Vehicle control method

Abstract

To provide a technology capable of smoothly executing lane change in a technology for controlling the lane change of a vehicle by automatic driving.SOLUTION: A vehicle control method executed each step by an in-vehicle terminal device includes the steps of: detecting an intention of lane change by a driver; acquiring respectively vehicle information including a position and vehicle speed of three or more other vehicle traveling in an adjacent lane of an own vehicle 10 by vehicle-to-vehicle communication from the other vehicles; and determining between which of the plurality of the other vehicles the own vehicle 10 changes lanes based on the acquired vehicle information of the plurality of other vehicles.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a technology for automatically controlling lane changes of a vehicle.

Background Art

[0002] Patent Document 1 discloses a vehicle control device that determines the possibility of an adjacent vehicle cutting in front of the host vehicle based on the relative speed between the host vehicle and the adjacent vehicle in the traveling direction, and executes acceleration / deceleration control of the host vehicle before the adjacent vehicle cuts in.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the host vehicle changes lanes to an adjacent lane, if there are many other vehicles running in the adjacent lane, it may be difficult for the host vehicle to find between which of the multiple other vehicles to change lanes.

[0005] An object of the present invention is to provide a technology that can smoothly execute lane changes in a technology for automatically controlling lane changes of a vehicle.

Means for Solving the Problems

[0006] To solve the above problems, an aspect of the present invention is a vehicle control method in which each step is executed by an in-vehicle terminal device, including a step of detecting an intention of a lane change by a driver, a step of respectively acquiring vehicle information including the positions and vehicle speeds of other vehicles by vehicle-to-vehicle communication from three or more other vehicles traveling in an adjacent lane of the host vehicle, and a step of determining between which of the multiple other vehicles the host vehicle changes lanes based on the acquired vehicle information of the multiple other vehicles.

Advantages of the Invention

[0007] According to the present invention, in the technology of automatically controlling lane changes of a vehicle, it is possible to provide a technology capable of smoothly executing lane changes.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Modes for Carrying Out the Invention

[0009] FIG. 1 is a diagram for explaining the operation of the host vehicle 10 that executes lane change control in automatic driving. In FIG. 1, the host vehicle 10 is traveling in the travel lane 20, and the first other vehicle 12, the second other vehicle 14, the third other vehicle 16, and the fourth other vehicle 18 are traveling in the adjacent lane 22. The adjacent lane 22 is a lane adjacent to the travel lane 20 and traveling in the same direction as the travel lane 20.

[0010] The host vehicle 10, the first other vehicle 12, the second other vehicle 14, the third other vehicle 16, and the fourth other vehicle 18 are capable of executing autonomous driving control for autonomous driving. In FIG. 1, any one of the vehicles may be executing automatic driving control.

[0011] The host vehicle 10, the first other vehicle 12, the second other vehicle 14, the third other vehicle 16, and the fourth other vehicle 18 can exchange information with each other through vehicle-to-vehicle communication. In vehicle-to-vehicle communication, communication may be possible at a distance of several hundred meters. Through vehicle-to-vehicle communication, vehicle information of each vehicle can be transmitted and received. The vehicle information includes a vehicle ID, vehicle position information, vehicle speed, acceleration, driving control information, the distance to a preceding other vehicle, etc. The driving control information includes, for example, the planned right turn, left turn, etc.

[0012] In FIG. 1(a), the host vehicle 10 detects the driver's intention to change lanes and notifies the first other vehicle 12, the second other vehicle 14, the third other vehicle 16, and the fourth other vehicle 18 traveling in the adjacent lane 22 of the lane change request using vehicle-to-vehicle communication. In FIG. 1(a), since the adjacent lane 22 is congested with other vehicles, the host vehicle 10 cannot change lanes as it is. The lane change request of the host vehicle 10 is notified to the drivers of the first other vehicle 12, the second other vehicle 14, the third other vehicle 16, and the fourth other vehicle 18, and the drivers accept or respond to the lane change request of the host vehicle 10 on the in-vehicle terminal devices of their respective other vehicles.

[0013] In FIG. 1(b), the second other vehicle 14 and the third other vehicle 16 accept the lane change request and notify the host vehicle 10 of their vehicle information respectively using vehicle-to-vehicle communication. The first other vehicle 12 and the fourth other vehicle 18 do not accept the lane change request and notify the host vehicle 10 of their vehicle information respectively using vehicle-to-vehicle communication.

[0014] Upon receiving the acceptance notifications from the second other vehicle 14 and the third other vehicle 16, the host vehicle 10 decides to change lanes between the second other vehicle 14 and the third other vehicle 16 and notifies the second other vehicle 14 and the third other vehicle 16 of the lane change between them using vehicle-to-vehicle communication.

[0015] In FIG. 1(c), the second other vehicle 14 accelerates and the third other vehicle 16 decelerates, creating a space 24 for one vehicle to enter between the second other vehicle 14 and the third other vehicle 16. The host vehicle 10 can change lanes by moving into this space 24. In this way, the host vehicle 10 can use vehicle-to-vehicle communication to cooperate with other vehicles traveling in the congested adjacent lane 22 and change lanes.

[0016] FIG. 2 is a diagram showing the functional configuration of the vehicle control system 1. The vehicle control system 1 is mounted on the host vehicle 10 and cooperates with the in-vehicle terminal devices of other vehicles. The vehicle control system 1 includes an in-vehicle sensor 26, a navigation device 28, an in-vehicle terminal device 30, and a traveling device 32.

[0017] The in-vehicle terminal device 30 acquires information from the in-vehicle sensors 26 and the navigation device 28, and controls the operation of the driving device 32 based on the acquired information. The in-vehicle terminal device 30 can automatically execute a lane change of the vehicle.

[0018] The in-vehicle sensors 26 include a vehicle speed sensor, an external camera, an in-vehicle camera, a millimeter-wave radar, an ultrasonic sensor, a turn signal detection sensor, a steering angle detection sensor, a microphone, etc. The in-vehicle sensors 26 periodically transmit the detection results to the in-vehicle terminal device 30. The detection results of the in-vehicle sensors 26 are attached with a timestamp, and each piece of information is associated based on the timestamp.

[0019] The external camera captures the surrounding of the vehicle and generates an external captured image. The millimeter-wave radar and the ultrasonic sensor detect the position and direction of an object located around the vehicle. The in-vehicle camera generates an in-vehicle captured image of the driver. By analyzing the in-vehicle captured image, the driver's line of sight is detected. The turn signal detection sensor detects the on / off of the left and right turn signals. The steering angle detection sensor detects the steering angle input to the steering wheel. The microphone detects the driver's voice and detects the driver's instruction input. Note that the function of receiving the driver's instruction input is not limited to the microphone, and may be a touch pad or an operation button.

[0020] The navigation device 28 transmits the vehicle's position information, map information, and the target driving route to the destination to the in-vehicle terminal device 30. The vehicle's position information is acquired using the Global Navigation Satellite System (GNSS) and is attached with a timestamp.

[0021] The driving device 32 includes a driving device, a braking device, and a steering device, and drives the vehicle. The driving device is an engine and / or a motor that rotates the wheels. The braking device applies a braking force to the wheels. The steering device steers the wheels.

[0022] The in-vehicle terminal device 30 includes an acquisition unit 34, a recognition processing unit 36, a lane change detection unit 38, a vehicle-to-vehicle communication unit 40, a determination unit 42, and an automatic driving processing unit 44.

[0023] The acquisition unit 34 acquires information such as vehicle speed, an image of the outside of the vehicle, an image of the inside of the vehicle, position information of an object, direction instruction information, and a steering angle from the in-vehicle sensor 26. Further, the acquisition unit 34 acquires vehicle position information, a target driving route, and map information from the navigation device 28.

[0024] The recognition processing unit 36 detects information about other vehicles located around the vehicle based on detection results of an external camera, a millimeter-wave radar, an ultrasonic sensor, etc., and the vehicle speed and position information of the host vehicle. Further, the recognition processing unit 36 detects the driving lane 20 and the adjacent lane 22 based on the detection result of the in-vehicle sensor 26.

[0025] The recognition processing unit 36 detects the driver's line of sight based on the detection result of the in-vehicle camera. For example, the recognition processing unit 36 detects whether the driver's line of sight is directed at the adjacent lane 22. Further, the recognition processing unit 36 detects the driver's instruction based on the detection result of the microphone, and detects, for example, an instruction to change lanes to the adjacent lane 22.

[0026] The lane change detection unit 38 detects the driver's intention to change lanes based on the detection results of the in-vehicle camera, the direction indication detection sensor, and the microphone, and the target driving route received from the navigation device 28. For example, when the lane change detection unit 38 determines that the target driving route is scheduled to turn left and the driver's line of sight is directed at the adjacent lane 22, it detects that the driver intends to change lanes to the adjacent lane 22. When the lane change detection unit 38 detects that the driver intends to change lanes to the adjacent lane 22, it sends the detection result to the vehicle-to-vehicle communication unit 40.

[0027] In response to the detection result of the lane change detection unit 38, the vehicle-to-vehicle communication unit 40 notifies the vehicle-to-vehicle communication unit of another vehicle 46 traveling in the adjacent lane 22 of the lane change request. Further, the vehicle-to-vehicle communication unit 40 receives information indicating whether to accept the lane change request from the vehicle-to-vehicle communication unit of another vehicle 46, and receives the vehicle information of another vehicle 46. The vehicle-to-vehicle communication unit 40 sends the information received from another vehicle 46 to the determination unit 42.

[0028] Another vehicle 46 receives the lane change request notification, notifies the driver, and obtains a response from the driver. Note that the response of the driver at the time of the lane change request may be set in advance, and when receiving the lane change request notification, it may automatically return the response. In addition to the response to the lane change request, another vehicle 46 transmits with vehicle information attached. The vehicle information of another vehicle 46 may include not only the driving information of another vehicle 46 but also information received from another other vehicle. For example, the intention of another vehicle to change lanes, the intention of another vehicle to turn right or left, etc. may be included in the vehicle information of another vehicle 46.

[0029] Based on the vehicle information of another vehicle 46 and the information indicating whether to accept the lane change request, the determination unit 42 determines which of the plurality of other vehicles 46 to change lanes in front of. The determination unit 42 uses a predetermined lane change condition to determine to change lanes in front of any one of the other vehicles 46 that satisfies the predetermined lane change condition. For example, if the front space of the plurality of other vehicles 46 is a predetermined distance or more, the determination unit 42 determines to change lanes to that front space. If the front space of the plurality of other vehicles 46 is not a predetermined distance or more, the determination unit 42 determines to change lanes in front of the other vehicle 46 that has accepted the request. The predetermined distance is set based on the overall length of the host vehicle 10.

[0030] The automatic driving processing unit 44 executes automatic driving control for autonomously driving the host vehicle 10 and drives along the target driving route acquired from the navigation device 28. The automatic driving control includes, for example, cruise control, lane keep control, and lane change control. The automatic driving control is turned on / off according to the driver's instruction.

[0031] The automatic driving processing unit 44 executes a lane change by automatic driving control based on the determination result of the determination unit 42. The automatic driving processing unit 44 recognizes the other vehicle 46 determined by the determination unit 42, turns on the turn signal, and drives the traveling device 32 to move the host vehicle 10 in front of the other vehicle 46 when there is a space 24 of a predetermined distance or more in front of the other vehicle 46.

[0032] If the space 24 in front of the other vehicle 46 determined by the determination unit 42 does not become a predetermined distance or more until a predetermined time elapses after the determination, the determination result may be reset. At this time, the vehicle-to-vehicle communication unit 40 re-notifies the other vehicle 46 in the adjacent lane 22 of the lane change request.

[0033] Figure 3 is a flowchart of lane change control in automatic driving control. The automatic driving processing unit 44 executes automatic driving control based on the recognition result of the recognition processing unit 36 (S10). The lane change detection unit 38 determines whether there is an intention of the driver to change lanes based on the target driving route from the navigation device 28 and the recognition result of the recognition processing unit 36 (S12). If no intention of the driver to change lanes is detected (N in S12), this process ends.

[0034] If an intention of the driver to change lanes is detected (Y in S12), the vehicle-to-vehicle communication unit 40 notifies the other vehicles traveling in the adjacent lane 22 of the host vehicle 10 of the lane change request of the host vehicle 10 (S14). This notification is notified to the drivers of the other vehicles, and the drivers of the other vehicles accept or answer the request.

[0035] The vehicle-to-vehicle communication unit 40 acquires vehicle information and the acceptance status of requests from three or more other vehicles through vehicle-to-vehicle communication (S16). When there are two or fewer other vehicles traveling in the adjacent lane 22, the automatic driving processing unit 44 turns on the turn signal and starts a lane change. The determination unit 42 determines in front of which of the multiple other vehicles the host vehicle changes lanes based on the vehicle information of the other vehicles and the acceptance status of requests (S18).

[0036] The in-vehicle communication unit 40 notifies other vehicles before and after the determined lane change destination of the host vehicle 10 of the lane change destination (S20). Other vehicles before and after the lane change destination receive information indicating the lane change destination from the host vehicle 10 and sufficiently expand the space 24 at the lane change destination (S22). The other vehicles may expand the space 24 by automatic driving control.

[0037] The automatic driving processing unit 44 determines whether the space 24 at the lane change destination is a predetermined distance based on the recognition result of the recognition processing unit 36 (S24). If the space 24 at the lane change destination is not equal to or greater than the predetermined distance (N in S24), it monitors whether the other vehicle expands the space 24 (S22).

[0038] If the space 24 at the lane change destination is equal to or greater than the predetermined distance (Y in S24), the automatic driving processing unit 44 moves the host vehicle 10 to the space 24 at the lane change destination to complete the lane change (S26).

[0039] As described above, the present disclosure has been described based on the embodiments. The present disclosure is not limited to the above-described embodiments, and it is also possible to make various design changes and other modifications based on the knowledge of those skilled in the art.

Explanation of Reference Numerals

[0040] 1 Vehicle control system, 10 Host vehicle, 12 First other vehicle, 14 Second other vehicle, 16 Third other vehicle, 18 Fourth other vehicle, 20 Travel lane, 22 Adjacent lane, 24 Space, 26 In-vehicle sensor, 28 Navigation device, 30 In-vehicle terminal device, 32 Travel device, 34 Acquisition unit, 36 Recognition processing unit, 38 Lane change detection unit, 40 In-vehicle communication unit, 42 Determination unit, 44 Automatic driving processing unit.

Claims

【Claim 1】 A vehicle control method for executing each step by an in-vehicle terminal device, comprising: detecting an intention of a driver to change lanes; acquiring vehicle information including positions and vehicle speeds of other vehicles from three or more other vehicles traveling in an adjacent lane of the host vehicle by vehicle-to-vehicle communication; and determining, based on the acquired vehicle information of the plurality of other vehicles, which of the plurality of other vehicles the host vehicle will change lanes in front of. A vehicle control method characterized by including the above steps.

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