Traveling control device for vehicle

Abstract

To provide a traveling control device that is improved to reduce a risk of both the own vehicle and the other vehicle entering a narrow road where it is difficult or impossible for the own vehicle to pass the other vehicle when there is a possibility of passing each other, thereby reducing the risk of passing each other.SOLUTION: A vehicle traveling control device comprises a driving support ECU which is configured in such a manner that when there is a possibility that the own vehicle will enter a narrow road having a road width less than a reference value (S10), and when it is determined that there is a possibility that the own vehicle will pass the other vehicle on the narrow road (S120), the driving support ECU issues a warning to at least one of a crew member of the own vehicle and a crew member of the other vehicle so as to avoid the own vehicle and the other vehicle passing each other on the narrow road (S140 to S180).SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a driving control device for vehicles such as automobiles, and more particularly to a driving control device that gives a warning when driving on a narrow road.

Background Art

[0002] As one of the driving control devices for vehicles such as automobiles, when the host vehicle is about to pass by an oncoming vehicle on a relatively narrow road, the driving of the host vehicle is controlled so that the host vehicle can pass by the oncoming vehicle without the driver having to drive. There is a known driving control device.

[0003] For example, Patent Document 1 below describes a driving control device configured to enable passing without the driver having to drive by automatically driving the host vehicle while transmitting and receiving driving situation information between the host vehicle and the oncoming vehicle via vehicle-to-vehicle communication.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

[0005] 〔Problems to be Solved by the Invention〕 In a conventional driving control device such as the driving control device described in Patent Document 1 above, the host vehicle is automatically driven on the premise that the host vehicle passes by an oncoming vehicle. Therefore, depending on the behavior of other vehicles, there is a risk that the host vehicle may come into contact with the oncoming vehicle, and the risk of contact when the host vehicle passes by the oncoming vehicle cannot be completely eliminated.

[0006] Further, in a conventional driving control device such as the driving control device described in Patent Document 1 above, there is a problem that it is impossible to deal with a situation where the host vehicle and the oncoming vehicle are about to enter a narrow road where passing is difficult or impossible.

[0007] When there is a possibility that the host vehicle may try to pass another vehicle on a narrow road where it is difficult or impossible for the host vehicle to pass the other vehicle, the present invention provides a driving control device improved to reduce the risk of passing by reducing the risk of both the host vehicle and the other vehicle entering the narrow road. 〔Means for Solving the Problems and Effects of the Invention〕

[0008] According to the present invention, when there is a possibility that the host vehicle (102) may enter a narrow road (112) having a road width less than a preset reference value (S10), and it is determined that there is a possibility that the host vehicle may try to pass another vehicle on the narrow road (S120), at least one of the passengers of the host vehicle and the passengers of the other vehicle is notified of a warning to avoid passing of the host vehicle and the other vehicle on the narrow road (S140 to S180). There is provided a driving control device for a vehicle including a control unit (driving support ECU 10) configured as such.

[0009] According to the above configuration, when it is determined that there is a possibility that the host vehicle may enter the narrow road and there is a possibility that the host vehicle may try to pass another vehicle on the narrow road, at least one of the passengers of the host vehicle and the passengers of the other vehicle is notified of a warning to avoid passing of both vehicles on the narrow road.

[0010] Therefore, at least one of the passengers of the host vehicle and the passengers of the other vehicle can reduce the risk of both the host vehicle and the other vehicle entering the narrow road by controlling the driving of their own vehicle by the warning, thereby reducing the risk of passing of the host vehicle and the other vehicle on the narrow road. 〔Aspects of the Invention〕

[0011] In one aspect of the present invention, the control unit (driving support ECU 10) is configured to change the content of the warning according to the driving conditions of the host vehicle (102) and the other vehicle (114) on and around the narrow road (112) (S40 to S180).

[0012] According to the above aspect, since the content of the warning is changed according to the driving situations of the host vehicle and other vehicles in a narrow road and its surroundings, it is possible to perform warning notification with content corresponding to the driving situations of the host vehicle and other vehicles.

[0013] In another aspect of the present invention, when the control unit (driving support ECU 10) determines that another vehicle (114) has already entered the narrow road (112) (S30), it is configured to notify the occupant of the host vehicle to wait in front of the narrow road without entering the narrow road (S90).

[0014] According to the above aspect, when it is determined that another vehicle has already entered the narrow road, a notification is made to prompt the occupant of the host vehicle to wait in front of the narrow road without entering the narrow road. Therefore, in addition to the other vehicle, the possibility of the host vehicle entering the narrow road can be reduced.

[0015] In another aspect of the present invention, when the control unit (driving support ECU 10) determines that another vehicle (114) has not entered the narrow road (112) (S30), it estimates the time required for the host vehicle and the other vehicle to enter the narrow road until they enter, and determines the priority of entering the narrow road for the host vehicle and the other vehicle so that the vehicle with the shorter estimated time has a higher priority (S140), and is configured to perform warning notification with content corresponding to the determined priority (S150 to S180).

[0016] According to the above aspect, when it is determined that another vehicle has not entered the narrow road, the priority of entering the narrow road is determined so that the vehicle with the shorter time required for the host vehicle and the other vehicle to enter the narrow road has a higher priority, and a warning notification is made with content corresponding to the determined priority. Therefore, the possibility of both the host vehicle and the other vehicle entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the host vehicle and the other vehicle to enter the narrow road.

[0017] Furthermore, in another aspect of the present invention, when there is yet another vehicle (116) attempting to enter a narrow road (112), the control unit (driving support ECU 10) estimates the time required for the host vehicle and the yet another vehicle to enter the narrow road until they enter, and determines the priority of the host vehicle and the yet another vehicle for entering the narrow road such that the vehicle with the shorter estimated time has a higher priority (S70), and is configured to notify at least one of the host vehicle and the yet another vehicle of a warning in accordance with the determined priority (S80 to S110).

[0018] According to the above aspect, when there is yet another vehicle attempting to enter a narrow road, the time required for the host vehicle and the yet another vehicle to enter the narrow road is estimated. Further, the priority of the host vehicle and the yet another vehicle for entering the narrow road is determined such that the vehicle with the shorter estimated time has a higher priority, and a warning is notified to at least one of the host vehicle and the yet another vehicle in accordance with the determined priority. Therefore, the risk of both the host vehicle and the yet another vehicle entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the host vehicle and the yet another vehicle to enter the narrow road.

[0019] In the present application, the "reference value" for the road width may be a value that is larger than the vehicle width of a general vehicle and smaller than a width at which it is difficult for two general vehicles to pass safely and easily. For example, the reference value may be a value of 2 m or more and 4 m or less. A "narrow road" means a road with a width less than the reference value, and a "wide road" means a road with a width equal to or more than the reference value.

[0020] In the above description, for the purpose of assisting in the understanding of the present invention, the names and / or symbols used in the embodiments corresponding to the invention configurations to be described later are added in parentheses. However, each component of the present invention is not limited to the component of the embodiment corresponding to the name and / or symbol added in parentheses. 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 described with reference to the following drawings.

Brief Description of the Drawings

[0021]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0022] The driving control device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0023] As shown in FIG. 1, a driving control device 100 according to an embodiment of the present invention is applied to a vehicle 102 and includes a driving support ECU 10. The vehicle 102 is a vehicle capable of autonomous driving and includes a drive ECU 20, a brake ECU 30, and a meter ECU 50. ECU means an electronic control unit having a microcomputer as a main part. In addition, the vehicle 102 is referred to as the host vehicle as needed to distinguish it from other vehicles.

[0024] The microcomputer of each ECU includes a CPU, a ROM, a RAM, a rewritable non-volatile memory (N / M), and an interface (I / F), etc. The CPU realizes various functions by executing the instructions (programs, routines) stored in the ROM. Furthermore, these ECUs are connected to each other so that data can be exchanged (communication is possible) via a CAN (Controller Area Network) 104. Therefore, the detection values of sensors (including switches) connected to a specific ECU are also transmitted to other ECUs.

[0025] The driving support ECU 10 is a central control device that performs driving support running control such as caution prompting control, following vehicle distance control, and lane keeping control during narrow road driving. In the embodiment, as will be described in detail later, the driving support ECU 10 cooperates with other ECUs to execute caution prompting control during narrow road driving for the vehicle 102 and other vehicles.

[0026] A camera sensor 12, a radar sensor 14, an external vehicle communication device 16, and a setting operator 18 are connected to the driving support ECU 10. The camera sensor 12 and the radar sensor 14 each include a plurality of camera devices and a plurality of radar devices, and function as a target information acquisition device 17 that acquires target information around the vehicle 102.

[0027] Although not shown in the figure, each camera device of the camera sensor 12 includes a camera unit that photographs the surroundings of the vehicle 102, and a recognition unit that analyzes the image data obtained by the camera unit to recognize targets such as the white line of the road and other vehicles. The recognition unit supplies information about the recognized targets to the driving support ECU 10 at predetermined time intervals.

[0028] Each radar device of the radar sensor 14 includes a radar transceiver and a signal processing unit (not shown). The radar transceiver emits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves"), and receives millimeter waves (i.e., reflected waves) reflected by solid objects (such as other vehicles, bicycles, etc.) existing within the radiation range. Based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave, etc., the signal processing unit supplies information representing the distance between the host vehicle and the solid object, the relative speed between the host vehicle and the solid object, the relative position (direction) of the solid object with respect to the host vehicle, etc. to the driving support ECU 10 at predetermined time intervals. Note that, instead of or in addition to the radar sensor 14, LiDAR (Light Detection And Ranging) may be used.

[0029] The vehicle exterior communication device 16 is a device that exchanges information (position, speed, vehicle control information, etc.) of surrounding vehicles through wireless communication between the host vehicle 102 and surrounding vehicles, road infrastructure, vehicle exterior information centers, etc. As will be described in detail later, the vehicle exterior communication device 16 exchanges warning information for avoiding the passing of the host vehicle and other vehicles in a narrow road through wireless communication.

[0030] A braking device 32 that decelerates the vehicle 102 by applying a braking force to the wheels 34 is connected to the braking ECU 30. The braking ECU 30 normally controls the braking device so that the braking force generated by the braking device 32 changes according to the braking operation by the driver, and when receiving a command signal from the driving support ECU 10, it performs automatic braking by controlling the braking device 32 based on the command signal.

[0031] Therefore, the braking ECU 30 and the braking device 32 cooperate with each other to function as an automatic braking device 36. Note that when a braking force is applied to the wheels due to collision prevention control or the like, a brake lamp (not shown in FIG. 1) is lit.

[0032] The meter ECU 50 is connected to a touch panel type display 52 that displays the status of control by the driving support ECU 10 and an alarm device 54 that issues an alarm. The display 52 may be, for example, a multi-information display on which meters and various types of information are displayed, or may be the display of the navigation device 80 described later. As will be described later, when the display 52 receives a signal from the driving support ECU 10, it displays information for alerting to avoid the oncoming vehicles of the host vehicle and other vehicles in a narrow road.

[0033] The driving operation sensor 60 and the vehicle state sensor 70 are connected to the CAN 104. The information detected by the driving operation sensor 60 and the vehicle state sensor 70 (referred to as sensor information) is transmitted to the CAN 104. The sensor information transmitted to the CAN 104 is appropriately available in each ECU. Note that the sensor information is information of a sensor connected to a specific ECU and may be transmitted from the specific ECU to the CAN 104.

[0034] The driving operation sensor 60 includes a drive operation amount sensor that detects the operation amount of the accelerator pedal, a braking operation amount sensor that detects the master cylinder pressure or the stepping force on the brake pedal, and a brake switch that detects the presence or absence of the operation of the brake pedal. The driving operation sensor 60 also includes a steering angle sensor that detects the steering angle, a steering torque sensor that detects the steering torque, and the like.

[0035] The vehicle state sensor 70 includes a vehicle speed sensor that detects the vehicle speed V of the vehicle 102, a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle, a lateral acceleration sensor that detects the lateral acceleration of the vehicle, and a yaw rate sensor that detects the yaw rate of the vehicle.

[0036] Furthermore, the navigation device 80 is also connected to the CAN 104. The navigation device 80 includes a GPS receiver that detects the position of the vehicle 102, a storage device that stores map information and road information, and a communication device that acquires the latest information on the map information and road information from the outside. In particular, the road information may include information on narrow roads where vehicles traveling in opposite directions cannot or have difficulty passing each other. Note that the navigation device 80 may not be provided.

[0037] In the embodiment, the ROM of the driving support ECU 10 stores a caution activation control program for narrow road driving corresponding to the flowchart shown in FIG. 2. <Caution Activation Control during Narrow Road Driving (FIG. 2)>

[0038] Next, the caution activation control during narrow road driving in the embodiment will be described with reference to the flowchart shown in FIG. 2. The caution activation control during narrow road driving according to the flowchart shown in FIG. 2 is repeatedly executed by the CPU of the driving support ECU 10 at predetermined time intervals in a situation where the switch of the setting operator 18 is on. In the following description, the caution activation control during narrow road driving is referred to as "this control".

[0039] Also, steps S20, S50, S80, S100, S150, and S170 described later are steps for notifying the driver of the host vehicle. In contrast, steps S60, S90, S110, S130, S160, and S180 described later are steps for notifying the drivers of vehicles other than the host vehicle.

[0040] First, in step S10, based on the information of the target acquired by the target information acquisition device 18 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc., the CPU determines whether there is a narrow road with a road width less than the reference value of the road width in the surroundings including the front of the host vehicle 102. When a negative determination is made, this control ends once. On the other hand, when an affirmative determination is made, the CPU determines whether the host vehicle 102 has already entered the narrow road based on the information of the target acquired by the target information acquisition device 17 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc. When a negative determination is made, this control proceeds to step S30, and when an affirmative determination is made, this control proceeds to step S20.

[0041] In step S20, the CPU outputs a command signal to the vehicle exterior communication device 16 to notify the drivers of the surrounding vehicles by vehicle exterior communication that the host vehicle has already entered the narrow road.

[0042] In step S30, based on the information of the target acquired by the target information acquisition device 17 and / or the information from the navigation device 80 and / or the information from the vehicle exterior communication device 16, etc., the CPU determines whether another vehicle has already entered the narrow road. When a negative determination is made, this control proceeds to step S120, and when an affirmative determination is made, this control proceeds to step S40.

[0043] In step S40, based on the information of the target acquired by the target information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc., the CPU further determines whether there is a possibility that another vehicle, that is, a vehicle other than the host vehicle and the other vehicle that has already entered the narrow road, will enter the narrow road. When an affirmative determination is made, this control proceeds to step S70, and when a negative determination is made, this control proceeds to step S50.

[0044] In step S50, the CPU outputs a command signal to the meter ECU 50, and by displaying on the display 52 that another vehicle has already entered the narrow road, it notifies the driver of the vehicle 102 that another vehicle has already entered the narrow road and prompts the driver to wait in front of the narrow road.

[0045] In step S60, the CPU outputs a command signal to the vehicle exterior communication device 16, and notifies the drivers of surrounding vehicles by vehicle exterior communication that the host vehicle is waiting in front of the narrow road.

[0046] In step S70, the CPU estimates the time To required for the host vehicle 102 to reach the narrow road and the time Tf required for another vehicle to reach the narrow road based on the target information acquired by the target information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. Further, the CPU determines whether the time To is greater than the time Tf. When a negative determination is made, it is determined that the priority of the host vehicle is higher than the priority of another vehicle, and this control proceeds to step S100. On the other hand, when an affirmative determination is made, it is determined that the priority of another vehicle is higher than the priority of the host vehicle, and this control proceeds to step S80.

[0047] Note that the travel distance Lo between the host vehicle 102 and the entrance of the narrow road and the average vehicle speed Voa of the host vehicle are estimated, and the time To may be estimated by dividing the travel distance Lo by the average vehicle speed Voa. Similarly, the travel distance Lf between another vehicle and the entrance of the narrow road and the average vehicle speed Vfa of another vehicle are estimated, and the time Tf may be estimated by dividing the travel distance Lf by the average vehicle speed Vfa.

[0048] In step S80, the CPU outputs a command signal to the meter ECU 50, and notifies the driver of the host vehicle of the above by displaying on the display 52 that the priority of vehicles other than the host vehicle, that is, other vehicles and still other vehicles, is higher than the priority of the vehicle, and prompting the host vehicle to wait in front of the narrow road.

[0049] In step S90, the CPU outputs a command signal to the vehicle exterior communication device 16 to prompt other vehicles to follow and enter the narrow road, and notifies the drivers of other vehicles and further other vehicles that the host vehicle is waiting in front of the narrow road.

[0050] In step S100, the CPU outputs a command signal to the meter ECU 50, and notifies the driver of the host vehicle of the above by displaying on the display 52 that the priority of other vehicles is higher than that of the host vehicle and the host vehicle should wait in front of the narrow road. Further, the CPU notifies the driver of the host vehicle of the above by displaying on the display 52 that the priority of the host vehicle is higher than that of further other vehicles.

[0051] In step S110, the CPU outputs a command signal to the vehicle exterior communication device 16 to notify the drivers of other vehicles and further other vehicles that the host vehicle is waiting in front of the narrow road and the priority of the host vehicle is higher than that of further other vehicles.

[0052] In step S120, the CPU determines whether there is a possibility that other vehicles will enter the narrow road based on the target information acquired by the target information acquisition device 17 and / or the information from the vehicle exterior communication device 16, etc. When an affirmative determination is made, this control proceeds to step S140; when a negative determination is made, this control proceeds to step S130.

[0053] In step S130, the CPU outputs a command signal to the vehicle exterior communication device 16 to notify the drivers of surrounding vehicles of the notice that the host vehicle will enter the narrow road.

[0054] In step S140, the CPU estimates the time To required for the host vehicle 102 to reach the narrow road and the time Ta required for other vehicles to reach the narrow road based on the information of the target acquired by the target information acquisition device 18 and / or the information from the off-vehicle communication device 16, etc. Further, the CPU determines whether the time To is greater than the time Ta. When a negative determination is made, it is determined that the priority of the host vehicle is higher than the priority of other vehicles, and this control proceeds to step S170. On the other hand, when an affirmative determination is made, it is determined that the priority of other vehicles is higher than the priority of the host vehicle, and this control proceeds to step S150.

[0055] Note that the travel distance Lo between the host vehicle 102 and the entrance of the narrow road and the average vehicle speed Voa of the host vehicle are estimated, and the time To may be estimated by dividing the travel distance Lo by the average vehicle speed Voa. Similarly, the travel distance La between other vehicles and the entrance of the narrow road and the average vehicle speed Vaa of other vehicles are estimated, and the time Ta may be estimated by dividing the travel distance La by the average vehicle speed Vaa.

[0056] In step S150, the CPU outputs a command signal to the meter ECU 50 and causes the display 52 to display that the priority of other vehicles is higher than the priority of the host vehicle and the host vehicle should wait in front of the narrow road, thereby notifying the driver of the host vehicle of the above.

[0057] In step S160, the CPU outputs a command signal to the off-vehicle communication device 16 to notify the driver of other vehicles that the priority of other vehicles is higher than the priority of the host vehicle and other vehicles should enter the narrow road carefully.

[0058] In step S170, the CPU outputs a command signal to the meter ECU 50 and causes the display 52 to display that the host vehicle should enter the narrow road carefully, thereby notifying the driver of the host vehicle of the above.

[0059] In step S180, the CPU outputs a command signal to the vehicle exterior communication device 16 to notify the driver of another vehicle that the priority of the host vehicle is higher than that of the other vehicle and that the host vehicle is about to enter a narrow road. <Operation of the Embodiment>

[0060] Next, with reference to FIGS. 3 to 6, the operation of the embodiment will be described for various cases where the positional relationship between the host vehicle 102 and other vehicles with respect to a narrow road is different. <A: Case where the host vehicle has not entered the narrow road and another vehicle has already entered the narrow road> <A-1: Case where there is no possibility of another vehicle entering the narrow road (FIG. 3)>

[0061] FIG. 3 shows a situation where the host vehicle 102 is traveling on a wide road 110 and approaching a narrow road 112, and another vehicle 114 has already entered the narrow road 112 and is traveling in a direction approaching the host vehicle 102.

[0062] In this case, in steps S10, S30, and S40, negative determination, positive determination, and negative determination are respectively made. Therefore, in step S50, the driver of the host vehicle 102 is notified that another vehicle has already entered the narrow road and that the host vehicle should wait in front of the narrow road. Also, in step S60, the drivers of surrounding vehicles are notified by vehicle exterior communication that the host vehicle is waiting in front of the narrow road.

[0063] Therefore, the driver of the host vehicle can determine to wait in front of the narrow road so that the host vehicle does not pass by another vehicle in the narrow road 112. Also, the driver of another vehicle can expect the host vehicle to wait in front of the narrow road and drive through the narrow road. <A-2: Case where there is a possibility of another vehicle entering the narrow road (FIG. 4)>

[0064] FIG. 4 shows a situation where the host vehicle 102 is traveling on a wide road 110 and approaching a narrow road 112, another vehicle 114 has already entered the narrow road 112 and is traveling in a direction approaching the host vehicle 102, and still another vehicle 116 is traveling on a wide road 118 and is about to enter the narrow road 112 following the other vehicle.

[0065] In this case, in step S10, a negative determination is made, and in steps S30 and S40, affirmative determinations are made. Therefore, the determination in step S70 is made for times To and Tf. (1) When time To is greater than time Tf

[0066] In step S70, an affirmative determination is made. Therefore, in step S80, it is notified to the driver of the host vehicle that the priority levels of the other vehicle and the still other vehicle are higher than that of the host vehicle, and the host vehicle is urged to wait in front of the narrow road. Also, in step S90, it is notified to the driver of the other vehicle and the driver of the still other vehicle that the still other vehicle is urged to enter following the other vehicle, and the host vehicle is waiting in front of the narrow road.

[0067] Therefore, the driver of the host vehicle can determine to wait in front of the narrow road so that the host vehicle does not pass by the other vehicle and the still other vehicle on the narrow road 112. Also, the driver of the other vehicle and the driver of the still other vehicle can travel on the narrow road expecting the host vehicle to wait in front of the narrow road. (2) When time To is less than or equal to time Tf

[0068] In step S70, a negative determination is made. Therefore, in step S100, it is notified to the driver of the host vehicle that the priority level of the other vehicle is higher than that of the host vehicle, the priority level of the host vehicle is higher than that of the still other vehicle, and the host vehicle is urged to wait in front of the narrow road. Also, in step S110, it is notified to the driver of the other vehicle and the driver of the still other vehicle that the host vehicle is waiting in front of the narrow road and the priority level of the host vehicle is higher than that of the still other vehicle.

[0069] Therefore, the driver of the own vehicle can wait in front of the narrow road so that the own vehicle does not pass by other vehicles on the narrow road 112, and can determine to enter the narrow road earlier than other vehicles when the travel of other vehicles on the narrow road is completed. Also, the driver of other vehicles can travel on the narrow road expecting that the own vehicle waits in front of the narrow road, and further, the driver of other vehicles can determine to wait in front of the narrow road until the travel of the own vehicle on the narrow road is completed. <B: When the own vehicle has not entered the narrow road and there is a possibility that other vehicles will enter the narrow road (Fig. 5)>

[0070] Fig. 5 shows a situation where the own vehicle 102 is traveling on the wide road 110 and approaching the narrow road 112, and the other vehicle 114 is traveling on the wide road 118 in the direction approaching the own vehicle 102 and approaching the narrow road 112.

[0071] In this case, in steps S10 and S30, a negative determination is made, and in step S120, an affirmative determination is made. Therefore, the determination in step S140 is made for the times To and Ta. (1) When the time To is greater than the time Ta

[0072] In step S140, an affirmative determination is made. Therefore, in step S150, it is notified that the priority of the other vehicle is higher than the priority of the own vehicle, and the own vehicle is urged to wait in front of the narrow road. Also, in step S160, it is notified to the driver of the other vehicle that the priority of the other vehicle is higher than the priority of the own vehicle, and the other vehicle is urged to enter the narrow road carefully.

[0073] Therefore, the driver of the own vehicle can determine to wait in front of the narrow road until the travel of the other vehicle on the narrow road is completed. Also, the driver of the other vehicle can determine to enter the narrow road 112 with their own vehicle. (2) When the time To is less than or equal to the time Ta

[0074] In step S140, a negative determination is made. Therefore, in step S170, the driver of the host vehicle is notified that the host vehicle is prompted to carefully enter the narrow road. Further, in step S180, it is notified to the driver of other vehicles that the priority of the host vehicle is higher than that of other vehicles and the host vehicle enters the narrow road.

[0075] Therefore, the driver of the host vehicle can determine to make the host vehicle enter the narrow road 112. Further, the driver of other vehicles can determine to wait in front of the narrow road until the host vehicle finishes driving on the narrow road. <C: When the host vehicle has not entered the narrow road and there is no possibility that other vehicles enter the narrow road (Fig. 6)>

[0076] Fig. 6 shows a situation where the host vehicle 102 is driving on the wide road 110 and approaching the narrow road 112, and the other vehicle 114 is driving on the wide road 118 in the direction approaching the host vehicle 102 but trying to move to the side road 120.

[0077] In this case, negative determinations are made in steps S10, S30, and S120. Therefore, in step S130, it is notified to the drivers of surrounding vehicles that the host vehicle enters the narrow road. Therefore, the drivers of surrounding vehicles can recognize that the host vehicle enters the narrow road.

[0078] As can be understood from the above description, according to the present invention, when there is a possibility that the host vehicle 102 enters the narrow road (S10) and it is determined that there is a possibility that the host vehicle tries to pass other vehicles on the narrow road (S120), at least one of the passengers of the host vehicle and the passengers of other vehicles is notified of a warning to avoid passing of both vehicles on the narrow road (S140 to S180).

[0079] Therefore, at least one of the passengers of the host vehicle and the passengers of other vehicles can reduce the risk that both the host vehicle and other vehicles enter the narrow road by controlling the driving of their own vehicles by the warning, thereby reducing the risk that the host vehicle and other vehicles pass each other on the narrow road.

[0080] Further, according to the present invention, since the content of the warning is changed according to the driving conditions of the host vehicle 10 and other vehicles 114 in the narrow road 112 and its vicinity (S40 to S180), it is possible to perform warning notification with content according to the driving conditions of the host vehicle and other vehicles.

[0081] Furthermore, according to the present invention, when it is determined that the other vehicle 114 has already entered the narrow road 112 (S30), a notification is given to the occupants of the host vehicle 102 to prompt them to wait in front of the narrow road without entering the narrow road (S90). Therefore, in addition to other vehicles, the risk of the host vehicle entering the narrow road can be reduced.

[0082] Furthermore, according to the present invention, when it is determined that the other vehicle 114 has not entered the narrow road 112 (S30), the priority for entering the narrow road is determined (S140) so that the priority of the vehicle that takes less time for the host vehicle 102 and the other vehicle to enter the narrow road becomes higher, and warning notification is performed with content according to the determined priority (S150 to S180). Therefore, the risk of both the host vehicle and other vehicles entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the host vehicle and other vehicles to enter the narrow road.

[0083] Furthermore, according to the present invention, when there is still another vehicle 116 trying to enter the narrow road 11, the time required for the host vehicle and the other vehicle to enter the narrow road is estimated. Further, the priority for the host vehicle and the other vehicle to enter the narrow road is determined (S70) so that the priority of the vehicle with the shorter estimated time becomes higher, and warning notification is performed for at least one of the host vehicle and the other vehicle with content according to the determined priority (S80 to S110). Therefore, the risk of both the host vehicle and the other vehicle entering the narrow road can be reduced, and the order of entering the narrow road can be determined based on the time required for the host vehicle and the other vehicle to enter the narrow road.

[0084] In the above, the present invention has been described in detail with respect to specific embodiments. However, the present invention is not limited to the above-described embodiments, and it will be apparent to those skilled in the art that various other embodiments are possible within the scope of the present invention.

[0085] For example, in the above-described embodiment, in step S10, when a negative determination is made, steps S30 and below are executed. However, in step S10, when a negative determination is made, it is determined whether or not a warning notification has been issued from another vehicle equipped with a driving control device similar to the driving control device of the present invention. When a negative determination is made, steps S30 and below are executed, and when an affirmative determination is made, the vehicle may be configured to follow the warning from the other vehicle.

[0086] Also, in the above-described embodiment, the types of other vehicles and still other vehicles are not determined. However, it is determined whether or not another vehicle or still other vehicles are emergency vehicles such as ambulances, fire trucks, and patrol cars. When an affirmative determination is made, the priority of the vehicle is set to the highest priority, and a warning notification corresponding thereto may be issued.

Explanation of Reference Numerals

[0087] 10... Driving support ECU, 12... Camera sensor, 14... Radar sensor, 16... Vehicle exterior communication device, 17... Target information acquisition device, 18... Setting operation device, 20... Drive ECU, 30... Brake ECU, 40... Meter ECU, 100... Driving control device, 102... Vehicle

Claims

1. A vehicle travel control device including a control unit configured to notify at least one of an occupant of the host vehicle and an occupant of the other vehicle of a warning to avoid passing each other in the narrow road when it is determined that there is a possibility that the host vehicle may enter a narrow road having a road width less than a preset reference value and there is a possibility that the host vehicle and the other vehicle may pass each other in the narrow road.

2. The vehicle travel control device according to Claim 1, wherein the control unit is configured to change the content of the warning according to the travel states of the host vehicle and the other vehicle in and around the narrow road.

3. The vehicle travel control device according to Claim 1, wherein the control unit is configured to notify the occupant of the host vehicle to wait in front of the narrow road without entering the narrow road when it is determined that the other vehicle has already entered the narrow road.

4. The vehicle travel control device according to Claim 1, wherein the control unit estimates the time required for the host vehicle and the other vehicle to enter the narrow road when it is determined that the other vehicle has not entered the narrow road, determines the priority of entry into the narrow road for the host vehicle and the other vehicle such that the vehicle with the shorter estimated time has a higher priority, and notifies of a warning with content according to the determined priority.

5. The vehicle travel control device according to Claim 3, wherein the control unit estimates the time required for the host vehicle and another other vehicle trying to enter the narrow road to enter the narrow road when there is another other vehicle, determines the priority of entry into the narrow road for the host vehicle and the other other vehicle such that the vehicle with the shorter estimated time has a higher priority, and notifies at least one of the host vehicle and the other other vehicle of a warning with content according to the determined priority.

Images