Following travel control device, following travel control method, and program

Abstract

To provide a following travel control device, a following travel control method, and a program that can appropriately continue the following travel to the preceding vehicle by the own vehicle even when a circumstance in which the owner vehicle cannot follow the preceding vehicle occurs.SOLUTION: A following travel control device 16 comprises: a recognition unit 3B that recognizes a preceding vehicle; a following travel control unit 3C that performs following travel control in which an own vehicle 1 follows the preceding vehicle; a target travel trajectory generation unit 3D that generates a target travel trajectory of the own vehicle 1 which draws a travel track different from a travel track of the preceding vehicle; and a non-following travel control unit 3E that makes the own vehicle 1 automatically travel along the target travel trajectory generated by the target travel trajectory generation unit 3D. When circumstances in which the following travel control unit 3C cannot continue the following travel control occur while performing the following travel control, the following travel control unit 3C interrupts the following travel control, the recognition unit 3B continues to recognize the preceding vehicle, and the target travel trajectory generation unit 3D generates the target travel trajectory which allows the following travel control to be restarted.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a following travel control device, a following travel control method, and a program.

Background Art

[0002] Patent Document 1 discloses a technique in which a host vehicle follows a preceding vehicle.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique described in Patent Document 1, cases where the host vehicle cannot follow the preceding vehicle (for example, when there is a vehicle (for example, an intervening vehicle), a person (for example, a jaywalker, a pedestrian jumping out onto the road), a traffic signal, a stop sign, a level crossing, etc. between the preceding vehicle and the host vehicle) are not considered. If the host vehicle continues to follow the preceding vehicle in such a case, there is a risk of contact between the vehicle, person, etc. existing between the preceding vehicle and the host vehicle and the host vehicle, or a risk of not being able to stop at a place where stopping is required, which is inappropriate. On the other hand, even when a situation occurs in which the host vehicle cannot follow the preceding vehicle, the driver of the host vehicle may desire that the host vehicle continue to follow the preceding vehicle by the host vehicle's (automatic driving system).

[0005] In view of the above points, an object of the present disclosure is to provide a following travel control device, a following travel control method, and a program that can appropriately continue the following travel of the host vehicle to the preceding vehicle even when a situation occurs in which the host vehicle cannot follow the preceding vehicle.

Means for Solving the Problems

[0006] (1) One aspect of the present disclosure includes a recognition unit that recognizes a preceding vehicle, a follow - up driving control unit that executes follow - up driving control for the host vehicle to follow the preceding vehicle, a target driving trajectory generation unit that generates a target driving trajectory of the host vehicle that depicts a driving trajectory different from that of the preceding vehicle, and a non - follow - up driving control unit that automatically drives the host vehicle along the target driving trajectory generated by the target driving trajectory generation unit. When a situation occurs during the execution of the follow - up driving control where the follow - up driving control unit cannot continue the follow - up driving control, the follow - up driving control unit interrupts the follow - up driving control, the recognition unit continues to recognize the preceding vehicle, and the target driving trajectory generation unit generates the target driving trajectory that allows the resumption of the follow - up driving control. It is a follow - up driving control device.

[0007] (2) The follow - up driving control device of (1) includes a determination unit that determines whether it is easy to recognize the preceding vehicle by the recognition unit. When the determination unit determines that it is easy to recognize the preceding vehicle by the recognition unit, the follow - up driving control unit may execute the follow - up driving control by increasing the vehicle - to - vehicle distance between the preceding vehicle and the host vehicle compared to the case where the determination unit determines that it is not easy to recognize the preceding vehicle by the recognition unit.

[0008] (3) In the follow - up driving control device of (1), the target driving trajectory generated by the target driving trajectory generation unit is a driving trajectory of the host vehicle that overtakes another vehicle that has cut in between the preceding vehicle and the host vehicle. It includes an acquisition unit that acquires information indicating the situation of the host vehicle. The target driving trajectory generation unit may determine whether it is possible for the host vehicle to overtake the other vehicle based on the information indicating the situation of the host vehicle acquired by the acquisition unit.

[0009] (4) One aspect of the present disclosure is a follow-up travel control method comprising: a recognition step in which a follow-up travel control device recognizes a preceding vehicle; a follow-up travel control step in which the follow-up travel control device executes follow-up travel control in which the host vehicle follows the preceding vehicle; a target travel trajectory generation step in which the follow-up travel control device generates a target travel trajectory for the host vehicle that describes a travel trajectory different from the travel trajectory of the preceding vehicle; and a non-follow-up travel control step in which the follow-up travel control device automatically travels the host vehicle along the target travel trajectory generated in the target travel trajectory generation step, wherein when a situation arises that prevents the follow-up travel control device from continuing the follow-up travel control during execution of the follow-up travel control, the follow-up travel control device interrupts the follow-up travel control, continues to recognize the preceding vehicle, and generates the target travel trajectory with which the follow-up travel control can be resumed.

[0010] (5) One aspect of the present disclosure is a program for causing a processor to execute a recognition step of recognizing a preceding vehicle, a follow-up drive control step of executing follow-up drive control such that the host vehicle follows the preceding vehicle, a target drive trajectory generation step of generating a target drive trajectory for the host vehicle that traces a drive trajectory different from the drive trajectory of the preceding vehicle, and a non-follow-up drive control step of automatically causing the host vehicle to drive along the target drive trajectory generated in the target drive trajectory generation step, wherein if a situation arises that makes it impossible to continue the follow-up drive control while the follow-up drive control is being executed, the follow-up drive control is interrupted, recognition of the preceding vehicle continues, and the target drive trajectory at which the follow-up drive control can be resumed is generated. Effect of the Invention

[0011] According to the present disclosure, even if a situation arises in which the host vehicle is no longer able to follow the preceding vehicle, the host vehicle can continue to appropriately follow the preceding vehicle. [Brief description of the drawings]

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the follow-up driving control device, the follow-up driving control method, and the program of the present disclosure will be described with reference to the drawings.

[0014] <First Embodiment> FIG. 1 is a diagram showing an example of a host vehicle 1 to which a follow - up travel control device 16 according to a first embodiment is applied. In the example shown in FIG. 1, the host vehicle 1 includes a vehicle state sensor 11, a surrounding situation sensor 12, a position information acquisition device 13, a map information acquisition device 14, an HMI (Human Machine Interface) 15, a follow - up travel control device 16, a steering actuator 16A, a braking actuator 16B, and a driving actuator 16C. The vehicle state sensor 11 detects the state of the host vehicle 1. The vehicle state sensor 11 includes, for example, a vehicle speed sensor, a yaw rate sensor, an acceleration sensor, and the like. The vehicle state sensor 11 transmits the detection result of the state of the host vehicle 1 to the follow - up travel control device 16. The surrounding situation sensor 12 detects surrounding vehicles (for example, a preceding vehicle PV (see FIG. 2), other vehicles OV (see FIG. 2), etc.), people (for example, a road crosser, a pedestrian jumping out onto the road, etc.), traffic signals, road signs, level crossings, obstacles, etc. around the host vehicle 1. The surrounding situation sensor 12 includes, for example, a camera, a lidar (Laser Imaging Detection and Ranging), a radar, a sonar, and the like. The surrounding situation sensor 12 transmits the detection result of surrounding vehicles and the like around the host vehicle 1 to the follow - up travel control device 16. The position information acquisition device 13 acquires information indicating the position and orientation of the host vehicle 1. The position information acquisition device 13 includes, for example, a GPS (Global Positioning System) device that measures the position and orientation of the host vehicle 1. The position information acquisition device 13 may perform a well - known self - position estimation process (localization) to improve the accuracy of the information indicating the position and orientation of the host vehicle 1. The position information acquisition device 13 transmits the information indicating the position and orientation of the host vehicle 1 to the follow - up travel control device 16.

[0015] The map information acquisition device 14 acquires map information indicating lane arrangement, road shape, etc. from a map database. The map database may be stored in a storage device (not shown) mounted on the host vehicle 1, or may be stored in a management server outside the host vehicle 1. In an example where the map database is stored in a management server outside the host vehicle 1, the map information acquisition device 14 acquires map information from the map database via communication between the host vehicle 1 and the management server. The map information acquisition device 14 transmits map information indicating lane arrangement, road shape, etc. to the follow-up driving control device 16.

[0016] In the example shown in FIG. 1, the HMI 15 has a function of receiving various operations of the driver of the host vehicle 1, and transmits a signal indicating the operation of the driver of the host vehicle 1 to the follow-up driving control device 16. The HMI 15 has a function of receiving an operation of the driver of the host vehicle 1 to turn on a driving support function such as ACC (Adaptive Cruise Control). Further, the HMI 15 has a function of receiving an operation to start an automatic driving for driving the host vehicle 1 without requiring a steering operation, a brake operation, and an accelerator operation by the driver of the host vehicle 1. The automatic driving includes a follow-up driving in which the host vehicle 1 follows and travels behind a preceding vehicle PV without requiring a steering operation, a brake operation, and an accelerator operation by the driver of the host vehicle 1. That is, the HMI 15 has a function of receiving an operation to start the follow-up driving. Specifically, the HMI 15 has a function of notifying the driver of the host vehicle 1 that the follow-up driving can be started (that is, proposing the start of the follow-up driving) before receiving an operation to start the follow-up driving. Further, the automatic driving includes a non-follow-up driving in which the host vehicle 1 automatically travels along a target driving trajectory described later without requiring a steering operation, a brake operation, and an accelerator operation by the driver of the host vehicle 1. The HMI 15 also includes a steering (and a steering angle sensor) for receiving an operation of the driver of the host vehicle 1, a brake pedal (and a sensor for detecting the operation amount thereof), an accelerator pedal (and a sensor for detecting the operation amount thereof), and the like.

[0017] The follow-up travel control device 16 is configured by, for example, an automatic driving ECU (Electronic Control Unit) (that is, by one ECU). In other examples, the follow-up travel control device 16 may be configured by a plurality of ECUs.

[0018] In the example shown in FIG. 1, the follow - up driving control device 16 controls the steering actuator 16A, the braking actuator 16B, and the driving actuator 16C based on the detection results of the vehicle state sensor 11 and the surrounding situation sensor 12, the information acquired by the position information acquisition device 13 and the map information acquisition device 14, the signal indicating the operation of the driver of the host vehicle 1 received by the HMI 15, etc. The follow - up driving control device 16 is composed of a microcomputer including a communication interface (I / F) 161, a memory 162, and a processor 163. The communication interface 161 has an interface circuit for connecting the follow - up driving control device 16 to the vehicle state sensor 11, the surrounding situation sensor 12, the position information acquisition device 13, the map information acquisition device 14, the HMI 15, the steering actuator 16A, the braking actuator 16B, the driving actuator 16C, etc. The memory 162 stores programs and various data used in the processes executed by the processor 163. The processor 163 has functions as an acquisition unit 3A, a recognition unit 3B, a follow - up driving control unit 3C, a target driving trajectory generation unit 3D, a non - follow - up driving control unit 3E, and a determination unit 3F. The acquisition unit 3A acquires the detection results of the vehicle state sensor 11 and the surrounding situation sensor 12, the information acquired by the position information acquisition device 13 and the map information acquisition device 14, the signal indicating the operation of the driver of the host vehicle 1 received by the HMI 15, etc. Specifically, the acquisition unit 3A acquires, for example, information indicating the situation of the host vehicle 1 (e.g., weather information, information on the density of surrounding vehicles, information on the narrowness of the driving route of the host vehicle 1, information indicating whether the driver of the host vehicle 1 is in a hurry, etc.). The acquisition unit 3A may acquire the operating status of the wiper of the host vehicle 1 and estimate the weather information based on it, or acquire the weather information from a website or the like via the network and the communication device 17 (see FIG. 4). Alternatively, the acquisition unit 3A may directly acquire the weather information from the surrounding situation sensor 12 capable of performing weather observations. The acquisition unit 3A may estimate whether the driver of the host vehicle 1 is in a hurry based on the detection results of the vehicle state sensor 11 (the vehicle speed, acceleration, etc. of the host vehicle 1), or may estimate whether the driver of the host vehicle 1 is in a hurry based on the signal indicating the operation of the driver of the host vehicle 1 received by the HMI 15.The recognition unit 3B recognizes the preceding vehicle PV (see FIG. 2) based on the detection results of the surrounding situation sensor 12 acquired by the acquisition unit 3A and the like. In an example where a camera is used as the surrounding situation sensor 12, the recognition unit 3B distinguishes and recognizes the preceding vehicle PV from other vehicles based on the features of the preceding vehicle PV (e.g., color, shape, number, feature amount in machine learning) included in the camera image. In an example where LiDAR is used as the surrounding situation sensor 12, the recognition unit 3B distinguishes and recognizes the preceding vehicle PV from other vehicles based on the shape features of the preceding vehicle PV indicated by the detection results of LiDAR. In an example where a radar is used as the surrounding situation sensor 12, the recognition unit 3B distinguishes and recognizes the preceding vehicle PV from other vehicles based on the features of the reflected wave from the preceding vehicle PV indicated by the detection results of the radar.

[0019] The follow - up driving control unit 3C executes follow - up driving control for the host vehicle 1 to follow the preceding vehicle PV without the need for steering operation, braking operation, and accelerator operation by the driver of the host vehicle 1. The follow - up driving control unit 3C controls the steering actuator 16A, the braking actuator 16B, and the driving actuator 16C so that the host vehicle 1 follows the driving trajectory of the preceding vehicle PV. Even when the preceding vehicle PV makes a lane change, a right turn, a left turn, etc., the follow - up driving control unit 3C executes follow - up driving control so that the host vehicle 1 follows the driving trajectory of the preceding vehicle PV and makes a lane change, a right turn, a left turn, etc. (specifically, turns on the blinker as necessary). When the preceding vehicle PV travels while avoiding obstacles in a road construction section, the follow - up driving control unit 3C executes follow - up driving control so that the host vehicle 1 also follows the driving trajectory of the preceding vehicle PV and avoids obstacles in the road construction section. When the host vehicle 1 to which the follow - up driving control device 16 of the first embodiment is applied is used for driving (traveling), delivery work in the delivery industry, etc., the fatigue of the driver of the host vehicle 1 can be significantly reduced.

[0020] Fig. 2 is a diagram for explaining an example of following travel in which the host vehicle 1 travels following the preceding vehicle PV. In detail, Fig. 2(A) shows a state in which the host vehicle 1 travels following the preceding vehicle PV, Fig. 2(B) shows a state in which another vehicle OV has cut in between the preceding vehicle PV and the host vehicle 1, Fig. 2(C) shows a state in which the host vehicle 1 has overtaken the other vehicle OV that has cut in between the preceding vehicle PV and the host vehicle 1, and Fig. 2(D) shows a state in which the host vehicle 1 has resumed following travel in relation to the preceding vehicle PV. As shown in Fig. 2(A), when there is no situation that prevents the host vehicle 1 from traveling following the preceding vehicle PV, the following travel control unit 3C executes following travel control in which the host vehicle 1 travels following the preceding vehicle PV. As shown in FIG. 2(B), if another vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1, if the following travel control unit 3C continues to execute the following travel control, there is a risk that the host vehicle 1 will come into contact with the other vehicle OV, or that the recognition unit 3B will be unable to recognize the preceding vehicle PV due to being blocked by the other vehicle OV (i.e., a situation arises in which the host vehicle 1 will be unable to follow the preceding vehicle PV).

[0021] Therefore, in the example shown in FIG. 1, the target travel trajectory generating unit 3D generates a target travel trajectory of the host vehicle 1 that draws a travel trajectory different from the travel trajectory of the preceding vehicle PV. Specifically, in the example shown in FIG. 2, the target travel trajectory generating unit 3D generates a travel trajectory of the host vehicle 1 that overtakes the other vehicle OV that has cut in between the preceding vehicle PV and the host vehicle 1 as shown by an arrow in FIG. 2(C). In detail, before generating the travel trajectory of the host vehicle 1 that overtakes the other vehicle OV, the target travel trajectory generating unit 3D determines whether or not the host vehicle 1 can overtake the other vehicle OV based on information indicating the situation of the host vehicle 1 acquired by the acquisition unit 3A (e.g., weather information, information on the number of surrounding vehicles, information on the narrowness of the road on which the host vehicle 1 is traveling, information indicating whether the driver of the host vehicle 1 is in a hurry, etc.). When it is determined that the host vehicle 1 cannot overtake the other vehicle OV, the target travel trajectory generating unit 3D does not generate a travel trajectory of the host vehicle 1 that overtakes the other vehicle OV.

[0022] In the example shown in FIG. 1, the non-following driving control unit 3E automatically drives the host vehicle 1 along the target driving trajectory generated by the target driving trajectory generation unit 3D (that is, without the need for steering operation, braking operation, and accelerator operation by the driver of the host vehicle 1). Specifically, in the example shown in FIG. 2, as shown in FIGS. 2(C) and 2(D), the non-following driving control unit 3E drives the host vehicle 1 along the target driving trajectory indicated by the arrow in FIG. 2(C), and the host vehicle 1 overtakes the other vehicle OV. Specifically, in the example shown in FIG. 2, the target driving trajectory generated by the target driving trajectory generation unit 3D is a target driving trajectory along which following driving control can be resumed, and the non-following driving control unit 3E automatically drives the host vehicle 1 along the target driving trajectory. When the host vehicle 1 reaches a position where following driving control can be resumed as shown in FIG. 2(D), the following driving control unit 3C resumes the following driving control. That is, in the example shown in FIG. 2, when the following driving control unit 3C is executing the following driving control as shown in FIG. 2(A), and a situation where the following driving control unit 3C cannot continue the following driving control (interruption by the other vehicle OV) occurs as shown in FIG. 2(B), the following driving control unit 3C interrupts the following driving control, the recognition unit 3B continues to recognize the preceding vehicle PV, and the target driving trajectory generation unit 3D generates a target driving trajectory along which following driving control can be resumed as indicated by the arrow in FIG. 2(C). Therefore, in the example shown in FIG. 2, even when a situation occurs where the host vehicle 1 cannot follow the preceding vehicle PV, the following driving of the host vehicle 1 with respect to the preceding vehicle PV can be appropriately continued.

[0023] In the example shown in FIG. 1, the determination unit 3F executes determination as to whether the recognition of the preceding vehicle PV by the recognition unit 3B is easy or not. For example, when the road on which the preceding vehicle PV and the host vehicle 1 are traveling extends substantially linearly without branching, the determination unit 3F determines that the recognition of the preceding vehicle PV by the recognition unit 3B is easy. When the determination unit 3F determines that the recognition of the preceding vehicle PV by the recognition unit 3B is easy, the following driving control unit 3C executes the following driving control by increasing the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 compared to the case where the determination unit 3F determines that the recognition of the preceding vehicle PV by the recognition unit 3B is not easy. Therefore, it is possible to suppress the possibility of being misunderstood by the driver of the preceding vehicle PV when the host vehicle 1 is performing a harassing drive with respect to the preceding vehicle PV.

[0024] In the example shown in FIG. 1, in order to suppress the possibility of being misunderstood by the driver of the preceding vehicle PV when the host vehicle 1 is performing a harassing driving with respect to the preceding vehicle PV, the processes described below can also be executed. Specifically, when the execution time of the following driving control by the following driving control unit 3C continues for a threshold value or more, there is a possibility of being misunderstood by the driver of the preceding vehicle PV that the host vehicle 1 is performing a harassing driving with respect to the preceding vehicle PV. Therefore, the following driving control unit 3C executes the following driving control by increasing the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 more than when the execution time of the following driving control by the following driving control unit 3C does not continue for a threshold value or more. When another vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1 as shown in FIG. 2(B) while the following driving control unit 3C is executing the following driving control by increasing the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 (specifically, for example, when a predetermined time has elapsed after the other vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1, or when the host vehicle 1 has traveled a predetermined distance after the other vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1), similar to the example shown in FIG. 2 described above, the following driving control unit 3C interrupts the following driving control, the recognition unit 3B continues to recognize the preceding vehicle PV, the target travel trajectory generation unit 3D generates a target travel trajectory that can resume the following driving control, and the non-following driving control unit 3E drives the host vehicle 1 along the target travel trajectory to a position where the following driving control can be resumed. In another example, when it is predicted based on, for example, map information that the host vehicle 1 will pass through an intersection or the like where it is difficult for the host vehicle 1 to overtake another vehicle OV, the non-following driving control unit 3E may start non-following driving control (overtaking of another vehicle OV by the host vehicle 1) before the above-described predetermined time elapses.

[0025] In still another example, the recognition unit 3B recognizes the preceding vehicle PV based on a front camera image of a camera that captures the front of the host vehicle 1 as a detection result of the surrounding situation sensor 12 (that is, executes image recognition). For example, when the ratio of the preceding vehicle PV included in the front camera image at a stage before another vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1 and the ratio of the preceding vehicle PV included in the front camera image at a stage after the other vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1 are used, if it is determined that the recognition degree of the preceding vehicle PV by the recognition unit 3B decreases at the stage after the other vehicle OV cuts in between the preceding vehicle PV and the host vehicle 1, the target travel trajectory generation unit 3D generates a target travel trajectory of the host vehicle 1 to move the host vehicle 1 in a direction in which the recognition degree of the preceding vehicle PV by the recognition unit 3B increases (for example, rightward or leftward in the width direction of the host vehicle 1).

[0026] In still another example, when the recognition unit 3B cannot recognize the preceding vehicle PV based on the detection result of the surrounding situation sensor 12, for example, the target travel trajectory generation unit 3D estimates the position of the preceding vehicle PV based on map information acquired by the map information acquisition device 14, information indicating the shape of the travel route of the host vehicle 1 obtained from the detection result of the surrounding situation sensor 12, and the like. Further, the non-following travel control unit 3E increases the vehicle speed of the host vehicle 1 compared to before the recognition unit 3B could no longer recognize the preceding vehicle PV. Furthermore, the target travel trajectory generation unit 3D generates, as the target travel trajectory, a travel trajectory of the host vehicle 1 that overtakes the other vehicle OV that cut in between the preceding vehicle PV, which is the cause of the recognition unit 3B being unable to recognize the preceding vehicle PV, and the host vehicle 1. Thereby, the host vehicle 1 can resume following travel with respect to the preceding vehicle PV.

[0027] In still another example, when the host vehicle 1 stops at a traffic signal while the preceding vehicle PV does not stop at the traffic signal, or when the road on which the preceding vehicle PV is traveling and the road on which the host vehicle 1 is traveling diverge, etc., when the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 when the non-following travel control unit 3E automatically drives the host vehicle 1 along the target travel trajectory becomes larger than the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 during following travel control, the non-following travel control unit 3E increases the vehicle speed of the host vehicle 1 more than during following travel control. Thereby, the host vehicle 1 can resume following travel with respect to the preceding vehicle PV.

[0028] FIG. 3 is a flowchart for explaining an example of processing executed by the processor 163 of the following travel control device 16 of the first embodiment (specifically, processing executed during the execution of following travel control). In the example shown in FIG. 3, in step S10, for example, the following travel control unit 3C determines whether there is a situation where following travel control cannot be continued. If YES, the process proceeds to step S11, and if NO, the process shown in FIG. 3 ends. In step S11, the following travel control unit 3C interrupts the following travel control. In step S12, the recognition unit 3B continues to recognize the preceding vehicle PV. In step S13, for example, the target travel trajectory generation unit 3D determines whether it is possible to generate a target travel trajectory for resuming following travel control. If YES, the process proceeds to step S14, and if NO, the process proceeds to step S17. For example, when the recognition unit 3B loses sight of the preceding vehicle PV and cannot recognize the preceding vehicle PV at a branch, intersection, etc., it is determined as NO in step S13. In step S14, the target travel trajectory generation unit 3D generates the target travel trajectory of the host vehicle 1. In step S15, the non-following travel control unit 3E executes non-following travel control (that is, automatically drives the host vehicle 1 along the target travel trajectory generated by the target travel trajectory generation unit 3D). When the host vehicle 1 reaches a position where following travel control can be resumed, in step S16, the following travel control unit 3C resumes following travel control. In step S17, the following travel control unit 3C stops without resuming following travel control.

[0029] Even when the HMI 15 receives an operation from the driver of the host vehicle 1 to turn off the follow - up driving, the follow - up driving control unit 3C stops the follow - up driving control in steps (not shown). Even when the HMI 15 receives a steering operation, a braking operation, etc. from the driver of the host vehicle 1, the vehicle transitions from automatic driving to manual driving, and the follow - up driving control unit 3C stops the follow - up driving control in steps (not shown). When dangerous driving such as signal ignoring by the preceding vehicle PV is detected by the surrounding situation sensor 12, the behavior of the preceding vehicle PV that rejects following the host vehicle 1 (for example, the behavior of the preceding vehicle PV that yields the road to the host vehicle 1 by the road shoulder, the behavior of the preceding vehicle PV that accelerates suddenly, the behavior of the preceding vehicle PV that frequently (more than necessary) repeats lane changes, right turns, left turns, etc.) is detected by the surrounding situation sensor 12, or when a person (for example, a road crosser, a pedestrian, etc.) interrupts between the preceding vehicle PV and the host vehicle 1, etc., since the host vehicle 1 cannot safely continue following driving, the follow - up driving control unit 3C stops the follow - up driving control in steps (not shown).

[0030] <Second Embodiment> The host vehicle 1 to which the follow - up driving control device 16 of the second embodiment is applied is configured in the same manner as the host vehicle 1 to which the follow - up driving control device 16 of the first embodiment described above is applied, except for the points described later.

[0031] FIG. 4 is a diagram showing an example of the host vehicle 1 to which the follow - up driving control device 16 of the second embodiment is applied. In the example shown in FIG. 1, the host vehicle 1 does not include the communication device 17 (see FIG. 4), but in the example shown in FIG. 4, the host vehicle 1 includes the communication device 17. The communication device 17 performs vehicle - to - vehicle communication with other vehicles such as the preceding vehicle PV, for example.

[0032] In the example shown in FIG. 4, the acquisition unit 3A acquires information on the preceding vehicle PV (for example, information indicating that the preceding vehicle PV is an autonomous vehicle, information indicating that the preceding vehicle PV is a friend's vehicle, etc.) via the communication device 17. The determination unit 3F determines whether it is possible to execute the follow-up driving control without increasing the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1 based on the information on the preceding vehicle PV acquired by the acquisition unit 3A. When the determination unit 3F determines that the follow-up driving control can be executed, the follow-up driving control unit 3C executes the follow-up driving control without increasing the inter-vehicle distance between the preceding vehicle PV and the host vehicle 1. Therefore, it is possible to suppress the possibility that the driver of the preceding vehicle PV is misunderstood when the host vehicle 1 is performing a harassing drive against the preceding vehicle PV. In another example, the driver of the host vehicle 1 may input information on the preceding vehicle PV (for example, information indicating that the preceding vehicle PV is an autonomous vehicle, information indicating that the preceding vehicle PV is a friend's vehicle, etc.) via the HMI 15, and the acquisition unit 3A may acquire the information. In still another example, in order to suppress a situation where the host vehicle 1 becomes unable to follow the preceding vehicle PV, for example, the follow-up driving control unit 3C may issue a request for deceleration, a request to stop on the road shoulder, a request not to enter the intersection at a yellow signal, etc. to the preceding vehicle PV via the communication device 17.

[0033] In yet another example, while the following travel control unit 3C is executing following travel control, the power consumption of the surrounding situation sensor 12 used for recognizing the preceding vehicle PV by at least the recognition unit 3B may be reduced by at least more than when at least the non-following travel control unit 3E automatically travels the host vehicle 1 along the target travel trajectory (for example, reducing the number of sensors used, reducing the sampling rate of the sensors, etc.). In yet another example, the following travel control unit 3C estimates the destination of the preceding vehicle PV based on the detection result of the surrounding situation sensor 12 used for recognizing the preceding vehicle PV by the recognition unit 3B (for example, the place name on the license plate of the preceding vehicle PV, the destination display of the bus if the preceding vehicle PV is a bus, etc.), and based on the comparison result between the destination of the host vehicle 1 and the destination of the preceding vehicle PV (specifically, when the destination of the host vehicle 1 and the destination of the preceding vehicle PV are close), the preceding vehicle PV may be set as the target vehicle for following travel in the following travel control. In yet another example, the acquisition unit 3A acquires the timetable information of the bus as the preceding vehicle PV (for example, via the communication device 17 from the website of the bus company, etc.), and the following travel control unit 3C may select the bus that the host vehicle 1 should follow during the execution of the following travel control based on the timetable information acquired by the acquisition unit 3A.

[0034] When the preceding vehicle PV is, for example, a motorcycle or the like and the vehicle width of the preceding vehicle PV is narrow, there is a risk that the host vehicle 1 may not be able to avoid obstacles in the road construction section only by following the preceding vehicle PV. Therefore, in yet another example, for example, the following travel control unit 3C may correct the travel trajectory of the preceding vehicle PV that the host vehicle 1 should follow based on the detection result of the free space by the surrounding situation sensor 12 so that the host vehicle 1 can avoid obstacles in the road construction section. In yet another example, the following travel control unit 3C determines whether the vehicle width of the preceding vehicle PV is equal to the vehicle width of the host vehicle 1 based on the detection result of the preceding vehicle PV by the surrounding situation sensor 12, and may execute the following travel control in which the host vehicle 1 follows the preceding vehicle PV when the vehicle width of the preceding vehicle PV is equal to the vehicle width of the host vehicle 1. In yet another example, while the following travel control unit 3C is executing the following travel control, the brake actuator 16B of the host vehicle 1 may be actuated based on the detection result of the lighting of the brake lamp of the preceding vehicle PV by the surrounding situation sensor 12.

[0035] In still another example, the following-distance control unit 3C may estimate the presence of the end of a traffic jam or estimate a lane change, a right turn, a left turn, etc. of the preceding vehicle PV based on the detection results of the peripheral situation sensor 12, such as a sudden deceleration of a preceding vehicle PV far away, the lighting of a turn signal, the lighting of a hazard lamp, etc. The following-distance control unit 3C may move the host vehicle 1 to the rightmost lane before the preceding vehicle PV makes a right turn, or adjust the vehicle speed so that the host vehicle 1 can change lanes to the right lane, based on the detection result of the lighting of the right turn signal of the preceding vehicle PV by the peripheral situation sensor 12, and ensure that there is no vehicle running parallel to the right side of the host vehicle 1. The driver of the host vehicle 1 can, for example, make a request similar to the request for following-distance driving of the preceding vehicle PV to a taxi driver to the following-distance control device 16 (automatic driving ECU).

[0036] As described above, the embodiments of the following-distance control device, the following-distance control method, and the program of the present disclosure have been described with reference to the drawings. However, the following-distance control device, the following-distance control method, and the program of the present disclosure are not limited to the above-described embodiments, and appropriate changes can be made without departing from the spirit of the present disclosure. The configurations of the respective examples of the above-described embodiments may be appropriately combined. In each example of the above-described embodiments, the processing performed in the following-distance control device 16 has been described as software processing performed by executing a program. However, the processing performed in the following-distance control device 16 may be processing performed by hardware. Alternatively, the processing performed in the following-distance control device 16 may be processing that combines both software and hardware. Further, a program (a program that realizes the functions of the processor 163 of the following-distance control device 16) stored in the memory 162 of the following-distance control device 16 may be recorded, provided, distributed, etc. on a computer-readable storage medium such as a semiconductor memory, a magnetic recording medium, an optical recording medium, etc.

Description of Reference Numerals

[0037] 1... Self-vehicle, 11... Vehicle state sensor, 12... Surrounding situation sensor, 13... Position information acquisition device, 14... Map information acquisition device, 15... HMI, 16... Adaptive cruise control device, 161... Communication interface, 162... Memory, 163... Processor, 3A... Acquisition unit, 3B... Recognition unit, 3C... Adaptive cruise control unit, 3D... Target driving trajectory generation unit, 3E... Non-adaptive cruise control unit, 3F... Determination unit, 16A... Steering actuator, 16B... Brake actuator, 16C... Drive actuator, 17... Communication device, PV... Leading vehicle, OV... Other vehicle,

Claims

1. a recognition unit that recognizes a preceding vehicle; a following travel control unit that executes following travel control for the host vehicle to follow the preceding vehicle; a target travel trajectory generation unit that generates a target travel trajectory of the host vehicle that depicts a travel trajectory different from that of the preceding vehicle; and a non-following travel control unit that automatically drives the host vehicle along the target travel trajectory generated by the target travel trajectory generation unit, and when a situation occurs in which the following travel control unit cannot continue the following travel control during execution of the following travel control, the following travel control unit interrupts the following travel control, the recognition unit continues to recognize the preceding vehicle, and the target travel trajectory generation unit generates the target travel trajectory that allows the following travel control to be resumed. A following travel control device.

2. comprising a determination unit that determines whether it is easy to recognize the preceding vehicle by the recognition unit, When the determination unit determines that it is easy to recognize the preceding vehicle by the recognition unit, the following travel control unit increases the distance between the preceding vehicle and the host vehicle compared to the case where the determination unit determines that it is not easy to recognize the preceding vehicle by the recognition unit, and executes the following travel control. The following travel control device according to claim 1.

3. The target travel trajectory generated by the target travel trajectory generation unit is a travel trajectory of the host vehicle that overtakes another vehicle that has cut in between the preceding vehicle and the host vehicle, comprising an acquisition unit that acquires information indicating the situation of the host vehicle, The target travel trajectory generation unit determines whether it is possible for the host vehicle to overtake the other vehicle based on the information indicating the situation of the host vehicle acquired by the acquisition unit. The following travel control device according to claim 1.

4. a recognition step in which a following travel control device recognizes a preceding vehicle; a following travel control step in which the following travel control device executes following travel control for the host vehicle to follow the preceding vehicle; A target travel trajectory generation step in which the following vehicle travel control device generates a target travel trajectory of the host vehicle that depicts a travel trajectory different from that of the preceding vehicle; A non-following travel control step in which the following vehicle travel control device automatically travels the host vehicle along the target travel trajectory generated in the target travel trajectory generation step; A following travel control method in which, when a situation occurs in which the following vehicle travel control device cannot continue the following travel control during the execution of the following travel control, the following vehicle travel control device interrupts the following travel control, continues to recognize the preceding vehicle, and generates the target travel trajectory that can resume the following travel control.

5. A program for causing a processor to Execute a recognition step of recognizing a preceding vehicle; Execute a following travel control step of executing a following travel control in which the host vehicle follows the preceding vehicle; Execute a target travel trajectory generation step of generating a target travel trajectory of the host vehicle that depicts a travel trajectory different from that of the preceding vehicle; Execute a non-following travel control step of automatically traveling the host vehicle along the target travel trajectory generated in the target travel trajectory generation step, When a situation occurs in which the following travel control cannot be continued during the execution of the following travel control, the following travel control is interrupted, the recognition of the preceding vehicle is continued, and the target travel trajectory that can resume the following travel control is generated.

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