Preceding vehicle recognition device for vehicle

Abstract

To provide a preceding vehicle recognition device for vehicle that can quickly release registration of a vehicle which has been erroneously registered during lane change transition.SOLUTION: A travel ECU 14 provisionally registers a preceding vehicle P ahead existing in a target lane of a lane change destination as a preceding vehicle during transition of an own vehicle O from start to end of lane change, and releases provisional registration of the preceding vehicle when it is continuously determined a set number of times that the provisionally registered preceding vehicle is a side-by-side travel vehicle after the own vehicle O has moved to the target lane.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present invention relates to a preceding vehicle recognition device for a vehicle that recognizes a preceding vehicle traveling ahead in the lane in which the vehicle is traveling. [Background technology]

[0002] In recent years, many vehicles equipped with driving assistance devices have been put into practical use in the field of automobiles and other vehicles. The driving assistance device basically realizes driving assistance control by executing adaptive cruise control (ACC) and active lane keep centering control (ALKC).

[0003] In the following vehicle distance control, basically, constant speed traveling control and following vehicle distance control are selectively executed. Constant speed traveling control is a control for maintaining the vehicle speed of the host vehicle at a set vehicle speed set by the driver. This constant speed traveling control is selected when a preceding vehicle to be followed is not registered ahead of the host vehicle. On the other hand, following vehicle distance control is a control by the driving support device for maintaining the vehicle distance between the host vehicle and the preceding vehicle at a target vehicle distance. This following vehicle distance control is selected when a preceding vehicle is registered ahead of the host vehicle.

[0004] Here, the registration of a preceding vehicle is basically performed for a vehicle traveling ahead of the own vehicle in the driving lane. Therefore, when the own vehicle starts to change lanes, the registration of the preceding vehicle is temporarily cancelled until the own vehicle completes moving from the original driving lane to the target lane. In response to this, for example, Patent Document 1 discloses a technique for registering a vehicle existing in the target lane as a preceding vehicle ahead of time when the vehicle is in the transitional period of lane change of the own vehicle and the vehicle satisfies a predetermined condition. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-62760 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when changing lanes, the accuracy of lane recognition is lower than usual. In particular, when there is a curve ahead of the vehicle, the distinction between the target lane and lanes other than the target lane becomes unclear. If a vehicle traveling in a lane other than the target lane is erroneously registered as a preceding vehicle ahead of the vehicle when changing lanes, unnecessary deceleration due to following cruise control, etc. may occur.

[0007] An object of the present invention is to provide a preceding vehicle recognition device that can quickly de-register a vehicle that has been erroneously registered as a preceding vehicle during a lane change transition. [Means for solving the problem]

[0008] A preceding vehicle recognition device for a vehicle according to one embodiment of the present invention comprises a driving environment recognition means for recognizing driving environment information including lanes on a road and vehicles, a lane change determination means for determining whether the host vehicle is changing lanes, a preceding vehicle temporary registration means for temporarily registering a vehicle present in a target lane to which the host vehicle is to change lanes as a preceding vehicle during the transitional period from the start to the end of the lane change of the host vehicle, and a temporary registration cancellation means for canceling the temporary registration when the determination that the preceding vehicle is a vehicle traveling alongside continues for a set period of time after the host vehicle moves to the target lane.

[0009] In addition, a preceding vehicle recognition device for a vehicle according to another aspect of the present invention includes a processor that recognizes driving environment information including lanes and vehicles on a road, determines whether the vehicle is changing lanes, and provisionally registers a vehicle in the target lane to which the vehicle is to change lanes as a preceding vehicle during the transitional period from the start to the end of the lane change of the vehicle, and cancels the provisional registration when, after the vehicle has moved to the target lane, it is determined that the preceding vehicle is a vehicle traveling alongside the vehicle for a set number of consecutive times. Effect of the Invention

[0010] According to the preceding vehicle recognition device of the present invention, a vehicle that has been erroneously registered as a preceding vehicle during a lane change transition can be quickly deregistered. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing a vehicle driving assistance device; [Diagram 2] FIG. 1 is an explanatory diagram showing a preceding vehicle registered in the vehicle's driving lane; [Diagram 3] FIG. 13 is an explanatory diagram showing a provisionally registered preceding vehicle when changing lanes. [Figure 4] FIG. 13 is an explanatory diagram showing a preceding vehicle registered in the vehicle's lane after changing lanes; [Diagram 5] Flowchart showing a routine for registering and deregistering a preceding vehicle [Figure 6] Flowchart showing a provisional registration routine for a preceding vehicle [Figure 7] Flowchart showing the provisional registration cancellation routine for the preceding vehicle (part 1) [Figure 8] Flowchart showing the provisional registration cancellation routine for the preceding vehicle (part 2) [Figure 9] An image showing the driving environment when starting to change lanes. [Figure 10] Image showing the driving environment after moving to the target lane DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. The drawings relate to one embodiment of the present invention, and Fig. 1 is a schematic diagram showing a vehicle driving support device.

[0013] 1, the driving assistance device 1 is configured to include a camera unit 10. The camera unit 10 is fixed to the center of the upper front part of the interior of a vehicle (host vehicle) O, for example.

[0014] The camera unit 10 includes a stereo camera 11 as an imaging means, 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 has a main camera 11a and a sub camera 11b as sensors. The main camera 11a and the sub camera 11b are configured with imaging elements such as CMOS. The main camera 11a and the sub camera 11b are arranged, for example, at symmetrical positions on either side of the center in the vehicle width direction. As a result, the main camera 11a and the sub camera 11b stereoscopically capture images of the driving environment in the area in front of the vehicle from different viewpoints at a predetermined imaging period that is synchronized with each other.

[0016] The IPU 12 performs predetermined image processing on the driving environment images captured by the stereo camera 11. As a result, the IPU 12 detects edges of various objects such as three-dimensional objects and lane markings on the road surface displayed on the images. The IPU 12 also obtains distance information from the positional deviation amount of corresponding edges on the left and right images. As a result, the IPU 12 generates image information including distance information (distance image information).

[0017] The image recognition_ECU 13 recognizes lane markings that divide lanes on a road based on distance image information received from the IPU 12, etc. For example, the image recognition_ECU 13 calculates the curvature [1 / m] of the left and right lane markings that divide each lane on the road, and the width between the left and right markings (lane width). Furthermore, the image recognition_ECU 13 calculates the lane width from the difference between the curvatures of the left and right markings. Through these lane marking recognition processes, the image recognition_ECU 13 recognizes lanes on the road, including the lane on which the host vehicle O is traveling (host vehicle driving lane).

[0018] Furthermore, the image recognition_ECU 13 performs predetermined pattern matching on the distance image information. As a result, the image recognition_ECU 13 recognizes three-dimensional objects such as guardrails and curbs extending along the road, and surrounding vehicles traveling on the road. Here, the image recognition_ECU 13 recognizes, for example, the type of the three-dimensional object, the distance to the three-dimensional object, the speed of the three-dimensional object, and the relative speed between the three-dimensional object and the vehicle O.

[0019] Various pieces of information recognized by the image recognition_ECU 13 are output to the driving_ECU 14 as driving environment information.

[0020] The driving_ECU 14 is a control unit for overall control of the driving assistance device 1.

[0021] Various control units, such as a cockpit control unit (CP_ECU) 21, an engine control unit (E / G_ECU) 22, a transmission control unit (T / M_ECU) 23, a brake control unit (BK_ECU) 24, and a power steering control unit (PS_ECU) 25, are connected to the driving_ECU 14 via an in-vehicle communication line such as a CAN (Controller Area Network).

[0022] A driving assistance switch 31a, a turn signal switch 31b, and the like are connected to the CP_ECU 21 as a human-machine interface (HMI) disposed around the driver's seat.

[0023] The driving assistance switch 31a is a switch for making various settings related to driving assistance control. For example, the driving assistance switch 31a can select a driving assistance mode according to a driver's request from a plurality of driving assistance modes preset in the traveling_ECU 14. The driving assistance switch 31a can also set a target vehicle speed (set vehicle speed Vset) when performing constant speed traveling control, which will be described later.

[0024] A throttle actuator 32 for an electronically controlled throttle and the like are connected to an output side of the E / G_ECU 22. In addition, various sensors such as an accelerator sensor (not shown) are connected to an input side of the E / G_ECU 22.

[0025] The E / G_ECU 22 performs drive control for the throttle actuator 32 etc. based on control signals from the travel_ECU 14 or detection signals from various sensors. In this way, the E / G_ECU 22 adjusts the amount of intake air for the engine to generate a desired engine output. The E / G_ECU 22 also outputs signals such as the accelerator opening degree detected by the various sensors to the travel_ECU 14.

[0026] An output side of the T / M_ECU 23 is connected to a hydraulic control circuit 33. In addition, an input side of the T / M_ECU 23 is connected to various sensors such as a shift position sensor (not shown).

[0027] The T / M_ECU 23 performs drive control for the hydraulic control circuit 33 and the like based on the engine torque signal estimated by the E / G_ECU 22 and detection signals from various sensors. As a result, the T / M_ECU 23 operates friction engagement elements, pulleys, and the like provided in the automatic transmission to shift the engine output at a desired gear ratio. The T / M_ECU 23 also outputs signals such as the shift position detected by the various sensors to the travel_ECU 14.

[0028] A brake actuator 34 for adjusting the brake fluid pressure output to the brake wheel cylinders provided on the respective wheels is connected to the output side of the BK_ECU 24. In addition, various sensors such as a vehicle speed sensor, a yaw rate sensor, a brake pedal sensor, and a longitudinal acceleration sensor are connected to the input side of the BK_ECU 24.

[0029] The BK_ECU 24 performs drive control for the brake actuator 34 and the like based on control signals from the travel_ECU 14 or detection signals from various sensors. As a result, the BK_ECU 24 appropriately generates braking force on each wheel for performing forced braking control, yaw rate control, etc. on the host vehicle O. In addition, the BK_ECU 24 outputs signals of the brake operation state, yaw rate, longitudinal acceleration, host vehicle speed, etc. detected by the various sensors to the travel_ECU 14.

[0030] An electric power steering motor 35 that applies a steering torque to the steering mechanism by the rotational force of the motor is connected to the output side of the PS_ECU 25. In addition, various sensors such as a steering torque sensor and a steering angle sensor are connected to the input side of the PS_ECU 25.

[0031] The PS_ECU 25 performs drive control for the electric power steering motor 35 and the like based on control signals from the travel_ECU 14 or detection signals from various sensors. As a result, the PS_ECU 25 generates a steering torque for the steering mechanism. The PS_ECU 25 also outputs signals of the steering torque, steering angle, etc. detected by the various sensors to the travel_ECU 14.

[0032] The traveling_ECU 14 performs driving assistance control by, for example, outputting various control signals to the E / G_ECU 22, the T / M_ECU 23, the BK_ECU 24, and the PS_ECU 25.

[0033] This driving assistance control is realized by appropriately combining adaptive cruise control (ACC), active lane keep centering control (ALKC), emergency lane keep assist control (ELKA), and auto lane changing control (ALC), etc. For example, the driving_ECU 14 realizes driving assistance control according to the driving assistance mode selected by the driver by appropriately combining each control.

[0034] The following vehicle distance control is realized by selectively executing following running control and constant speed running control. In this following vehicle distance control, the traveling_ECU 14 performs a registration process of a preceding vehicle based on the traveling environment information. That is, when a preceding vehicle that meets a predetermined registration condition exists ahead of the host vehicle O, the traveling_ECU 14 registers the preceding vehicle as a preceding vehicle. Then, when a preceding vehicle is registered ahead of the host vehicle O, the traveling_ECU 14 performs following running control. In this following running control, the traveling_ECU 14 sets a target inter-vehicle distance according to the vehicle speed, etc. of the preceding vehicle, and performs acceleration / deceleration control to maintain the set target inter-vehicle distance. On the other hand, when a preceding vehicle L is not registered ahead of the host vehicle O, the traveling_ECU 14 performs constant speed running control. In this constant speed running control, the traveling_ECU 14 performs acceleration / deceleration control for the host vehicle O with the set vehicle speed Vset input by the driver as the target vehicle speed.

[0035] The lane center keeping control and lane departure suppression control are performed based on lane marking information and the like included in the driving environment information. That is, the driving_ECU 14 sets a target travel path along the left and right lane markings, for example, in the center of the host vehicle's travel lane. Then, the driving_ECU 14 performs feedforward control and feedback control for steering based on the target travel path. In this way, the driving_ECU 14 keeps the host vehicle O in the center of the lane.

[0036] The automated lane change control is performed based on lane marking information and the like included in the driving environment information. That is, the driving_ECU 14 sets a target lateral position in a lane adjacent to the lane in which the host vehicle is traveling. Furthermore, the driving_ECU 14 sets a target route from the target route of the host vehicle O to the target lateral position. Then, the driving_ECU 14 performs feedforward control and feedback control of steering along the target route. As a result, the driving_ECU 14 changes the lane to the adjacent lane.

[0037] In the above-mentioned following vehicle distance control, the traveling_ECU 14 basically registers a vehicle (vehicle ahead) traveling ahead of the host vehicle in the lane as a preceding vehicle. Therefore, the registration of a preceding vehicle is basically premised on the fact that the traveling_ECU 14 has registered one lane on the road as the host vehicle's lane.

[0038] When a preceding vehicle in the host vehicle driving lane satisfies a preset registration condition, the travel_ECU 14 registers the preceding vehicle as a preceding vehicle. For example, as shown in Fig. 2, when a preceding vehicle P1 exists in the host vehicle driving lane, and the inter-vehicle distance Dp between the preceding vehicle P1 and the host vehicle O is less than a set threshold value Dth (e.g., less than 105 [m]) and the vehicle speed Vp of the preceding vehicle P1 is less than a set vehicle speed Vset, the travel_ECU 14 registers the preceding vehicle P1 as a preceding vehicle.

[0039] In addition, such registration of the preceding vehicle is cancelled when a preset cancellation condition is satisfied. That is, when the preceding vehicle P1 no longer satisfies the registration requirements as a preceding vehicle in the relative relationship with the host vehicle O, the travel_ECU 14 cancels the registration of the preceding vehicle.

[0040] Furthermore, for example, when the host vehicle O starts to change lanes to an adjacent lane, the travel_ECU 14 cancels the registration of the preceding vehicle. This is because when a lane change is started, the registration of the host vehicle's driving lane is cancelled. Note that the determination of whether or not a lane change has started is made, for example, based on whether or not the turn signal lamps have started to blink. In this case, the blinking of the turn signal lamps may be caused by the driver's operation of the turn signal switch 31b or by the automated lane change control.

[0041] During the transitional period from when the host vehicle O starts to change lanes to when the host vehicle O finishes changing lanes, the travel_ECU 14 exceptionally provisionally registers a vehicle (vehicle ahead) that satisfies a provisional registration condition set in advance as a preceding vehicle.

[0042] For example, as shown in Fig. 3, when a preceding vehicle P2 is present in a target lane to which the host vehicle O is to change lanes, and when an inter-vehicle distance Dp between the preceding vehicle P2 and the host vehicle O is less than a set threshold value Dth and a vehicle speed Vp of the preceding vehicle P2 is less than a set vehicle speed Vset, the travel_ECU 14 provisionally registers the preceding vehicle P2 as a preceding vehicle. Then, when the preceding vehicle is provisionally registered, the travel_ECU 14 performs a follow-up travel control for the provisionally registered preceding vehicle.

[0043] Such provisional registration of the preceding vehicle is cancelled when a preset cancellation condition is satisfied. That is, when the preceding vehicle P2 no longer satisfies the provisional registration requirements as a preceding vehicle in the relative relationship with the host vehicle O, the travel_ECU 14 cancels the provisional registration of the preceding vehicle. For example, as shown in Fig. 4, when the target lane is registered as the host vehicle driving lane and the preceding vehicle P2 is officially registered as a preceding vehicle traveling in the host vehicle driving lane, the travel_ECU 14 progressively cancels the provisional registration of the preceding vehicle P2 as a preceding vehicle.

[0044] Furthermore, when the travel_ECU 14 determines that the provisional registration of the preceding vehicle was made in error, it cancels the provisional registration of the preceding vehicle. For example, after the host vehicle O moves to the target lane by changing lanes, when the preceding vehicle P2, which is provisionally registered as the preceding vehicle, is determined to be a parallel vehicle for a set number of consecutive frames (e.g., three frames), the travel_ECU 14 cancels the provisional registration as the preceding vehicle. In this case, if the lane dividing line that divides the target lane is unclear, it is preferable to determine whether the preceding vehicle is a parallel vehicle after a set time (e.g., 2 [S]) has elapsed since the host vehicle O moved to the target lane.

[0045] Next, the registration and deregistration processing of the preceding vehicle will be described with reference to the flowchart of the registration and deregistration routine of the preceding vehicle shown in Fig. 5. This routine is repeatedly executed by the travel_ECU 14 at set time intervals.

[0046] When the routine starts, the driving_ECU 14 checks in step S101 whether the host vehicle O is changing lanes.

[0047] Then, in step S101, when it is determined that the host vehicle O is changing lanes (step S101: YES), the traveling_ECU 14 exits the routine as it is.

[0048] On the other hand, when it is determined in step S101 that the host vehicle O is not changing lanes (step S101...NO), the travel_ECU 14 proceeds to step S102.

[0049] In step S102, the travel_ECU 14 checks whether or not there is currently a preceding vehicle P registered as a preceding vehicle.

[0050] Then, in step S102, if it is determined that there is a preceding vehicle P registered as a preceding vehicle (step S102: YES), the travel_ECU 14 proceeds to step S109.

[0051] On the other hand, when it is determined in step S102 that there is no preceding vehicle P registered as a preceding vehicle (step S102: NO), the travel_ECU 14 proceeds to step S103.

[0052] In step S103, the driving_ECU 14 checks whether or not a lane on the road is currently registered as the host vehicle driving lane.

[0053] Then, in step S103, if it is determined that the host vehicle's driving lane is not registered (step S103: NO), the driving_ECU 14 exits the routine.

[0054] On the other hand, in step S103, when it is determined that the host vehicle's driving lane is registered (step S103: YES), the driving_ECU 14 proceeds to step S104.

[0055] In step S104, the traveling_ECU 14 checks whether or not a vehicle (vehicle P in front) is present in the host vehicle's traveling lane.

[0056] Then, in step S104, if it is determined that the preceding vehicle P does not exist in the host vehicle's driving lane (step S104: NO), the driving_ECU 14 exits the routine.

[0057] On the other hand, in step S104, when it is determined that the preceding vehicle P is present in the host vehicle's driving lane (step S104: YES), the driving_ECU 14 proceeds to step S105.

[0058] In step S105, the travel_ECU 14 checks whether or not the inter-vehicle distance Dp between the vehicle in front P and the host vehicle O is less than a set threshold value Dth.

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

[0060] On the other hand, when it is determined in step S105 that the inter-vehicle distance Dp is less than the set threshold value Dth (step S105: YES), the travel_ECU 14 proceeds to step S106.

[0061] In step S106, the travel_ECU 14 checks whether the vehicle speed Vp of the preceding vehicle P is less than the set vehicle speed Vset of the host vehicle O or not.

[0062] Then, in step S106, if it is determined that the vehicle speed Vp of the preceding vehicle P is equal to or greater than the set vehicle speed Vset (step S106: NO), the travel_ECU 14 exits the routine.

[0063] On the other hand, when it is determined in step S106 that the vehicle speed Vp of the preceding vehicle P is less than the set vehicle speed Vset (step S106: YES), the travel_ECU 14 proceeds to step S107.

[0064] In step S107, the traveling_ECU 14 checks whether or not a state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has continued for a set number of frames.

[0065] Then, in step S107, if it is determined that the state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has not continued for the set frames (step S107: NO), the traveling_ECU 14 exits the routine as is.

[0066] On the other hand, if it is determined in step S107 that the state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has continued for the set frames (step S107: YES), the travel_ECU 14 proceeds to step S108.

[0067] When the process proceeds from step S107 to step S108, the travel_ECU 14 registers the vehicle in front P as a preceding vehicle, and then exits the routine.

[0068] When the process proceeds from step S102 to step S109, the traveling_ECU 14 checks whether a cancellation condition for the preceding vehicle registration is satisfied. As the cancellation condition, the traveling_ECU 14 checks, for example, whether the preceding vehicle has been lost from the host vehicle's lane. As the cancellation condition, the traveling_ECU 14 checks, for example, whether the state in which the inter-vehicle distance Dp is equal to or greater than the set threshold value Dth has continued for a set number of frames. As the cancellation condition, the traveling_ECU 14 checks, for example, whether the state in which the vehicle speed Vp is equal to or greater than the set vehicle speed Vset has continued for a set period of time.

[0069] Then, in step S109, if it is determined that the cancellation condition for the preceding vehicle registration is satisfied (step S109: YES), the travel_ECU 14 proceeds to step S111.

[0070] On the other hand, if it is determined in step S109 that the cancellation condition for the preceding vehicle registration is not satisfied (step S109: NO), the travel_ECU 14 proceeds to step S110.

[0071] In step S110, the driving_ECU 14 checks whether or not the turn signal lamp for the adjacent lane has started to blink.

[0072] Then, in step S110, if it is determined that the turn signal lamp is not blinking (step S110: NO), the traveling_ECU 14 exits the routine as is.

[0073] On the other hand, when it is determined in step S110 that the turn signal lamp has started to blink (step S110: YES), the traveling_ECU 14 proceeds to step S111.

[0074] When the process proceeds from step S109 or step S110 to step S111, the travel_ECU 14 cancels the preceding vehicle registration for the preceding vehicle P, and then exits the routine.

[0075] Next, the provisional registration process of the preceding vehicle will be described with reference to the flowchart of the preceding vehicle registration routine shown in Fig. 6. This routine is repeatedly executed by the travel_ECU 14 at set time intervals.

[0076] When the routine starts, the driving_ECU 14 checks in step S201 whether the host vehicle O is changing lanes.

[0077] Then, in step S201, when it is determined that the host vehicle O is not changing lanes (step S201: NO), the traveling_ECU 14 exits the routine as it is.

[0078] On the other hand, when it is determined in step S201 that the host vehicle O is changing lanes (step S201: YES), the traveling_ECU 14 proceeds to step S202.

[0079] In step S202, the travel_ECU 14 checks whether or not there is currently a preceding vehicle P that has been provisionally registered as a preceding vehicle.

[0080] Then, in step S202, if it is determined that there is a preceding vehicle P that has been provisionally registered as a preceding vehicle (step S202: YES), the travel_ECU 14 exits the routine as is.

[0081] On the other hand, in step S202, when it is determined that there is a preceding vehicle P that has been provisionally registered as a preceding vehicle (step S202: NO), the travel_ECU 14 proceeds to step S203.

[0082] In step S203, the driving_ECU 14 checks whether or not a vehicle (vehicle P ahead) is present in the target lane to which the lane is to be changed.

[0083] Then, in step S203, if it is determined that the preceding vehicle P does not exist in the target lane (step S203: NO), the traveling_ECU 14 exits the routine as is.

[0084] On the other hand, in step S203, when it is determined that the leading vehicle P is present in the target lane (step S203: YES), the traveling_ECU 14 proceeds to step S204.

[0085] In step S204, the travel_ECU 14 checks whether the inter-vehicle distance Dp between the vehicle in front P and the host vehicle O is less than a set threshold value Dth.

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

[0087] On the other hand, when it is determined in step S204 that the inter-vehicle distance Dp is less than the set threshold value Dth (step S204: YES), the travel_ECU 14 proceeds to step S205.

[0088] In step S205, the traveling_ECU 14 checks whether the vehicle speed Vp of the preceding vehicle P is less than the set vehicle speed Vset of the host vehicle O or not.

[0089] Then, in step S205, if it is determined that the vehicle speed Vp of the preceding vehicle P is equal to or greater than the set vehicle speed Vset (step S205: NO), the travel_ECU 14 exits the routine.

[0090] On the other hand, when it is determined in step S205 that the vehicle speed Vp of the preceding vehicle P is less than the set vehicle speed Vset (step S205: YES), the travel_ECU 14 proceeds to step S206.

[0091] In step S206, the traveling_ECU 14 checks whether or not a state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has continued for a set number of frames.

[0092] Then, in step S206, if it is determined that the state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has not continued for the set frames (step S206: NO), the traveling_ECU 14 exits the routine.

[0093] On the other hand, if it is determined in step S206 that the state in which the inter-vehicle distance Dp is less than the set threshold value Dth and the vehicle speed Vp is less than the set vehicle speed Vset has continued for the set frames (step S206: YES), the travel_ECU 14 proceeds to step S207.

[0094] When the process proceeds from step S206 to step S207, the travel_ECU 14 provisionally registers the vehicle in front P as a preceding vehicle, and then exits the routine.

[0095] Next, the provisional registration cancellation process for the preceding vehicle will be described with reference to a provisional registration cancellation routine for the preceding vehicle shown in Figures 7 and 8. This routine is repeatedly executed by the travel_ECU 14 at set time intervals.

[0096] When the routine starts, in step S301, the driving_ECU 14 checks whether or not the preceding vehicle has been lost from the target lane.

[0097] Then, in step S301, if it is determined that the preceding vehicle has been lost (step S301: YES), the traveling_ECU 14 proceeds to step S312.

[0098] On the other hand, if it is determined in step S301 that the preceding vehicle has not been lost (step S301: NO), the travel_ECU 14 proceeds to step S302.

[0099] In step S302, the travel_ECU 14 checks whether the preceding vehicle P that has been provisionally registered as a preceding vehicle has been newly registered as a preceding vehicle, and whether the preceding vehicle P that has been provisionally registered as a preceding vehicle has been determined to be the vehicle before that.

[0100] Then, in step S302, if the vehicle in front P is officially registered as a preceding vehicle, or if the vehicle in front P is determined to be the vehicle before that (step S302: YES), the travel_ECU 14 proceeds to step S312.

[0101] On the other hand, in step S302, if the vehicle in front P is not officially registered as a preceding vehicle and is not determined as a vehicle before the preceding vehicle (step S302: NO), the travel_ECU 14 proceeds to step S303.

[0102] In step S303, the travel_ECU 14 checks whether the inter-vehicle time TTC with the provisionally registered preceding vehicle is 2 [s] or less, and the overlap ratio of the host vehicle O with respect to the provisionally registered preceding vehicle is 0 [%]. Here, when the inter-vehicle time TTC is 2 [s] or less, and the overlap ratio is 0 [%], it is assumed that, for example, the provisionally registered preceding vehicle is running substantially parallel to the host vehicle O, and there is a high possibility that the host vehicle O will overtake the provisionally registered preceding vehicle.

[0103] Then, in step S303, when it is determined that the time headway TTC is 2 seconds or less and the overlap ratio is 0% (step S303: YES), the travel_ECU 14 proceeds to step S312.

[0104] On the other hand, in step S303, if the time headway TTC is greater than 2 [s] or the overlap ratio is greater than 0 [%] (step S303: NO), the travel_ECU 14 proceeds to step S304.

[0105] In step S304, the travel_ECU 14 checks whether or not the temporarily registered inter-vehicle distance Dp to the preceding vehicle is equal to or greater than a set threshold value Dth.

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

[0107] On the other hand, when it is determined in step S304 that the inter-vehicle distance Dp is less than the set threshold value Dth (step S304: NO), the travel_ECU 14 proceeds to step S305.

[0108] In step S305, the driving_ECU 14 checks whether the host vehicle O has moved to the target lane.

[0109] Then, in step S305, when it is determined that the host vehicle O has not moved to the target lane (step S305: NO), the traveling_ECU 14 proceeds to step S311.

[0110] On the other hand, when it is determined in step S305 that the host vehicle O has moved to the target lane (step S305: YES), the traveling_ECU 14 proceeds to step S306.

[0111] In step S306, the driving_ECU 14 checks whether or not the lane markings that define the target lane are clearly recognized.

[0112] Then, in step S306, if it is determined that the lane markings are clearly recognized (step S306: YES), the traveling_ECU 14 proceeds to step S308.

[0113] On the other hand, if it is determined in step S306 that the lane markings are not clearly recognized (step S306: NO), the traveling_ECU 14 proceeds to step S307.

[0114] In step S307, the traveling_ECU 14 checks whether a set time (for example, 2 [s]) has elapsed since the host vehicle O moved to the target lane.

[0115] Then, in step S307, if it is determined that 2 [s] has not elapsed since the host vehicle O moved to the target lane (step S307: NO), the traveling_ECU 14 proceeds to step S311.

[0116] On the other hand, in step S307, if it is determined that 2 [s] has elapsed since the host vehicle O moved to the target lane (step S307: YES), the traveling_ECU 14 proceeds to step S308.

[0117] When the process proceeds from step S306 or step S307 to step S308, the travel_ECU 14 checks whether the state in which the provisionally registered preceding vehicle has been determined to be a parallel vehicle has continued for a set number of frames (eg, three frames).

[0118] Then, in step S308, if the state in which the preceding vehicle has been determined to be a parallel vehicle has continued for three frames (step S308: YES), the travel_ECU 14 proceeds to step S312.

[0119] On the other hand, in step S308, if the preceding vehicle is not determined to be a vehicle running alongside, or if the state in which the preceding vehicle is determined to be a vehicle running alongside has not continued for three frames (step S308: NO), the travel_ECU 14 proceeds to step S309.

[0120] In step S309, the traveling_ECU 14 checks whether or not a set time (for example, 3 [s]) has elapsed since the host vehicle O left the host vehicle traveling lane at the start of the lane change.

[0121] Then, in step S309, if it is determined that 3 [s] has not elapsed since the host vehicle O left the host vehicle driving lane (step S309: NO), the traveling_ECU 14 proceeds to step S311.

[0122] On the other hand, in step S309, if it is determined that 3 [s] has elapsed since the host vehicle O left the host vehicle driving lane (step S309: YES), the traveling_ECU 14 proceeds to step S310.

[0123] In step S310, the travel_ECU 14 checks whether the overlap ratio of the host vehicle O with respect to the provisionally registered preceding vehicle is less than a preset threshold value.

[0124] Then, in step S310, when it is determined that the overlap ratio of the host vehicle O is equal to or greater than the threshold value (step S310: NO), the travel_ECU 14 proceeds to step S311.

[0125] On the other hand, when it is determined in step S310 that the overlap ratio of the host vehicle O is less than the threshold value (step S310: YES), the traveling_ECU 14 proceeds to step S312.

[0126] When the process proceeds from step S305, step S307, or step S309 to step S311, the travel_ECU 14 leaves the routine while maintaining the provisional registration of the preceding vehicle.

[0127] Furthermore, when the process proceeds from step S301, step S302, step S303, step S304, step S308, or step S310 to step S312, the travel_ECU 14 cancels the provisional registration of the preceding vehicle, and then exits the routine.

[0128] According to this embodiment, the travel_ECU 14 provisionally registers the preceding vehicle P that is in the target lane of the lane change destination as a preceding vehicle during a transitional period from the start to the end of the lane change of the host vehicle O. Then, the travel_ECU 14 performs follow-up travel control based on the provisionally registered preceding vehicle. As a result, when the preceding vehicle P that can be registered as a preceding vehicle after the lane change is in the target lane, the follow-up travel control can be performed even during lane change when the host vehicle's driving lane is unclear.

[0129] Furthermore, when the provisionally registered preceding vehicle is determined to be a parallel vehicle for a set number of consecutive times after the host vehicle O moves to the target lane, the travel_ECU 14 cancels the provisional registration of the preceding vehicle. This allows the provisional registration to be promptly cancelled even if the preceding vehicle P is erroneously provisionally registered as a preceding vehicle. That is, for example, as shown in FIG. 9, when a curve exists ahead of the road on which the host vehicle O is traveling, it may be unclear whether the preceding vehicle is a preceding vehicle traveling in the host vehicle's traveling lane before the lane change, or a preceding vehicle traveling in the target lane. Even if such a preceding vehicle is provisionally registered as a preceding vehicle by mistake, for example, as shown in FIG. 10, when the provisionally registered preceding vehicle is determined to be a parallel vehicle after the host vehicle O moves to the target lane, the provisional registration can be promptly cancelled.

[0130] In this case, when the lane markings dividing the target lane are unclear, the travel_ECU 14 determines whether the preceding vehicle is a vehicle traveling alongside the vehicle when a set time has elapsed since the host vehicle O moved to the target lane. This makes it possible to stably determine whether the preceding vehicle is a vehicle traveling alongside the vehicle even when the lane markings are unclear.

[0131] In the above-mentioned embodiment, 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, the PS_ECU 25, etc. are configured with a well-known microcomputer equipped with a CPU, a RAM, a ROM, a non-volatile storage unit, etc., and with its peripheral devices, and the ROM stores in advance programs to be executed by the CPU and fixed data such as data tables, etc. Note that all or part of the functions of the processor may be configured with a logic circuit or an analog circuit, and the processing of various programs may be realized by an electronic circuit such as an FPGA.

[0132] The invention described in the above embodiments is not limited to those embodiments, and various modifications can be made in the implementation stage without departing from the gist of the invention. Furthermore, each of the above embodiments includes inventions at various stages, and various inventions can be extracted by appropriate combinations of the disclosed constituent elements.

[0133] For example, if some of the constituent elements shown in each form are deleted, and the stated problem can be solved and the stated effect can be obtained, the configuration from which these constituent elements are deleted can be extracted as an invention. [Explanation of symbols]

[0134] 1. Driving assistance devices 10 … Camera unit 11 … Stereo camera 11a ... Main camera 11b … Sub camera 13...Image Recognition_ECU 14 … Driving_ECU 21 … CP_ECU 22 … E / G_ECU 23 … T / M_ECU 24 … BK_ECU 25 … PS_ECU 31a … Driving assistance switch 31b … Turn signal switch 32 … Throttle actuator 33 ... Hydraulic control circuit 34 ... Brake actuator 35 ... Electric power steering motor

Claims

1. A driving environment recognition means for recognizing driving environment information including lanes and vehicles on a road; A lane change determination means for determining a lane change of the host vehicle; a preceding vehicle temporary registration means for temporarily registering a vehicle present in a target lane as a preceding vehicle during a transitional period from the start to the end of the lane change of the host vehicle; a temporary registration canceling means for canceling the temporary registration when the preceding vehicle is determined to be a parallel vehicle a set number of times consecutively after the host vehicle has moved to the target lane; A preceding vehicle recognition device for a vehicle, comprising:

2. 2. The preceding vehicle recognition device for a vehicle according to claim 1, wherein the provisional registration cancellation means cancels the provisional registration when, when a lane dividing line dividing the target lane is unclear, a determination that the preceding vehicle is a parallel vehicle is made a set number of times consecutively after a set time has elapsed since the host vehicle moved into the target lane.

3. A processor is provided. The processor, Recognizes driving environment information including lanes and vehicles on the road, Determine whether the vehicle is changing lanes, During a transitional period from the start to the end of the lane change of the host vehicle, a vehicle present in a target lane to which the host vehicle is to change lanes is provisionally registered as a preceding vehicle; canceling the provisional registration when the preceding vehicle is determined to be a parallel vehicle a set number of times consecutively after the host vehicle has moved into the target lane; A preceding vehicle recognition device for a vehicle.

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