vector of another vehicle converges to a small value, it is preliminarily determined that the other vehicle is a forward traveling vehicle.

[0034] Finally, among other vehicles provisionally determined as forward-moving vehicles, another vehicle passing through an intersection terminal IE during the specified time (for example, about 5 seconds after the host vehicle SV passes through the intersection terminal IE) is determined as the forward-moving vehicle, and this is finally determined as a forward-moving vehicle at the start. Through this processing, it is determined that other vehicles OB3, OB4, OB5, OB7 start from the stopped state in the Fig. 3. Under these circumstances, the X component of the other vehicle OB7 has a negative value, and the difference in the Y component from the own vehicle SV diverges in the other vehicle OB5, so that other vehicles OB5, OB7 are determined not to be a forward-moving vehicle. On the other hand, the X component converges to a positive value, and the difference in the Y component from the own vehicle SV converges to zero in other vehicles OB3, OB4, and other vehicles OB3, OB4 have passed the intersection terminal IE, so that it is determined that other vehicles OB3, OB4 are the forward-moving vehicles at the start.

[0035] The traveling direction determining unit 245 determines the traveling direction of the lane around the own lane including another lane based on a starting direction of the own lane, the starting direction of the started other vehicle, and the lane position of another lane.That is, when the start-up forward vehicle exists in any lane on a first side (a right side for left-side travel, a left side for right-side travel), the travel direction determining unit 245 determines the lane on the second side (the left side for left-side travel, the right side for right-side travel) from the lane to which the start-up forward vehicle belongs as the forward travel lane based on information about the start-up forward vehicle located in the lane farthest from the own vehicle SV on the first side.

[0036] On the other hand, if there is no forward-moving vehicle around the own vehicle SV at the start, if the own vehicle SV is traveling on the first side of the forward-moving lane, or the like, the forward-moving vehicle on the first side of the own vehicle SV cannot be detected, and the above determination cannot be made. In such a case, the lane on the second side of the own vehicle lane is provisionally determined as a forward-moving lane.

[0037] Through this processing, among other vehicles OB3, OB4 determined as the forward-moving vehicles at the start, the lane L5 to which the other vehicle OB4 located furthest to the right of the own vehicle SV belongs and the lanes L3, L4 on the left side of the lane L5 are determined as the forward-moving lanes.

[0038] The traveling direction storage unit 246 stores or updates the forward travel lane determination result determined by the traveling direction determination unit 245, and updates or deletes the stored traveling direction of the lane according to an increase or decrease in the number of lanes on the road on which the host vehicle SV is traveling, or a right turn or a left turn of the host vehicle SV. Specifically, the forward travel lane determination result is stored while determining that the recognized continuity of each lane exists, and the most recent forward travel lane determination result is updated as the number of lanes determined as the forward travel lane increases.

[0039] For example, consider a scene where the start from the stopped state is repeated at successive intersections IS1, IS2, IS3, as in Fig. 5. In a start scene 610 at the intersection IS1, it is determined and stored that there is no other vehicle around the own vehicle SV and only the lane L3 is the forward lane.

[0040] Subsequently, in a start scene 620 at intersection IS2, it is determined from the information about the vehicles moving forward around the host vehicle SV at the start that lanes L3, L4, L5 are the forward lanes. Since lanes L4, L5 are newly determined as the forward lanes at this time (the number of lanes determined as the forward lane increases), the memory in the forward lane determination result is updated.

[0041] Furthermore, in a start scene 630 at intersection IS3, it is determined from the information about the vehicle moving forward around the host vehicle SV at the start that the lanes L3, L4 are the forward travel lanes. Since at this time the lanes L3, L4 are already stored as the forward travel lanes and the number of lanes determined as the normal travel lanes is not increasing, the memory is not updated, but the previous memory (memory that the lanes L3, L4, L5 are the forward travel lanes) is retained.

[0042] When it is determined that the lane has no continuity due to the increase or decrease of the number of lanes on the road, the right turn or the left turn of the own vehicle SV, or the like in the determination of updating or holding the memory, the forward travel lane determination result of the lane may be updated while being cleared.

[0043] For example, the case where a lane increase or decrease of the road is generated is considered as a first example. In the Fig. 3, after the lanes L3 to L5 are stored as the forward lanes, if the lane reduction as in Fig. 6 illustrates, the memory that lane L3 is the forward lane is cleared, and the memory is updated when lanes L4 and L5 are the forward lanes. At this point, the forward lane determination result can be cleared not only for the lane determined to have no continuity, but also for all lanes detected at that time.

[0044] Subsequently, the case in which the own vehicle SV turns right or left is considered as a second example.

[0045] In the Fig. 3 illustrated situation, after the lane L3 to L5 are stored as the forward lane, when the own vehicle SV turns left as shown in Fig. 7 illustrates, the memory that lanes L3 to L9 are the forward travel lanes is cleared, and the travel direction determination of lanes L10 to L15 is restarted.

[0046] The driving support controller 247 controls the speed of the host vehicle SV to follow a preceding vehicle traveling in front of the host vehicle SV. In addition, the driving support controller 247 changes the speed of the host vehicle SV based on the traveling direction of the host vehicle SV and the traveling direction of the lane determined by the traveling direction determining unit 245.That is, when it is determined that the own lane in which the vehicle is currently traveling is not the forward lane based on the forward lane determination result and the own lane information stored in the traveling direction storage unit 246, the driving support controller 247 reduces the set vehicle speed of the ACC function to the vehicle speed before the lane change, resets the vehicle speed of the ACC function, and transmits a brake control command and an engine control command corresponding to the reset vehicle speed. At this point, the time before the lane change is specifically the time when a front tire of the own vehicle SV protrudes toward the adjacent lane area, and the vehicle speed at this time is the set vehicle speed of the ACC function.

[0047] However, if a sudden acceleration exceeding a specified acceleration (for example, 2.0 m / s 2 ) is detected during the specified time (for example, about 5 seconds) before the time of the adjacent lane protrusion, the vehicle speed at the time of the sudden acceleration start becomes the set vehicle speed of the ACC function.

[0048] When the set vehicle speed determined by a set vehicle speed resetting procedure is higher than a vehicle speed originally set by the driver, the set vehicle speed of the ACC function is maintained at the vehicle speed set by the driver.

[0049] With reference to Fig. 8, in a preceding vehicle catching-up scene 910, it is determined that a self-vehicle lane L1 is the forward lane and an opposite lane L2 is not the forward lane, while the self-vehicle lane L1 is traveling at the set vehicle speed using the ACC function. In addition, when the self-vehicle SV catches up with the preceding vehicle OB1, the self-vehicle SV maintains a constant inter-vehicle distance and follows the preceding vehicle OB1 (decelerates). Subsequently, in a preceding vehicle overtaking scene 920, overtaking is performed by advancing to the opposite lane L2.At this point, based on the determination result that the opposite lane L2 is not the forward lane, the ACC-set vehicle speed is reduced to the vehicle speed before the lane change (before overtaking is started) through the processing according to the embodiment of the present invention. In the embodiment of the present invention, unlike the conventional ACC control, the host vehicle SV does not automatically accelerate, and the driver depresses an accelerator pedal to execute the acceleration and speed adjustment.

[0050] In an original lane return scene 930, the case where an oncoming vehicle OB2 is approaching is considered. At this time, the driver performs speed adjustment, and a possibility of causing a collision with the oncoming vehicle OB2 can be reduced compared to the conventional ACC control. In the above description, reducing the ACC-set vehicle speed was described as the control change example. However, the ACC function may be released. In addition, even if it is determined that the own lane is the forward lane, as in Fig. 6 illustrates that if the own lane continues to decrease and if the driver does not change the lane, the ACC function is canceled.

[0051] The brake control device 250 transmits a brake actuator operation command based on the brake control command transmitted from the driving support controller 247.

[0052] The brake actuator 260 controls the brake fluid pressure based on the brake actuator actuation command transmitted from the brake control device 250.

[0053] The engine control device 270 transmits a throttle actuator operation command based on the engine control command transmitted from the drive support controller 247.

[0054] The throttle actuator 280 controls a throttle valve opening based on the throttle actuator actuation command transmitted from the engine controller 270.

[0055] In the embodiment, the control change of the ACC function was described, but the control change of the driving support function other than the ACC function may be executed based on the forward lane determination result. For example, it is conceivable to apply the present invention to a vehicle line change function that automatically changes the lane in response to the driver's turn signal operation. Also, with this function, in the scene where overtaking is performed while the vehicle is projecting toward the opposite lane, there is a possibility of causing a collision with the oncoming vehicle similar to the ACC function, and it is necessary to change the control appropriately.

[0056] A processing flow of the embodiment will be described with reference to flowcharts shown in Fig. 9 and Fig. 10. This processing is repeatedly executed in the arithmetic device 240 in a predetermined cycle.

[0057] First, in step S1010 of Fig. 9, the white line information and the target information are acquired by the camera 210, the target information is acquired by the radar 220, and the vehicle movement information is acquired by the vehicle movement information acquisition device 230.

[0058] In step S1011, the lane recognition processing unit 241 estimates the area of ​​the lane around the own vehicle SV based on the white line information.

[0059] In step S1012, the target recognition processing unit 242 determines another vehicle traveling around the own vehicle SV in each lane based on the target information and the lane area information.

[0060] In step S1013, the start determination unit 243 determines that the own vehicle SV starts from the stopped state based on the vehicle movement information, and generates the start information for the own vehicle.

[0061] In step S1014, the starting vehicle detection unit 244 determines whether the starting information for the own vehicle is generated. If an affirmative determination is made in step S1014, the processing proceeds to step S1015. If a negative determination is made in step S1014 (the own vehicle does not start from the stopped state), the processing proceeds to step S1110 in Fig. 10 over.

[0062] If it is determined in step S1015 that the host vehicle SV is starting, the starting vehicle detection unit 244 detects another vehicle starting from the stopped state in a different lane. That is, the starting vehicle detection unit 244 detects another vehicle starting from the stopped state in a different lane and passing through the intersection in the same direction as the traveling direction of the host vehicle SV based on the starting information of the host vehicle, the vehicle speed information and yaw rate information of the host vehicle SV, and the relative velocity vector information of another vehicle.

[0063] In step S1016, the traveling direction determination unit 245 determines whether the vehicle traveling forward at the start exists in any lane on the first side (the right side when the vehicle's forward travel is the left side (left-side traveling) and the left side when the vehicle's forward travel is the right side (right-side traveling). If the affirmative determination is made in step S1016, the processing proceeds to step S1017. If the negative determination is made in step S1016, the processing proceeds to step S1018.

[0064] In step S1017, the traveling direction determining unit 245 determines that the lane on the second side (left side when the forward travel of the vehicle is the left side (left-side traveling), right side when the forward travel of the vehicle is the right side (right-side traveling)) out of the lane to which the forward traveling vehicle at the start belongs is the forward traveling lane, based on the information of the forward traveling vehicle at the start located in the lane farthest from the own vehicle SV on the first side.

[0065] In step S1018, the traveling direction determining unit 245 determines that the lane on the second side of the own traveling lane is the forward traveling lane.

[0066] In step S1019, the traveling direction storage unit 246 stores and updates the forward traveling lane determination result and updates or deletes the stored traveling direction of the lane according to the increase or decrease in the number of lanes on the road on which the host vehicle SV is traveling and the right or left turn of the host vehicle SV. In step S1110 of Fig. 10, the driving support controller 247 determines whether the currently traveling lane is the forward traveling lane based on the forward traveling lane determination result and the self-travel lane information stored in the traveling direction storage unit 246. If the affirmative determination is made in step S1110, processing proceeds to step S1111. If the negative determination is made in step S1110, processing proceeds to step S1112.

[0067] In step S1111, the drive support controller 247 sets the set vehicle speed of the ACC function to the vehicle speed set by the driver and transmits the brake control command and the engine control command corresponding to the vehicle speed set by the driver. Then, the processing proceeds to step S1113.

[0068] In step S1112, the drive support controller 247 lowers the set vehicle speed of the ACC function to the vehicle speed before the lane change (changes to the vehicle speed), resets the ACC function to the vehicle speed before the lane change, and transmits the brake control command and the engine control command corresponding to the reduced set vehicle speed. Then, the processing proceeds to step S1113.

[0069] In step S1113, the brake control device 250 transmits the brake actuator operation command based on the brake control command transmitted from the drive assist controller 247. At the same time, the engine control device 270 transmits the throttle actuator operation command based on the engine control command transmitted from the drive assist controller 247.

[0070] In step S1114, the brake actuator 260 controls the brake fluid pressure based on the brake actuator operation command transmitted from the brake control device 250. At the same time, the throttle actuator 280 controls the throttle valve opening based on the throttle actuator operation command transmitted from the engine control device 270. Then, the processing ends.

[0071] As described above, according to the embodiment of the present invention, the lane traveling direction determination can be implemented without erroneous determination in consideration of another vehicle passing the own vehicle by projecting to the opposite lane, and the on-board electronic control device and the on-board electronic control method that appropriately change the control of the ACC function without depending on the map data can be provided at low cost when the own vehicle passes another vehicle while projecting to the opposite lane. List of reference symbols 100 on-board electronic control device 210 Camera 220 radars 230 Vehicle movement information detection device 240 Arithmetic device 241 Lane detection processing unit 242 Target recognition processing unit 243 Start determination unit (start determination unit of own vehicle) 244 Launch vehicle detection unit 245 Direction of travel determination unit 246 Direction of travel memory unit 247 driving support control 250 brake control device 260 brake actuator 270 Engine control device 280 SV throttle actuator own vehicle 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 2005-301603 A

[0004]

Claims

[1] On-board electronic control device comprising: a starting vehicle detection unit that detects another vehicle starting from a stopped state in a lane different from a lane in which an own vehicle is traveling, based on a detection result of an external detection sensor mounted on the own vehicle; and a traveling direction determining unit that determines a traveling direction of a lane around the own lane including the other lane based on a traveling direction of the own lane, a starting direction of the started other vehicle, and a lane position of the other lane. [2] The on-board electronic control device according to claim 1, further comprising a self-vehicle start determination unit that determines that the self-vehicle starts from the stopped state, wherein the start-vehicle detection unit detects the other vehicle that starts from the stopped state in the other lane when it is determined that the self-vehicle starts. [3] The on-board electronic control device according to claim 1, further comprising a self-vehicle start determination unit that determines that the self-vehicle starts from a stopped state, wherein the traveling direction determination unit determines a traveling direction of a lane around the self-vehicle lane when the self-vehicle start determination unit determines that the self-vehicle starts. [4] The on-board electronic control device according to claim 1, wherein the traveling direction determining unit determines the traveling direction of the lane located on a second side of the lane from a first side based on the starting direction of the other vehicle starting in the lane on the first side, one of the two sides of the own lane being the first side and another side being the second side. [5] The on-board electronic control device according to claim 4, wherein the traveling direction determining unit determines that a lane located on the second side of a lane in which a vehicle starts in a direction identical to the traveling direction of the own lane on the first side is a forward traveling lane which is the traveling direction identical to the own lane. [6] The on-board electronic control device according to claim 1, further comprising a traveling direction storage unit that stores the traveling direction of the lane determined by the traveling direction determination unit, wherein the traveling direction storage unit updates or deletes the stored traveling direction of the lane according to an increase or decrease in a number of lanes of a road on which the own vehicle is traveling or a right or left turn of the own vehicle SV. [7] The on-board electronic control device according to claim 1, further comprising a driving support controller that controls the speed of the own vehicle to catch up with a preceding vehicle traveling in front of the own vehicle at a previously set speed, decelerate, and follow the preceding vehicle, wherein the driving support controller changes the speed of the own vehicle based on the traveling direction of the own vehicle and the traveling direction of the lane determined by the traveling direction determining unit. [8] The on-board electronic control device according to claim 2, wherein the starting vehicle detection unit detects another vehicle passing through an intersection in a direction identical to the traveling direction of the own vehicle as the started another vehicle when the another vehicle on the other lane starts from the stopped state before the intersection. [9] The on-board electronic control device according to claim 7, further comprising a traveling direction storage unit that stores a traveling direction of a traveling lane determined by the traveling direction determination unit, wherein the driving support controller changes a control speed of the own vehicle from the previously set speed to a traveling speed before the lane change when it is determined that a lane in which the own vehicle is traveling is changed and the own lane is not a forward traveling lane based on the traveling direction of the lane stored in the traveling direction storage unit and a position of the own lane in which the own vehicle is currently traveling. [10] The on-board electronic control device according to claim 4, wherein the first side is a right side when the forward traveling direction of the own vehicle is a left side, the first side is the left side when the forward traveling direction of the own vehicle is the right side, the second side is the left side when the forward traveling direction of the own vehicle is the left side, and the second side is the right side when the forward traveling direction of the own vehicle is the right side. [11] On-board electronic control system comprising: Detecting another vehicle starting from a stopped state in a lane different from a lane in which a vehicle is traveling; and Determining a traveling direction of a lane around the own lane including the other lane based on a traveling direction of the own lane, a starting direction of the started other vehicle, and the lane position of the other lane. [12] The on-board electronic control method of claim 11, further comprising: Determine whether the own vehicle starts from the stopped state; and Detecting the other vehicle starting from the stopped state in the other lane when determining that the own vehicle is starting.

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