Driving assistance device

Abstract

To suppress a use of a passing lane except in a passing operation.SOLUTION: A driving assistance device comprises a detection device (18) capable of detecting another vehicle (2) traveling around a self vehicle (1). While the self vehicle (1) is traveling in a passing lane (1), the detection device (18) detects that a preceding vehicle is not present in the passing lane (33), and when a processor (15) determines that the self vehicle (1) is capable of changing a lane into an adjacent lane (32) based on a detection result by the detection device (18), the detection device notifies a driver of the self vehicle (1) of a passing range violation, or provides driving assistance by having the self vehicle (1) change a lane.SELECTED DRAWING: Figure 4

Description

Technical Field

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

Background Art

[0002] When a following vehicle approaches and follows the host vehicle while the host vehicle is traveling in an overtaking lane, and when the following vehicle's following state continues for a predetermined time, it is detected that the following vehicle is following, and at this time, the fact that the following vehicle is following is notified to the driver of the host vehicle, and the host vehicle is caused to change lanes to a lane adjacent to the overtaking lane, or a vehicle control device is known that increases the vehicle speed of the host vehicle to the legal speed (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, it is a common social perception that the overtaking lane is not used except during overtaking. Therefore, it can be said that it is preferable to take measures so as not to use the overtaking lane except during overtaking. In the above-described vehicle control device, regarding the use of the overtaking lane, only the case where a following vehicle approaches and follows the host vehicle is regarded as a problem, and it does not suggest not using the overtaking lane except during overtaking.

Means for Solving the Problems

[0005] According to the present invention, there is provided a driving support device including a detection device capable of detecting other vehicles traveling around the host vehicle and a processor. When the host vehicle is traveling in an overtaking lane and the detection device detects that there is no preceding vehicle in the overtaking lane, and based on the detection result by the detection device, when the processor determines that the host vehicle can change lanes to an adjacent driving lane, the driver of the host vehicle is notified that it is an illegal lane change act, or driving support is performed to cause the host vehicle to change lanes to the driving lane.

Effect of the Invention

[0006] It is possible to suppress the use of the overtaking lane except when overtaking.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Mode for Carrying Out the Invention

[0008] First, terms used in the present invention will be described. In the present invention, the vehicle that is the control target according to the present invention is referred to as the "host vehicle". FIG. 1 schematically shows the host vehicle 1 as viewed from above, and FIG. 2 shows the functional configuration of the host vehicle 1 shown in FIG. 1. Note that this host vehicle 1 is capable of both manual driving and autonomous driving. Referring to FIG. 2, 10 denotes a vehicle drive unit for applying a driving force to the drive wheels of the vehicle 1, 11 denotes a braking device for braking the vehicle 1, 12 denotes a steering device for steering the vehicle 1, and 13 denotes an electronic control unit mounted in the vehicle 1, respectively. As shown in FIG. 2, the electronic control unit 13 consists of a digital computer and includes a CPU (processor) 15, a memory 16 consisting of a ROM and a RAM, and an input / output port 17, which are connected to each other by a bidirectional bus 14.

[0009] On the other hand, as shown in FIG. 2, a detection device 18 including various sensors necessary for the host vehicle 1 to perform autonomous driving is installed in the host vehicle 1. This detection device 18 includes sensors for detecting the state of the host vehicle 1 and sensors for detecting the surroundings of the host vehicle 1. In this case, as sensors for detecting the state of the host vehicle 1, an acceleration sensor, a speed sensor, an azimuth sensor, and a geomagnetic sensor are used, and as sensors for detecting the surroundings of the host vehicle 1, cameras for photographing the front, side, and rear of the host vehicle 1, and lidar (LIDAR), radar, clearance sonar, etc. for detecting the front, side, and rear of the host vehicle 1 are used.

[0010] FIG. 1 shows an example of the sensors installed in the host vehicle 1. In the example shown in FIG. 1, the host vehicle 1 is provided with front cameras 3a and 3b for photographing the front of the host vehicle 1, a rear camera 4 for photographing the rear of the host vehicle 1, a long-range millimeter-wave radar 5 for emitting millimeter waves toward the front of the host vehicle 1, medium-range millimeter-wave radars 6a, 6b, 6c, and 6d for emitting millimeter waves toward the sides of the host vehicle 1, lidars 7a, 7b, 7c, and 7d for irradiating laser light toward the sides of the host vehicle 1, and a clearance sonar 8 for emitting ultrasonic waves toward the rear of the host vehicle 1. Note that the installation methods of the cameras and sensors shown in FIG. 1 are merely examples, and there are various methods for installing these cameras and sensors.

[0011] Returning again to FIG. 2, the host vehicle 1 is provided with a GNSS (Global Navigation Satellite System) receiver 19, a map data storage device 20, a navigation device 21, and a notification device 22 that notifies the driver of various situations. The GNSS receiver 19 can detect the current position of the host vehicle 1 (for example, the latitude and longitude of the host vehicle 1) based on information obtained from a plurality of artificial satellites. Therefore, the current position of the host vehicle 1 can be acquired by this GNSS receiver 19. As this GNSS receiver 19, for example, a GPS receiver is used. Further, the map data storage device 20 stores map data and the like necessary for the travel of the host vehicle 1. This map data also includes information on roads. These various sensors 18, GNSS receiver 19, map data storage device 20, navigation device 21, and notification device 22 are connected to the electronic control unit 13. Further, the vehicle 1 is equipped with a communication device 23 connected to the electronic control unit 13.

[0012] In the example shown in FIG. 2, the host vehicle 1 can be manually driven, and when there is a request for travel control by automatic driving for the host vehicle 1, it is possible to cause the host vehicle 1 to perform travel control by automatic driving. In the example shown in FIG. 2, the vehicle drive unit 10 of the host vehicle 1 is composed of an electric motor driven by a secondary battery or an electric motor driven by a fuel cell, and the drive wheels are driven and controlled by these electric motors according to the output signal of the electronic control unit 13. Further, in the example shown in FIG. 2, when there is a request for travel control by automatic driving for the vehicle 1, the braking control of the vehicle 1 is performed by the braking device 11 according to the output signal of the electronic control unit 13, and the steering control of the vehicle 1 is also performed by the steering device 12 according to the output signal of the electronic control unit 13.

[0013] (A), (B), and (C) of FIG. 3 show road 30 as viewed from above. In (A), (B), and (C) of FIG. 3, 31 represents a white line, 32 represents a passing lane, and 33 represents a driving lane, respectively. Also, (A), (B), and (C) of FIG. 3 show a case where the host vehicle 1 is traveling in the passing lane 32 and the other vehicle 2 is traveling in the driving lane 33. Note that this passing lane 32 includes not only the lane designated as a passing lane on a highway or the like, but also a lane that is recognized by many people as a passing lane.

[0014] (A) of FIG. 3 shows a typical case where the host vehicle 1 and the other vehicle 2 are traveling side by side. In this case, if the side-by-side travel of the host vehicle 1 and the other vehicle 2 is temporary, no problem occurs. However, if the time during which the host vehicle 1 and the other vehicle 2 are traveling side by side becomes long, the following vehicle of the host vehicle 1 or the following vehicle of the other vehicle 2 will be unable to overtake the host vehicle 1 or the other vehicle 2, respectively. That is, the passing lane 32 will be blocked by the host vehicle 1. It cannot be said that the continuous blocking state of the passing lane 32 by the host vehicle 1 is preferable, and it can be said that it is preferable to take some countermeasures to prevent the continuous blocking state of the passing lane 32.

[0015] In this case, as one of the countermeasures, in the embodiment according to the present invention, the driver of the host vehicle 1 is notified, for example, on the meter display screen that the host vehicle 1 is automatically accelerated in order to overtake the other vehicle 2 and change lanes to the driving lane 33. The processor 15 calculates the acceleration required to overtake the other vehicle 2, and a drive signal for generating this required acceleration is sent from the processor 15 to the vehicle drive unit 10. When ACC (Adaptive Cruise Control) is being executed, the ACC set speed for setting the traveling speed is temporarily set high within a range not exceeding the legal speed, and it is notified, for example, on the meter display screen that the ACC set speed has been set high.

[0016] Also, as another countermeasure to prevent the overtaking lane 32 from remaining blocked, in the embodiments according to the present invention, a measure is taken to notify the driver of the host vehicle 1 that the host vehicle 1 is blocking the overtaking lane 32. As yet another countermeasure to prevent the overtaking lane 32 from remaining blocked, in the embodiments according to the present invention, a measure is taken to notify the driver of the host vehicle 1 of a proposal to change lanes to the driving lane 33 by overtaking the other vehicle 2. These notifications are made by display on the meter display screen or by voice. Note that when a preceding vehicle is traveling ahead of the overtaking lane 32, it is not always the case that the host vehicle 1 is performing a blocking action on the overtaking lane 32. Therefore, in the embodiments according to the present invention, when a preceding vehicle is traveling ahead of the overtaking lane 32, the above-described notifications on the meter display screen or the like are not made.

[0017] Note that the blocking state of the overtaking lane 32 by the host vehicle 1 occurs, that is, the following vehicle of the host vehicle 1 or the other vehicle 2 cannot overtake the host vehicle 1 or the other vehicle 2. As shown in FIG. 3(A), it is not only the case where the host vehicle 1 and the other vehicle 2 are traveling side by side, but also as shown in FIG. 3(B), when the other vehicle 2 is traveling on the driving lane 33 in front of the host vehicle 1, and the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is equal to or less than a preset distance Z that makes overtaking by the following vehicle impossible. There is also a case as shown in FIG. 3(C), when the other vehicle 2 is traveling on the driving lane 33 behind the host vehicle 1, and the inter-vehicle distance Y between the host vehicle 1 and the other vehicle 2 is equal to or less than a preset distance Z that makes overtaking by the following vehicle impossible. In the present invention, the case where the host vehicle 1 and the other vehicle 2 are traveling side by side includes the cases shown in FIGS. 3(B) and 3(C).

[0018] In FIGS. 3(A), 3(B), and 3(C), when the relative speed between the host vehicle 1 and the other vehicle 2 is high, the parallel running of the host vehicle 1 and the other vehicle 2 is temporary, and the occlusion state of the passing lane 32 by the host vehicle 1 does not continue. The occlusion state of the passing lane 32 by the host vehicle 1 continues when the relative speed between the host vehicle 1 and the other vehicle 2 is low. Therefore, in the embodiment according to the present invention, as shown in FIGS. 3(A), 3(B), and 3(C), when the host vehicle 1 and the other vehicle 2 are running in parallel, if the relative speed between the host vehicle 1 and the other vehicle 2 is equal to or lower than a preset relative speed S, it is determined that the occlusion state of the passing lane 32 by the host vehicle 1 occurs.

[0019] On the other hand, in the embodiment according to the present invention, the timing for taking a countermeasure to prevent the occlusion state of the passing lane 32 by the host vehicle 1 from continuing is when the host vehicle 1 has traveled a certain distance in the state of occluding the passing lane 32. In this case, in the embodiment according to the present invention, it is considered appropriate that this certain distance is about 2 km. Considering that the countermeasure on the highway will be mainly involved in this case, since the traveling speed is about 100 km / h, the traveling time is just over 1 minute. Therefore, in the embodiment according to the present invention, when the host vehicle 1 and the other vehicle 2 have run in parallel for a predetermined time or more, for example, 1 minute or more, a countermeasure is taken to prevent the occlusion state of the passing lane 32 by the host vehicle 1 from continuing.

[0020] On the other hand, it is a common social concept that the passing lane 32 is not used except during passing. Therefore, it can be said that it is preferable to take some countermeasures to prevent its use except during passing. That is, in FIGS. 3(A), 3(B), and 3(C), when the host vehicle 1 does not aim to overtake the other vehicle 2 but simply travels in the passing lane 32, it can be said that it is preferable to take some countermeasures to prevent the use of the passing lane 32.

[0021] In this case, as one of the countermeasures, in the embodiment according to the present invention, when it is determined based on the detection result by the detection device 18 that the host vehicle 1 can change lanes to the travel lane 33, a notification to that effect, for example, is given on the meter display screen, a lane change route is generated in the processor 15, and a drive signal for changing the host vehicle 1 to the travel lane 33 along the generated lane change route is sent from the processor 15 to the vehicle drive unit 10, the braking device 11, and the steering device 12. In this case, as another countermeasure to prevent the use of the overtaking lane 32, in the embodiment according to the present invention, when it is determined based on the detection result by the detection device 18 that the host vehicle 1 can change lanes to the travel lane 33, measures are taken to notify the driver of the host vehicle 1 that it is an act of violating the traffic lane.

[0022] Also, as yet another countermeasure to prevent the use of the overtaking lane 32, in the embodiment according to the present invention, when it is determined based on the detection result by the detection device 18 that the host vehicle 1 can change lanes to the travel lane 33, measures are taken to notify the driver of the host vehicle 1 of a proposal to change lanes to the travel lane 33. These notifications are made by display on the meter display screen or by voice. Note that when a preceding vehicle is traveling ahead of the overtaking lane 32, it is not always necessary to make the host vehicle 1 change lanes. Therefore, in the embodiment according to the present invention, when a preceding vehicle is traveling ahead of the overtaking lane 32, the above-mentioned notifications on the meter display screen or the like are not made.

[0023] Note that as shown in FIG. 3(A), when the host vehicle 1 and the other vehicle 2 are traveling side by side, as shown in FIG. 3(B), when the other vehicle 2 is traveling on the travel lane 33 in front of the host vehicle 1 and the distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, as shown in FIG. 3(C), when the other vehicle 2 is traveling on the travel lane 33 behind the host vehicle 1 and the distance Y between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, a lane change to the travel lane 33 is not permitted. In the embodiment according to the present invention, when it is determined that the host vehicle 1 can change lanes to the travel lane 33 when it does not fall under the cases where a lane change to the travel lane 33 is not permitted.

[0024] Also, the timing for taking countermeasures to prevent the host vehicle 1 from continuously blocking the passing lane 32 is when the host vehicle 1 has traveled a certain distance in a state where it has blocked the passing lane 32. Also in this case, about 2 km is considered appropriate as this certain distance. Therefore, also in this case, considering that the response on the highway will mainly be involved, since the traveling speed is about 100 km / h, in terms of traveling time, it is a little over 1 minute. Thus, in the embodiment according to the present invention, when the host vehicle 1 has traveled in the passing lane 32 for a predetermined time or more, for example, 1 minute or more, countermeasures are taken to prevent the host vehicle 1 from using the passing lane 32.

[0025] FIG. 4 shows a driving support processing routine for executing an embodiment according to the present invention. This routine is repeatedly executed in the electronic control unit 13 of the host vehicle 1.

[0026] Referring to FIG. 4, first, in step 40, based on the image data of the front cameras 3a and 3b, or the map data stored in the map data storage device 20 and the current position of the host vehicle 1, it is determined whether the host vehicle 1 is currently traveling on a highway. When it is determined that the host vehicle 1 is traveling on a highway, the process proceeds to step 41, and based on the image data of the front cameras 3a and 3b, or the map data stored in the map data storage device 20 and the current position of the host vehicle 1, it is determined whether the host vehicle 1 is currently traveling in the passing lane 32. When it is determined that the host vehicle 1 is currently traveling in the passing lane 32, the process proceeds to step 42, and based on the image data of the front cameras 3a and 3b, it is determined whether there is a preceding vehicle on the passing lane 32 in front of the host vehicle 1.

[0027] In step 42, when it is determined that there is no preceding vehicle on the overtaking lane 32 in front of the host vehicle 1, the process proceeds to step 43. Based on the image data of the front cameras 3a and 3b, and the detection data of the long-range millimeter-wave radar 5, the medium-range millimeter-wave radar 6b, and the lidar 7b, as shown in (B) of FIG. 3, it is determined whether or not a preceding vehicle, i.e., another vehicle 2, is traveling on the driving lane 33 in front of the host vehicle 1, and whether or not the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z. In step 43, when it is determined that another vehicle 2 is traveling on the driving lane 33 in front of the host vehicle 1 as shown in (B) of FIG. 3, and the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, the process proceeds to step 46.

[0028] In step 46, it is determined whether or not the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to a preset relative speed S. In step 46, when it is determined that the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to the preset relative speed S, the process proceeds to step 48. As shown in (B) of FIG. 3, when it is continuously determined for a predetermined time or more, for example, 1 minute or more, that another vehicle 2 is traveling on the driving lane 33 in front of the host vehicle 1, the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, and the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to the preset relative speed S, it is determined that the host vehicle 1 is performing an overtaking lane 32 blocking action.

[0029] On the other hand, in step 43, as shown in (B) of FIG. 3, when it is determined that the other vehicle 2 is not traveling on the driving lane 33 in front of the host vehicle 1 or the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is not less than the set distance Z, the process proceeds to step 44, and based on the image data of the rear camera 4 and the detection data of the mid-range millimeter-wave radar 6d and lidar 7d, as shown in (C) of FIG. 3, it is determined whether a following vehicle, i.e., the other vehicle 2, is traveling on the driving lane 33 behind the host vehicle 1 and whether the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z. In step 44, when it is determined that the other vehicle 2 is traveling on the driving lane 33 behind the host vehicle 1 as shown in (C) of FIG. 3 and the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, the process proceeds to step 47.

[0030] In step 47, it is determined whether the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to a preset relative speed S. In step 47, when it is determined that the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to the preset relative speed S, the process proceeds to step 48, and as shown in (C) of FIG. 3, the other vehicle 2 is traveling on the driving lane 33 in front of the host vehicle 1, the inter-vehicle distance X between the host vehicle 1 and the other vehicle 2 is less than or equal to the set distance Z, and the relative speed between the host vehicle 1 and the other vehicle 2 is less than or equal to the preset relative speed S and continues to be determined for a predetermined time or more, for example, 1 minute or more, it is determined that the host vehicle 1 is performing an overtaking lane 32 blocking action.

[0031] Note that, as shown in Fig. 3(A), when the host vehicle 1 and the other vehicle 2 are running side by side, in step 43, if it is determined that the other vehicle 2 is running on the driving lane 33 in front of the host vehicle 1 and the distance X between the host vehicle 1 and the other vehicle 2 is equal to or less than the set distance Z, or in step 44, if it is determined that the other vehicle 2 is running on the driving lane 33 behind the host vehicle 1 and the distance X between the host vehicle 1 and the other vehicle 2 is equal to or less than the set distance Z. Therefore, at this time, in step 48, if it is continuously determined for a predetermined time, for example, one minute or more, that the relative speed between the host vehicle 1 and the other vehicle 2 is equal to or less than the preset relative speed S, it is determined that the blocking action of the passing lane 32 by the host vehicle 1 is being performed.

[0032] When it is determined in step 48 that the blocking action of the passing lane 32 by the host vehicle 1 is being performed, countermeasures are taken to prevent the blocking state of the passing lane 32 from continuing. For example, the driver of the host vehicle 1 is notified on the meter display screen, for example, that the host vehicle 1 is automatically accelerated to overtake the other vehicle 2 and change lanes to the driving lane 33, and the host vehicle 1 is automatically accelerated and changes lanes to the driving lane 33. In addition, the driver of the host vehicle 1 is notified that the host vehicle 1 is blocking the passing lane 32, or a proposal to overtake the other vehicle 2 and change lanes to the driving lane 33 is notified to the driver of the host vehicle 1.

[0033] On the other hand, when it is determined in step 42 that there is no preceding vehicle on the passing lane 32 in front of the host vehicle 1, and in step 43, as shown in Fig. 3(B), it is determined that the other vehicle 2 is not running on the driving lane 33 in front of the host vehicle 1 or the distance X between the host vehicle 1 and the other vehicle 2 is not equal to or less than the set distance Z, and in step 44, as shown in Fig. 3(C), it is determined that the other vehicle 2 is not running on the driving lane 33 behind the host vehicle 1 or the distance X between the host vehicle 1 and the other vehicle 2 is not equal to or less than the set distance Z, the process proceeds to step 45.

[0034] In step 45, as described above, it is determined whether there is no other vehicle 2 traveling on the driving lane 33 in front of the host vehicle 1, or whether the distance X between the host vehicle 1 and the other vehicle 2 is not less than the set distance Z. When it is determined that there is no other vehicle 2 traveling on the driving lane 33 behind the host vehicle 1, or the distance X between the host vehicle 1 and the other vehicle 2 is not less than the set distance Z, it is determined that the host vehicle 1 can change lanes to the driving lane 33. When such a determination continues for a certain period of time or more, for example, one minute or more, it is determined that it is a passing lane violation.

[0035] In step 45, when it is determined that it is a passing lane violation, countermeasures are taken to prevent the use of the overtaking lane 32. For example, the driver of the host vehicle 1 is notified on the meter display screen or the like that the host vehicle 1 is to change lanes to the driving lane 33, and the host vehicle 1 is automatically changed lanes to the driving lane 33. Also, in this case, as another countermeasure to prevent the use of the overtaking lane 32, in the embodiment according to the present invention, a measure is taken to notify the driver of the host vehicle 1 that it is a passing lane violation. Further, as still another countermeasure to prevent the use of the overtaking lane 32, in the embodiment according to the present invention, a measure is taken to notify the driver of the host vehicle 1 of a proposal to change lanes to the driving lane 33.

[0036] As described above, in the embodiment according to the present invention, a detection device 18 capable of detecting other vehicles 2 traveling around the host vehicle 1 and a processor 15 are provided. When the host vehicle 1 is traveling in the overtaking lane 33, the detection device 18 detects that there is no preceding vehicle on the overtaking lane 33. When it is determined based on the detection result by the detection device 18 that the host vehicle 1 can change lanes to the adjacent driving lane 32 by the processor 15, the driver of the host vehicle 1 is notified that it is a passing lane violation, or driving support is performed to change the host vehicle 1 to the driving lane 32.

Explanation of reference numerals

[0037] 1 Host vehicle 2 Other vehicle 15 Processor 18 Detection device 32 Driving lane 33 Overtaking lane

Claims

Claim 1 A driving assistance device comprising a detection device capable of detecting other vehicles traveling around the host vehicle and a processor, while the host vehicle is traveling in an overtaking lane, when the detection device detects that there is no preceding vehicle in the overtaking lane, and based on the detection result by the detection device, when it is determined by the processor that the host vehicle can change lanes to an adjacent driving lane, notifies the driver of the host vehicle that it is an act of violating the traffic lane, or performs driving assistance to cause the host vehicle to change lanes to the driving lane.

Images