Vehicle drive support device

Abstract

To provide a vehicle drive support device automatically and more reliably changing a lane of a vehicle in a form preferred by a driver.SOLUTION: A vehicle drive support device 10 acquires characteristics related to manual lane change as real lane change characteristics in a period when an operator of an own vehicle 100 performs the manual lane change, and performs automatic lane change according to target lane change characteristics set on the basis of the real lane change characteristics. The vehicle drive support device acquires a real required time required till the own vehicle shifts to a state other than a prescribed state after the own vehicle turns into the prescribed state, as the real lane change characteristics, and a real maximum lateral velocity as a maximum value of the lateral velocity of the own vehicle, sets a target value of the time till the own vehicle shifts to a state corresponding to the other state after the own vehicle turns into a state corresponding to the prescribed state, as the target lane change characteristics, on the basis of the real required time, and sets a target value as the maximum value of the lateral velocity on the basis of the real maximum lateral velocity.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device.

Background Art

[0002] There is known a vehicle driving support device having a function of automatically changing the lane of a vehicle. Also, it has been pointed out that when automatically changing the lane of a vehicle, it is desirable to change the lane of the vehicle in a form preferred by the driver (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] However, there is room for improvement in the specific configuration required to automatically change the lane of a vehicle in a form preferred by the driver.

[0005] An object of the present invention is to provide a vehicle driving support device capable of more reliably automatically changing the lane of a vehicle in a form preferred by the driver.

[0006] The vehicle driving support device according to the present invention includes a control device that executes lane change control for automatically changing the lane of the host vehicle. The control device acquires, as actual lane change characteristics, the characteristics related to the manual lane change during a manual lane change period, which is a period during which the operator of the host vehicle is performing a manual lane change of the host vehicle, and is configured to perform an automatic lane change, which is a lane change of the host vehicle by the lane change control, according to the target lane change characteristics set based on the actual lane change characteristics. Further, the control device acquires, as the actual lane change characteristics, an actual required time, which is the time required for the host vehicle to transition from a predetermined state to a state different from the predetermined state, and an actual maximum lateral speed, which is the maximum value of the lateral speed of the host vehicle in the lateral direction, and sets, as the target lane change characteristics, a target required time, which is a target value of the time from when the host vehicle becomes a state corresponding to the predetermined state to when the host vehicle is transitioned to a state corresponding to the different state, based on the actual required time, and is configured to set a target maximum lateral speed, which is a target value of the maximum value of the lateral speed, based on the actual maximum lateral speed.

[0007] When the operator manually changes the lane of the host vehicle, for example, the time from when the direction indicator is activated until the lateral movement of the host vehicle starts, or the time from when the lateral movement of the host vehicle starts until the host vehicle starts to straddle the lane dividing line, etc., the time required for the state of the host vehicle to transition from one state to another state (actual required time) reflects the operator's preference regarding the lane change. Also, when the operator manually changes the lane of the host vehicle, the operator's preference regarding the lane change is also reflected in the maximum value of the lateral speed of the host vehicle (actual maximum lateral speed).

[0008] According to the vehicle driving support device of the present invention, the actual required time is obtained, and the target required time (the target value of the time from when the host vehicle becomes a state corresponding to a predetermined state until the host vehicle shifts to a state corresponding to another state) is set based on the actual required time, and the target maximum lateral speed (the target value of the maximum value of the lateral speed of the host vehicle) is set based on the actual maximum lateral speed, and the lane change of the vehicle is performed according to these target required time and target maximum lateral speed. Therefore, the lane change of the host vehicle can be automatically performed in a form preferred by the operator more reliably.

[0009] In addition, in the vehicle driving support device according to the present invention, as the actual lane change characteristic, the control device acquires the actual maximum lateral speed reaching time, which is the time required from when the movement of the host vehicle in the lateral direction starts until the lateral speed reaches the maximum value, and as the target lane change characteristic, the control device may be configured to set the target maximum lateral speed reaching time, which is the target value of the time from when the movement of the host vehicle in the lateral direction starts until the lateral speed reaches the maximum value, based on the actual maximum lateral speed reaching time.

[0010] When the operator manually changes the lane of the host vehicle, the operator's preference regarding the lane change is reflected in the time (actual maximum lateral speed reaching time) from when the movement of the host vehicle in the lateral direction starts until the lateral speed of the host vehicle reaches the maximum value.

[0011] According to the vehicle driving support device of the present invention, the actual maximum lateral speed reaching time is obtained, and the target maximum lateral speed reaching time (the target value of the time from when the movement of the host vehicle in the lateral direction starts until the lateral speed of the host vehicle reaches the maximum value) is set based on the actual maximum lateral speed reaching time, and the lane change of the vehicle is performed according to this target maximum lateral speed reaching time. Therefore, the lane change of the host vehicle can be automatically performed in a form preferred by the operator more reliably.

[0012] Further, in the vehicle driving support device according to the present invention, as the actual lane change characteristics, the control device acquires an actual maximum lateral acceleration which is the maximum value of the lateral acceleration of the host vehicle in the lateral direction, and an actual maximum lateral acceleration gradient which is the maximum value of the lateral acceleration gradient which is the rate of change of the lateral acceleration, and as the target lane change characteristics, a target maximum lateral acceleration which is a target value of the maximum value of the lateral acceleration is set based on the actual maximum lateral acceleration, and a target maximum lateral acceleration gradient which is a target value of the maximum value of the lateral acceleration gradient is set based on the actual maximum lateral acceleration gradient.

[0013] When the operator manually changes the lane of the host vehicle, the operator's preference regarding the lane change is reflected in the maximum value of the lateral acceleration of the host vehicle (actual maximum lateral acceleration) and the lateral acceleration gradient of the host vehicle (actual maximum lateral acceleration gradient).

[0014] According to the vehicle driving support device of the present invention, the actual maximum lateral acceleration and the actual maximum lateral acceleration gradient are acquired, the target maximum lateral acceleration (target value of the maximum value of the lateral acceleration of the host vehicle) is set based on the actual maximum lateral acceleration, the target maximum lateral acceleration gradient (target value of the maximum value of the lateral acceleration gradient of the host vehicle) is set based on the actual maximum lateral acceleration gradient, and the automatic lane change is performed according to these target maximum lateral acceleration and target maximum lateral acceleration gradient. Therefore, the lane change of the host vehicle can be automatically performed in a form preferred by the operator more reliably.

[0015] Further, in the vehicle driving support device according to the present invention, as the actual lane change characteristics, an actual lateral speed change profile which is a locus of the lateral speed that has changed during the manual lane change period, an actual lateral acceleration change profile which is a locus of the lateral acceleration that is the acceleration of the host vehicle in the lateral direction and has changed during the manual lane change period, and an actual lateral acceleration gradient change profile which is a locus of the lateral acceleration gradient that is the rate of change of the acceleration of the host vehicle in the lateral direction and has changed during the manual lane change period are acquired, and as the target lane change characteristics, a target lateral speed change profile which is a locus of the target value of the lateral speed to be changed by the lane change control is set based on the actual lateral speed change profile, a target lateral acceleration change profile which is a locus of the target value of the lateral acceleration to be changed by the lane change control is set based on the actual lateral acceleration change profile, and a target lateral acceleration gradient change profile which is a locus of the target value of the lateral acceleration gradient to be changed by the lane change control is set based on the actual lateral acceleration gradient change profile.

[0016] When an operator manually changes the lane of the host vehicle, the operator's preference regarding the lane change is reflected in the way the lateral speed of the host vehicle changes (actual lateral speed change profile), the way the lateral acceleration of the host vehicle changes (actual lateral acceleration change profile), and the way the lateral acceleration gradient of the host vehicle changes (actual lateral acceleration gradient change profile).

[0017] According to the vehicle driving support device of the present invention, an actual lateral speed change profile, an actual lateral acceleration change profile, and an actual lateral acceleration gradient change profile are acquired. As target lane change characteristics, a target lateral speed change profile (the locus of the target value of the lateral speed of the host vehicle that is changed by lane change control) is set based on the actual lateral speed change profile, a target lateral acceleration change profile (the locus of the target value of the lateral acceleration of the host vehicle that is changed by lane change control) is set based on the actual lateral acceleration change profile, and a target lateral acceleration gradient change profile (the locus of the target value of the lateral acceleration gradient of the host vehicle that is changed by lane change control) is set based on the actual lateral acceleration gradient change profile. An automatic lane change of the host vehicle is performed according to these target lateral speed change profile, target lateral acceleration change profile, and target lateral acceleration gradient change profile. Therefore, it is possible to more reliably perform an automatic lane change of the host vehicle in a form preferred by the operator.

[0018] Further, in the vehicle driving support device according to the present invention, as the actual required time, the control device uses the actual lateral movement start time, which is the time required from when the operator performs an operation indicating the intention to perform the manual lane change until the lateral movement of the host vehicle starts, the actual crossing start time, which is the time required from when the lateral movement of the host vehicle starts until the host vehicle starts to cross the lane line, and the actual crossing completion time, which is the time required from when the host vehicle starts to cross the lane line until it finishes crossing the lane line. As the target required time, a target lateral movement start time, which is the target value of the time required from when an operation requesting the execution of the lane change control is performed until the lateral movement of the host vehicle starts, is set based on the actual lateral movement start time, a target crossing start time, which is the target value of the time required from when the lateral movement of the host vehicle starts until the host vehicle starts to cross the lane line, is set based on the actual crossing start time, and a target crossing completion time, which is the target value of the time required from when the host vehicle starts to cross the lane line until it finishes crossing the lane line, is set based on the actual crossing completion time.

[0019] The time from when the operator performs an operation indicating the intention to manually change lanes until the vehicle starts to move laterally (actual lateral movement start time), the time from when the vehicle starts to move laterally until the vehicle starts to cross the lane line (actual crossing start time), and the time from when the vehicle starts to cross the lane line until it finishes crossing the lane line (actual crossing completion time) reflect the operator's preference regarding the lane change.

[0020] According to the vehicle driving support device of the present invention, the actual lateral movement start time, the actual crossing start time, and the actual crossing completion time are acquired, and a target lateral movement start time (a target value of the time from when an operation requesting the execution of lane change control is performed until the vehicle starts to move laterally) is set based on the actual lateral movement start time, a target crossing start time (a target value of the time from when the vehicle starts to move laterally until the vehicle starts to cross the lane line) is set based on the actual crossing start time, and a target crossing completion time (a target value of the time from when the vehicle starts to cross the lane line until it finishes crossing the lane line) is set based on the actual crossing completion time, and an automatic lane change of the vehicle is performed according to these target lateral movement start time, target crossing start time, and target crossing completion time. Therefore, it is possible to more reliably automatically perform the lane change of the vehicle in a form preferred by the operator.

[0021] In addition, the vehicle driving support device according to the present invention can be configured to learn the actual required time, etc., and perform the learning using AI technologies such as so-called machine learning or deep learning.

[0022] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

[0024] Hereinafter, the vehicle driving support device 10 according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the host vehicle 100. Hereinafter, the case where the operator of the host vehicle 100 is a person who rides on the host vehicle 100 and drives the host vehicle 100 (that is, the driver of the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10.

[0025] However, the operator of the host vehicle 100 may be a person who remotely drives the host vehicle 100 without riding on the host vehicle 100 (that is, the remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle driving support device 10 is mounted on each of the host vehicle 100 and remote operation equipment installed outside the host vehicle 100 for remotely driving the host vehicle 100, and the functions of the vehicle driving support device 10 described below are shared and performed by the vehicle driving support device 10 mounted on the host vehicle 100 and the vehicle driving support device 10 mounted on the remote operation equipment, respectively.

[0026] As shown in FIG. 1, the vehicle driving support device 10 includes an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a storage medium such as a non-volatile memory, and an interface. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the storage medium. In particular, in this example, the vehicle driving support device 10 stores a program for realizing various controls executed by the vehicle driving support device 10 in the storage medium.

[0027] Note that in this example, the vehicle driving support device 10 includes only one ECU 90, but it may be configured to include a plurality of ECUs and divide the functions of the vehicle driving support device 10 described below among the respective ECUs.

[0028] Also, the vehicle driving support device 10 may be configured to be able to update (update) a program stored in the storage medium by wireless communication (for example, Internet communication) with an external device.

[0029] Further, the host vehicle 100 is equipped with a traveling device 20, a direction indicator 30, a turn signal lever 40, a host vehicle behavior acquisition device 50, and an external information acquisition device 60.

[0030] The traveling device 20 is a device for causing the host vehicle 100 to travel. The vehicle driving support device 10 can cause the host vehicle 100 to travel by controlling the operation of the traveling device 20. The traveling device 20 includes a driving device 21, a braking device 22, and a steering device 23.

[0031] The driving device 21 is electrically connected to the ECU 90. The vehicle driving support device 10 can control the driving force applied to the host vehicle 100 by controlling the operation of the driving device 21, and thereby accelerate the host vehicle 100.

[0032] The braking device 22 is also electrically connected to the ECU 90. The vehicle driving support device 10 can control the braking force applied to the host vehicle 100 by controlling the operation of the braking device 22, whereby the host vehicle 100 can be decelerated.

[0033] The steering device 23 is also electrically connected to the ECU 90. The vehicle driving support device 10 can control the operating force applied to the host vehicle 100 by controlling the operation of the steering device 23, whereby the host vehicle 100 can be steered.

[0034] The turn signal 30 is a device that indicates the direction in which the host vehicle 100 turns by blinking. The turn signal 30 includes a right turn signal 31 and a left turn signal 32. The right turn signal 31 and the left turn signal 32 are each electrically connected to the ECU 90. The vehicle driving support device 10 can selectively blink the right turn signal 31 and the left turn signal 32.

[0035] The turn signal lever 40 is a device operated by the driver and is electrically connected to the ECU 90. When a predetermined condition (a condition in which blinking of the right turn signal 31 or the left turn signal 32 is determined to be required) is satisfied by the driver operating the turn signal lever 40, the vehicle driving support device 10 blinks either the right turn signal 31 or the left turn signal 32 according to the type of the operation. On the other hand, when another condition (a condition in which execution of lane change control described later is determined to be required) is satisfied by the driver operating the turn signal lever 40, the vehicle driving support device 10 determines that execution of the lane change control described later is required. Thus, in this example, the turn signal lever 40 also functions as a lane change switch for the driver to request execution of lane change control. However, a lane change switch may be provided separately from the turn signal lever 40.

[0036] The vehicle behavior acquisition device 50 is a device that acquires data (vehicle behavior information IE) related to the behavior of the host vehicle 100. In this example, the vehicle behavior acquisition device 50 includes a vehicle speed detection device 51 and a lateral acceleration sensor 52.

[0037] The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by means of the vehicle speed detection device 51.

[0038] Also, the lateral acceleration sensor 52 is also electrically connected to the ECU 90. The vehicle driving support device 10 acquires the acceleration of the host vehicle 100 in the lateral direction as the lateral acceleration Gy by means of the lateral acceleration sensor 52.

[0039] The external information acquisition device 60 is a device that acquires information (external information IO) related to the external or surrounding situation of the host vehicle 100. The vehicle driving support device 10 acquires the external information IO by means of the external information acquisition device 60. In this example, the external information acquisition device 60 includes an electromagnetic wave sensor 61, an image sensor 62, a GPS signal receiver 63, and a map database 64.

[0040] The electromagnetic wave sensor 61 is a sensor such as a millimeter wave radar or a lidar, and is electrically connected to the ECU 90. The vehicle driving support device 10 acquires information related to the targets existing around the host vehicle 100 (for example, target information such as the distance between the host vehicle 100 and other vehicles) as the external information IO by means of the electromagnetic wave sensor 61.

[0041] Also, the image sensor 62 is a sensor such as a camera sensor, and is electrically connected to the ECU 90. The vehicle driving support device 10 acquires the image data (image information IC) obtained by imaging the surroundings of the host vehicle 100 as the external information IO by means of the image sensor 62.

[0042] Further, the GPS signal receiver 63 is electrically connected to the ECU 90. The vehicle driving support device 10 acquires GPS signals via the GPS signal receiver 63, and acquires the current position of the host vehicle 100 based on these acquired GPS signals.

[0043] Also, the map database 64 is a device in which map information is recorded, and is electrically connected to the ECU 90. The vehicle driving support device 10 collates the current position of the host vehicle 100 acquired based on the GPS signals with the map information recorded in the map database 64, thereby acquiring information on the area where the host vehicle 100 is traveling (for example, road information such as information on the road on which the host vehicle 100 is traveling) as external information IO.

[0044] <Operation of Vehicle Driving Support Device> As shown in FIG. 2, the vehicle driving support device 10 acquires the characteristics related to the manual lane change of the host vehicle 100 by the driver of the host vehicle 100 (manual lane change) during the period (manual lane change period) as the actual lane change characteristics, and as shown in FIG. 3, is configured to perform a lane change (automatic lane change) of the host vehicle 100 by lane change control according to the target lane change characteristics set based on the acquired actual lane change characteristics.

[0045] Note that the lane change control is one of the automatic driving controls, and as shown in FIG. 3, is a control for automatically performing a lane change of the host vehicle 100 from the currently traveling lane LN1 to the designated adjacent lane LN2. The currently traveling lane LN1 is the lane in which the host vehicle 100 is currently traveling. Also, the designated adjacent lane LN2 is a lane that can travel in the same direction as the traveling direction of the host vehicle 100, is the lane adjacent to the currently traveling lane LN1, and is the lane on the side indicated by the operating direction indicator 30.

[0046] The vehicle driving support device 10 executes the routine shown in FIG. 4 at predetermined time intervals to acquire and store the actual lane change characteristics used in the lane change control, and executes the routine shown in FIG. 5 at predetermined time intervals to execute the lane change control when predetermined conditions are satisfied.

[0047] Therefore, at a predetermined timing, the vehicle driving support device 10 starts processing from step S400 of the routine shown in FIG. 4, advances the processing to step S405, and determines whether or not the manual lane change condition C1 is satisfied.

[0048] The manual lane change condition C1 is satisfied, for example, when the turn signal lever 40 is operated during manual driving, and becomes not satisfied when the lane change of the host vehicle 100 by manual operation (manual lane change) is completed or when the operation of the direction indicator 30 stops without the lane change of the host vehicle 100 by manual operation being performed. Note that the manual lane change condition C1 may include a condition that an adjacent lane exists on the side indicated by the operating direction indicator 30. The adjacent lane is a lane that can travel in the same direction as the traveling direction of the host vehicle 100 and is the lane adjacent to the current traveling lane LN1. The vehicle driving support device 10 can determine whether or not an adjacent lane exists on the side indicated by the operating direction indicator 30 based on the external information IO.

[0049] When the manual lane change condition C1 is satisfied, the vehicle driving support device 10 determines "Yes" in step S405, advances the processing to step S410, acquires the lane change characteristics, and stores the lane change characteristics as provisional lane change characteristics. Next, the vehicle driving support device 10 advances the processing to step S495 and once terminates the processing of this routine.

[0050] In this example, the lane change characteristics acquired in step S410 are the actual required time T, the actual maximum lateral speed Vy_max, the actual maximum lateral acceleration Gy_max, the actual maximum lateral acceleration gradient Jy_max, the actual maximum lateral speed arrival time T_Vy_max, the actual lateral speed change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy.

[0051] The actual required time T is the time required for the host vehicle 100 to shift from a predetermined state to a state different from the predetermined state during manual driving or during a manual lane change. In particular, in this example, the actual required time T is the actual lateral movement start time T1, the actual straddling start time T2, and the actual straddling completion time T3.

[0052] The actual lateral movement start time T1 is the time required for the host vehicle 100 to start moving laterally (lateral movement of the host vehicle 100) after an operation indicating the intention of the driver to perform a manual lane change (in this example, an operation on the turn signal lever 40) during manual driving. In the example shown in FIG. 2, the actual lateral movement start time T1 is the time required for the host vehicle 100 to start moving laterally to the right after the turn signal lever 40 is operated during manual driving and the right turn indicator 31 starts flashing.

[0053] In addition, the actual straddling start time T2 is the time required for the host vehicle 100 to start straddling the lane dividing line LM after the lateral movement of the host vehicle 100 starts during the manual lane change. In the example shown in FIG. 2, the actual straddling start time T2 is the time required for the host vehicle 100 to reach the corner portion or the right front wheel of the right front portion of the host vehicle 100 after the lateral movement of the host vehicle 100 to the right starts. The lane dividing line LM is a line that separates the current driving lane LN1 and the designated adjacent lane LN2. In addition, the vehicle driving support device 10 is configured to recognize the lane dividing line LM based on the external information IO.

[0054] In addition, the actual straddling completion time T3 is the time required for the host vehicle 100 to complete straddling the lane dividing line LM after the host vehicle 100 starts straddling the lane dividing line LM during the manual lane change. In the example shown in FIG. 2, the actual straddling completion time T3 is the time required for the left rear corner portion or the left rear wheel of the host vehicle 100 to pass the lane dividing line LM after the corner portion or the right front wheel of the right front portion of the host vehicle 100 reaches the lane dividing line LM.

[0055] The vehicle driving support device 10 acquires the actual required time T based on the external information IO (particularly, the image information IC).

[0056] Furthermore, in this example, the actual maximum lateral speed Vy_max is the maximum value of the lateral speed Vy (i.e., the moving speed of the host vehicle 100 in the lateral direction) during the manual lane change period. Also, the actual maximum lateral acceleration Gy_max is the maximum value of the lateral acceleration Gy (i.e., the acceleration of the host vehicle 100 in the lateral direction) during the manual lane change period. Also, the actual maximum lateral acceleration gradient Jy_max is the maximum value of the lateral acceleration gradient Jy (i.e., the rate of change of the acceleration of the host vehicle 100 in the lateral direction) during the manual lane change period.

[0057] The vehicle driving support device 10 acquires the actual maximum lateral speed Vy_max, the actual maximum lateral acceleration Gy_max, and the actual maximum lateral acceleration gradient Jy_max based on the data of the lateral acceleration Gy detected by the lateral acceleration sensor 52.

[0058] Also, the actual maximum lateral speed arrival time T_Vy_max is the time required for the lateral speed Vy of the host vehicle 100 to reach the maximum value after the lateral movement of the host vehicle 100 starts during the manual lane change period.

[0059] Also, the actual lateral speed change profile P_Vy is the locus of the lateral speed Vy that changes during the manual lane change period. Also, the actual lateral acceleration change profile P_Gy is the locus of the lateral acceleration Gy that changes during the manual lane change period. Also, the actual lateral acceleration gradient change profile P_Jy is the locus of the lateral acceleration gradient Jy that changes during the manual lane change period.

[0060] The vehicle driving support device 10 acquires the actual lateral speed change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy based on the data of the lateral acceleration Gy detected by the lateral acceleration sensor 52.

[0061] Still, for example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are respectively for the elapsed time Telsp since the start of the manual lane change, or for the distance D between the lane marking LM and the host vehicle 100. For example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are respectively obtained by a statistical method based on the distributions of the lateral velocity Vy, the lateral acceleration Gy, and the lateral acceleration gradient Jy with respect to the elapsed time Telsp since the start of each manual lane change when the manual lane change is performed multiple times. Also, for example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are respectively obtained by a statistical method based on the distributions of the lateral velocity Vy, the lateral acceleration Gy, and the lateral acceleration gradient Jy with respect to the distance D between the lane marking LM and the host vehicle 100 in each manual lane change when the manual lane change is performed multiple times.

[0062] On the other hand, when the manual lane change condition C1 is not satisfied, the vehicle driving support device 10 determines "No" in step S405, advances the process to step S415, and determines whether the manual lane change completion condition C2 is satisfied. The manual lane change completion condition C2 is satisfied when the manual lane change is completed. Still, the manual lane change completion condition C2 becomes non-satisfied, for example, when the process of the next step S420 is executed.

[0063] When the manual lane change completion condition C2 is satisfied, the vehicle driving support device 10 advances the process to step S420, and stores the temporary lane change characteristics stored in step S410 as the actual lane change characteristics. Next, the vehicle driving support device 10 advances the process to step S495 and once terminates the process of this routine.

[0064] On the other hand, when the manual lane change completion condition C2 is not satisfied, the vehicle driving support device 10 proceeds to step S425 and determines whether the manual lane change non-execution condition C3 is satisfied. The manual lane change non-execution condition C3 is satisfied when, after the manual lane change condition C1 is satisfied and before the manual lane change is performed, the manual lane change condition C1 becomes non-satisfied. Note that the manual lane change non-execution condition C3 becomes non-satisfied when, for example, the next step S430 is executed.

[0065] When the manual lane change non-execution condition C3 is satisfied, the vehicle driving support device 10 proceeds to step S430 and deletes the data of the temporary lane change characteristics stored in step S410. Next, the vehicle driving support device 10 proceeds to step S495 and temporarily terminates the processing of this routine.

[0066] On the other hand, when the manual lane change non-execution condition C3 is not satisfied, the vehicle driving support device 10 determines "No" in step S425 and directly proceeds to step S495 to temporarily terminate the processing of this routine.

[0067] Furthermore, at a predetermined timing, the vehicle driving support device 10 starts processing from step S500 of the routine shown in FIG. 5, proceeds to step S505, and determines whether the value of the lane change in progress flag X1 is "0". When the value of the lane change in progress flag X1 is "1", it indicates that the lane change control is being executed, in other words, the lane change control has already started. When the value of the lane change in progress flag X1 is "0", it indicates that the lane change control is not being executed. The lane change control is a control for automatically changing the lane of the host vehicle 100 by the vehicle driving support device 10 autonomously controlling the operation of the traveling device 20.

[0068] When the value of the vehicle lane change in - progress flag X1 is "0" (i.e., when lane change control is being executed), the vehicle driving support device 10 determines "Yes" in step S505, advances the process to step S510, and determines whether the vehicle lane change request condition C4 is satisfied. The vehicle lane change request condition C4 is a condition that a lane change of the host vehicle 100 is requested by lane change control.

[0069] When the vehicle lane change request condition C4 is satisfied, the vehicle driving support device 10 determines "Yes" in step S510 and starts lane change control. That is, when the vehicle driving support device 10 determines "Yes" in step S510, it advances the process to step S515 and sets a lane change route Rtgt.

[0070] The vehicle driving support device 10 sets, as the lane change route Rtgt, a route along which the host vehicle 100 can be safely moved to the designated adjacent lane LN2 based on the external information IO. At this time, the vehicle driving support device 10 may set the lane change route Rtgt in consideration of the route along which the host vehicle 100 has moved to the designated adjacent lane LN2 when a manual lane change is performed.

[0071] Next, the vehicle driving support device 10 advances the process to step S520 and sets a target lane change characteristic based on the actual lane change characteristic stored in step S420 of the routine shown in FIG. 4.

[0072] In this example, the target lane change characteristics set in step S520 are a target required time Ttgt, a target maximum lateral speed Vy_max_tgt, a target maximum lateral acceleration Gy_max_tgt, a target maximum lateral acceleration gradient Jy_max_tgt, a target maximum lateral speed arrival time T_Vy_max_tgt, a target lateral speed change profile P_Vy_tgt, a target lateral acceleration change profile P_Gy_tgt, and a target lateral acceleration gradient change profile P_Jy_tgt.

[0073] The target required time Ttgt is the target value of the time from when the host vehicle 100 reaches the state corresponding to the above-mentioned predetermined state until the host vehicle 100 shifts to the state corresponding to the above-mentioned other state. In particular, in this example, the target required time Ttgt is the target lateral movement start time T1_tgt, the target straddle start time T2_tgt, and the target straddle completion time T3_tgt. The target required time Ttgt is set based on the actual required time T. For example, the target required time Ttgt is set to the same time or a substantially equal time as the actual required time T.

[0074] The target lateral movement start time T1_tgt is the target value of the time from when an operation requesting the execution of lane change control is performed until the lateral movement of the host vehicle 100 starts. In the example shown in FIG. 3, the target lateral movement start time T1_tgt is the target value of the time from when an operation requesting the execution of lane change control is performed by the driver and the vehicle driving support device 10 starts flashing the right turn indicator 31 until the lateral movement of the host vehicle 100 starts. The target lateral movement start time T1_tgt is set based on the actual lateral movement start time T1. For example, the target lateral movement start time T1_tgt is set to the same time or a substantially equal time as the actual lateral movement start time T1.

[0075] Also, the target straddle start time T2_tgt is the target value of the time from when the lateral movement of the host vehicle 100 starts until the host vehicle 100 starts to straddle the lane line LM. In the example shown in FIG. 3, the target straddle start time T2 is the target value of the time from when the lateral movement of the host vehicle 100 to the right starts until the host vehicle 100 starts to straddle the lane line LM. The target straddle start time T2_tgt is set based on the actual straddle start time T2. For example, the target straddle start time T2_tgt is set to the same time or a substantially equal time as the actual straddle start time T2.

[0076] Further, the target crossing completion time T3_tgt is the target value of the time from when the host vehicle 100 starts to cross the lane line LM until it finishes crossing the lane line LM. The target crossing completion time T3_tgt is set based on the actual crossing completion time T3. For example, the target crossing completion time T3_tgt is set to the same time or a substantially equal time as the actual crossing completion time T3.

[0077] Further, the target maximum lateral speed Vy_max_tgt is the target value of the maximum value of the lateral speed Vy during the execution of the lane change control. The target maximum lateral speed Vy_max_tgt is set based on the actual maximum lateral speed Vy_max. For example, the target maximum lateral speed Vy_max_tgt is set to the same value or a substantially equal value as the actual maximum lateral speed Vy_max.

[0078] Further, the target maximum lateral acceleration Gy_max_tgt is the target value of the maximum value of the lateral acceleration Gy during the execution of the lane change control. The target maximum lateral acceleration Gy_max_tgt is set based on the actual maximum lateral acceleration Gy_max. For example, the target maximum lateral acceleration Gy_max_tgt is set to the same value or a substantially equal value as the actual maximum lateral acceleration Gy_max.

[0079] Further, the target maximum lateral acceleration gradient Jy_max_tgt is the target value of the maximum value of the lateral acceleration gradient Jy during the execution of the lane change control. The target maximum lateral acceleration gradient Jy_max_tgt is set based on the actual maximum lateral acceleration gradient Jy_max. For example, the target maximum lateral acceleration gradient Jy_max_tgt is set to the same value or a substantially equal value as the actual maximum lateral acceleration gradient Jy_max.

[0080] Further, the target maximum lateral velocity arrival time \(T_{Vy_{max\_tgt}}\) is the target value of the time from when the lateral movement of the host vehicle 100 starts until the lateral velocity \(Vy\) reaches the maximum value. In the example shown in FIG. 3, the target maximum lateral velocity arrival time \(T_{Vy_{max\_tgt}}\) is the target value of the time from when the lateral movement of the host vehicle 100 to the right starts until the lateral velocity \(Vy\) reaches the maximum value. The target maximum lateral velocity arrival time \(T_{Vy_{max\_tgt}}\) is set based on the actual maximum lateral velocity arrival time \(T_{Vy_{max}}\). For example, the target maximum lateral velocity arrival time \(T_{Vy_{max\_tgt}}\) is set to be equal to or approximately equal to the actual maximum lateral velocity arrival time \(T_{Vy_{max}}\).

[0081] Further, the target lateral velocity change profile \(P_{Vy_{tgt}}\) is the locus of the target values of the lateral velocity \(Vy\) changed by the lane change control. The target lateral velocity change profile \(P_{Vy_{tgt}}\) is set based on the actual lateral velocity change profile \(P_{Vy}\). For example, the target lateral velocity change profile \(P_{Vy_{tgt}}\) is set to be the same profile or approximately the same profile as the actual lateral velocity change profile \(P_{Vy}\).

[0082] Further, the target lateral acceleration change profile \(P_{Gy_{tgt}}\) is the locus of the target values of the lateral acceleration \(Gy\) changed by the lane change control. The target lateral acceleration change profile \(P_{Gy_{tgt}}\) is set based on the actual lateral acceleration change profile \(P_{Gy}\). For example, the target lateral acceleration change profile \(P_{Gy_{tgt}}\) is set to be the same profile or approximately the same profile as the actual lateral acceleration change profile \(P_{Gy}\).

[0083] Further, the target lateral acceleration gradient change profile \(P_{Jy_{tgt}}\) is the locus of the target values of the lateral acceleration gradient \(Jy\) changed by the lane change control. The target lateral acceleration gradient change profile \(P_{Jy_{tgt}}\) is set based on the actual lateral acceleration gradient change profile \(P_{Jy}\). For example, the target lateral acceleration gradient change profile \(P_{Jy_{tgt}}\) is set to be the same profile or approximately the same profile as the actual lateral acceleration gradient change profile \(P_{Jy}\).

[0084] After executing the process of step S520, the vehicle driving support device 10 proceeds with the process to step S525 and determines whether the lane change permission condition C5 is satisfied. The lane change permission condition C5 is a condition that the host vehicle 100 can safely enter the designated adjacent lane LN2. The lane change permission condition C5 is satisfied, for example, when there is no other vehicle in the area of the designated adjacent lane LN2 into which the host vehicle 100 is about to enter. Alternatively, the lane change permission condition C5 is satisfied, for example, when there is no other vehicle that contacts the host vehicle 100 when the host vehicle 100 is moved along the lane change route Rtgt set in step S515 according to the target lane change characteristics set in step S520.

[0085] When the vehicle driving support device 10 determines "Yes" in step S525, the process proceeds to step S530, the control of the operation of the traveling device 20 is started, and the host vehicle 100 is moved along the lane change route Rtgt set in step S515 according to the target lane change characteristics set in step S520.

[0086] Next, the vehicle driving support device 10 proceeds with the process to step S535, sets the value of the automatic lane change in progress flag X1 to "1". Next, the vehicle driving support device 10 proceeds with the process to step S595 and temporarily ends the process of this routine.

[0087] On the other hand, when the vehicle driving support device 10 determines "No" in step S510 or step S525, the process directly proceeds to step S595 and temporarily ends the process of this routine.

[0088] Also, when the vehicle driving support device 10 determines "No" in step S505, the process proceeds to step S540 and determines whether the automatic lane change completion condition C6 is satisfied.

[0089] When the vehicle driving support device 10 determines "Yes" in step S540, the process proceeds to step S545 to end the control of the operation of the traveling device 20. Next, the vehicle driving support device 10 proceeds the process to step S550 to set the value of the lane change in progress flag X1 to "0". Next, the vehicle driving support device 10 proceeds the process to step S595 to temporarily end the process of this routine.

[0090] On the other hand, when the vehicle driving support device 10 determines "No" in step S540, the process proceeds to step S555 to continue the control of the operation of the traveling device 20. Next, the vehicle driving support device 10 proceeds the process to step S595 to temporarily end the process of this routine.

[0091] The above is the operation of the vehicle driving support device 10.

[0092] When the driver manually changes the lane of the host vehicle 100, the actual required time T (actual lateral movement start time T1, actual straddle start time T2, and actual straddle completion time T3), actual maximum lateral speed Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual maximum lateral speed arrival time T_Vy_max, actual lateral speed change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy reflect the driver's preference regarding the lane change of the host vehicle 100.

[0093] According to the vehicle driving support device 10, based on the actual lateral movement start time T1, actual straddle start time T2, actual straddle completion time T3, actual maximum lateral speed Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual maximum lateral speed reach time T_Vy_max, actual lateral speed change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy, a target lateral movement start time T1_tgt, target straddle start time T2_tgt, target straddle completion time T3_tgt, target maximum lateral speed Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target maximum lateral speed reach time T_Vy_max_tgt, target lateral speed change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt, and target lateral acceleration gradient change profile P_Jy_tgt are set. Then, the lane change of the host vehicle 100 is automatically performed according to these target lateral movement start time T1_tgt, target straddle start time T2_tgt, target straddle completion time T3_tgt, target maximum lateral speed Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target maximum lateral speed reach time T_Vy_max_tgt, target lateral speed change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt, and target lateral acceleration gradient change profile P_Jy_tgt. Therefore, the lane change of the host vehicle 100 can be automatically performed in a form preferred by the driver more reliably.

[0094] Note that the present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

Explanation of Signs

[0095] 10…Vehicle driving support device, 20…Travel device, 30…Direction indicator, 40…Winker lever, 50…Host vehicle behavior acquisition device, 60…External information acquisition device, 90…ECU, 100…Host vehicle

Claims

1. A control device that executes lane change control for automatically changing lanes of a host vehicle, wherein the control device acquires, as actual lane change characteristics, characteristics related to the manual lane change during a manual lane change period, which is a period during which an operator of the host vehicle is performing a manual lane change of the host vehicle, and performs an automatic lane change, which is a lane change of the host vehicle by the lane change control, according to target lane change characteristics set based on the actual lane change characteristics. The vehicle driving support device is configured as described above. In the vehicle driving support device, the control device acquires, as the actual lane change characteristics, an actual required time, which is the time required for the host vehicle to transition from a predetermined state to a state different from the predetermined state, and an actual maximum lateral speed, which is the maximum value of the lateral speed of the host vehicle in the lateral direction. As the target lane change characteristics, a target required time, which is a target value of the time from when the host vehicle becomes a state corresponding to the predetermined state to when the host vehicle is transitioned to a state corresponding to the other state, is set based on the actual required time, and a target maximum lateral speed, which is a target value of the maximum value of the lateral speed, is set based on the actual maximum lateral speed. The vehicle driving support device is configured as described above. Vehicle driving support device.

2. In the vehicle driving support device according to claim 1, the control device acquires, as the actual lane change characteristics, an actual maximum lateral speed reaching time, which is the time required for the lateral speed of the host vehicle to reach the maximum value after the lateral movement of the host vehicle is started. As the target lane change characteristics, a target maximum lateral speed reaching time, which is a target value of the time from when the lateral movement of the host vehicle is started to when the lateral speed reaches the maximum value, is set based on the actual maximum lateral speed reaching time. The vehicle driving support device is configured as described above. Vehicle driving support device.

3. In the vehicle driving support device according to claim 1, the control device acquires, as the actual lane change characteristics, an actual maximum lateral acceleration, which is the maximum value of the lateral acceleration of the host vehicle in the lateral direction, and an actual maximum lateral acceleration gradient, which is the maximum value of the rate of change of the lateral acceleration. As the target lane change characteristics, a target maximum lateral acceleration, which is a target value of the maximum value of the lateral acceleration, is set based on the actual maximum lateral acceleration, and a target maximum lateral acceleration gradient, which is a target value of the maximum value of the lateral acceleration gradient, is set based on the actual maximum lateral acceleration gradient. The vehicle driving support device is configured as described above. Vehicle driving support device.

4. In the vehicle driving support device according to claim 1, the control device acquires, as the actual lane change characteristics, an actual lateral speed change profile which is a locus of the lateral speed that has changed during the manual lane change period, an actual lateral acceleration change profile which is a locus of the lateral acceleration that is the acceleration of the host vehicle in the lateral direction and has changed during the manual lane change period, and an actual lateral acceleration gradient change profile which is a locus of the lateral acceleration gradient that is the rate of change of the acceleration of the host vehicle in the lateral direction and has changed during the manual lane change period; sets, as the target lane change characteristics, a target lateral speed change profile which is a locus of the target value of the lateral speed that is changed by the lane change control based on the actual lateral speed change profile, sets a target lateral acceleration change profile which is a locus of the target value of the lateral acceleration that is changed by the lane change control based on the actual lateral acceleration change profile, and sets a target lateral acceleration gradient change profile which is a locus of the target value of the lateral acceleration gradient that is changed by the lane change control based on the actual lateral acceleration gradient change profile; is configured as such; vehicle driving support device.

5. In the vehicle driving support device according to claim 1, the control device acquires, as the actual required time, an actual lateral movement start time which is the time required from when the operator performs an operation indicating the intention to perform the manual lane change until the movement of the host vehicle in the lateral direction starts, an actual straddle start time which is the time required from when the movement of the host vehicle in the lateral direction starts until the host vehicle starts to straddle the lane line, and an actual straddle completion time which is the time required from when the host vehicle starts to straddle the lane line until it finishes straddling the lane line; sets, as the target required time, a target lateral movement start time which is the target value of the time from when an operation requesting execution of the lane change control is performed until the movement of the host vehicle in the lateral direction starts based on the actual lateral movement start time, sets a target straddle start time which is the target value of the time from when the movement of the host vehicle in the lateral direction starts until the host vehicle starts to straddle the lane line based on the actual straddle start time, and sets a target straddle completion time which is the target value of the time from when the host vehicle starts to straddle the lane line until it finishes straddling the lane line based on the actual straddle completion time; is configured as such; vehicle driving support device.

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