Vehicle driving assistance systems

Abstract

When your vehicle is following a preceding vehicle, it will suppress unnecessary acceleration and deceleration in the section before the preceding vehicle becomes a vehicle where overtaking is prohibited. [Solution] The driver assistance device includes a driving environment information acquisition unit that acquires driving environment information in front of the vehicle, and a follow driving control unit that, based on this driving environment information, detects the nearest preceding vehicle traveling in the same lane as the vehicle and executes follow driving control for this preceding vehicle. The follow driving control unit includes a vehicle registration unit that registers the preceding vehicle as a vehicle subject to the no-passing rule when it detects, based on the driving environment information, that the preceding vehicle has moved into a lane subject to the no-passing rule and that the vehicle has moved into a lane subject to the no-passing rule, and a vehicle follow control unit that executes follow driving control for this vehicle subject to the no-passing rule.

Description

Technical Field

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

Background Art

[0002] In recent vehicles, various driving support devices have been proposed to reduce the driver's burden and enable comfortable and safe driving, and some have already been put into practical use. As this type of driving support device, a cruise control with automatic inter-vehicle distance maintenance control (ACC: Adaptive Cruise Control) is known. In ACC control, for example, the presence or absence of a preceding vehicle traveling in the same lane is checked by a forward recognition sensor composed of an in-vehicle camera, various radar sensors, or a combination thereof mounted on the vehicle.

[0003] When a preceding vehicle traveling in the same lane is detected, the ACC control registers the preceding vehicle as a following target and causes the host vehicle to follow the preceding vehicle while maintaining a predetermined target inter-vehicle distance. Also, when no preceding vehicle to be followed is detected ahead in the same lane, the ACC control causes the host vehicle to travel at the set vehicle speed set by the driver (for example, Patent Document 1).

[0004] Therefore, as a result of the preceding vehicle or the host vehicle changing lanes and no preceding vehicle to be followed being detected, the host vehicle will be accelerated to the set vehicle speed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, in countries where right-hand traffic is mandated, the first lane on the right is the driving lane, and the lane on the left is the passing lane. If there are two or more passing lanes, the lane further to the left becomes the high-speed lane.

[0007] In countries where right-hand traffic is mandated, some countries legally prohibit overtaking from the right lane. For example, if your vehicle is traveling in the first lane using ACC control, and no vehicle is detected ahead in that lane, the ACC control will attempt to maintain the set speed.

[0008] In the technology disclosed in Patent Document 1, even if a vehicle traveling in the passing lane adjacent to the driving lane in which the vehicle is traveling is detected ahead, if the speed of the vehicle traveling in the passing lane is slower than the set vehicle speed, there is a possibility that the vehicle will overtake the vehicle traveling in the passing lane.

[0009] Therefore, in countries where right-hand traffic is mandated and overtaking from the right lane is legally prohibited, ACC control systems are often equipped with a function to suppress overtaking from the right lane.

[0010] However, with ACC control, if the preceding vehicle being followed changes lanes, or if the vehicle itself changes lanes, the preceding vehicle being followed disappears from view. Therefore, even with an ACC control device equipped with a function to suppress overtaking from the right lane, it will attempt to accelerate the vehicle to the set speed until it detects a parallel vehicle (the preceding vehicle after the lane change) traveling in the adjacent left lane. When the ACC control device detects a parallel vehicle traveling in the adjacent left lane, the function to suppress overtaking activates, causing the vehicle to decelerate rapidly.

[0011] The driver of the vehicle is aware that when their vehicle or the vehicle in front changes lanes, their vehicle will be traveling in the lane to the right of the vehicle in front (or alongside), and that overtaking the vehicle in front is prohibited. Therefore, in ACC control, if the vehicle temporarily accelerates when the vehicle in front disappears, and then suddenly decelerates when the vehicle in front that is subject to the overtaking prohibition is detected, it will cause discomfort to the driver.

[0012] The present invention aims to provide a vehicle driving assistance device that can reduce driver discomfort by suppressing unnecessary acceleration and deceleration until the preceding vehicle is detected as a vehicle subject to overtaking restrictions, even when the preceding vehicle disappears from view when the preceding vehicle moves to an adjacent lane. [Means for solving the problem]

[0013] The present invention relates to a vehicle driving assistance device comprising: a driving environment information acquisition unit that acquires driving environment information in front of the vehicle; and a follow driving control unit that, based on the driving environment information acquired by the driving environment information acquisition unit, detects the nearest preceding vehicle traveling in the same lane as the vehicle and executes follow driving control for the preceding vehicle, wherein the follow driving control unit further comprises: a vehicle registration unit that registers the preceding vehicle as a vehicle subject to the no-passing rule when it detects, based on the driving environment information acquired by the driving environment information acquisition unit, at least one of the following states: the preceding vehicle has moved away to a lane subject to the no-passing rule; and a vehicle follow control unit that, when a vehicle subject to the no-passing rule is registered in the vehicle registration unit, executes the follow driving control for the vehicle subject to the no-passing rule. [Effects of the Invention]

[0014] According to the present invention, based on the driving environment information acquired by the driving environment information acquisition unit, if at least one of the following states is detected—that the preceding vehicle has moved into a lane where overtaking is prohibited, and that the own vehicle has moved into a lane where overtaking is prohibited—the preceding vehicle is registered as a vehicle subject to overtaking prohibition, and follow-driving control is performed for said vehicle subject to overtaking prohibition. As a result, even if the preceding vehicle disappears when the own vehicle, or the preceding vehicle that the own vehicle is following, moves to an adjacent lane, unnecessary acceleration and deceleration until the preceding vehicle is detected as a vehicle subject to overtaking prohibition is suppressed. Consequently, discomfort experienced by the driver can be reduced. [Brief explanation of the drawing]

[0015] [Figure 1] Schematic diagram of the driver assistance system [Figure 2A] Flowchart showing the follow-me driving control routine (Part 1) [Figure 2B] Flowchart showing the follow-me driving control routine (Part 2) [Figure 3A] This diagram illustrates a situation where a vehicle changes lanes, causing the vehicle being followed to become a vehicle that is prohibited from being overtaken and is traveling alongside it. [Figure 3B] This diagram illustrates a situation where a vehicle moving into an adjacent lane causes the vehicle being followed to become subject to a no-passing rule. [Figure 4A] This diagram illustrates a situation where a vehicle being followed changes lanes, causing that vehicle to become a vehicle that is prohibited from being overtaken while driving alongside another vehicle. [Figure 4B] This diagram illustrates a situation where a vehicle being followed moves into an adjacent lane, making it subject to the no-passing rule. [Figure 5] This diagram illustrates the adaptive cruise control system when a lane boundary line changes from one that permits lane changes to one that prohibits them, and shows a situation where the vehicle is traveling in a lane where lane changes are prohibited. [Figure 6] Flowchart showing a modified follow-me driving control routine [Modes for carrying out the invention]

[0016] Hereinafter, an embodiment of the present invention will be described based on the drawings. In this embodiment, the case of traveling on a road where right-hand traffic is stipulated will be exemplified for explanation. Therefore, on a road where left-hand traffic is stipulated, read it in reverse left and right and apply it.

[0017] The vehicle (own vehicle) M shown in FIG. 1 is equipped with a driving support device 1. This driving support device 1 is provided with a driving support control unit 11. This driving support control unit 11 is composed of a microcontroller including a CPU, a RAM, a ROM, a rewritable nonvolatile memory (flash memory or EEPROM), and peripheral devices. The ROM stores programs and fixed data necessary for the CPU to execute each process. The RAM is provided as a work area for the CPU, and various data in the CPU are temporarily stored. Incidentally, the CPU is also called an MPU (Microprocessor) or a processor. Instead of the CPU, a GPU (Graphics Processing Unit) or a GSP (Graph Streaming Processor) may be used. Alternatively, the CPU, GPU, and GSP may be selectively combined and used.

[0018] On the input side of the driving support control unit 11, a front recognition sensor 12 as a driving environment information acquisition unit, a locator unit 16, and a vehicle speed sensor 19 are connected.

[0019] The front recognition sensor 12 is a camera unit in this embodiment. The camera unit has a stereo camera 13, an image processing unit (IPU) 14, and an image recognition unit 15. The stereo camera 13 has a main camera 13a and a sub-camera 13b. The main camera 13a and the sub-camera 13b are arranged forward (in the traveling direction) in a state having a predetermined baseline length at symmetric positions on the left and right across the center in the vehicle width direction in the vehicle interior of the own vehicle, for example.

[0020] Both cameras 13a and 13b have color image sensors such as CCD image sensors or CMOS image sensors. Both cameras 13a and 13b acquire two images from different viewpoints of the surrounding environment in a predetermined range in front of the vehicle, synchronized with each other at predetermined imaging cycles, to generate a stereo image.

[0021] The IPU 14 processes the driving environment information in front of the vehicle M, captured by both cameras 13a and 13b, according to a predetermined image processing method and transmits it to the image recognition unit 15. The image recognition unit 15 uses well-known template matching processing and feature point detection processing on the image data processed by the IPU 14 to recognize surrounding vehicles, including preceding and parallel vehicles, three-dimensional objects such as guardrails extending along the road, lane boundary lines that demarcate lanes, and their line types.

[0022] The various information recognized by the image recognition unit 15 is then output to the driver assistance control unit 11. The camera unit used as the forward recognition sensor 12 is an example of a device that recognizes the driving environment in front of the vehicle M. The forward recognition sensor 12 may be replaced with a millimeter-wave radar, sonar radar, LiDAR (Light detection and Ranging), etc., as long as it can recognize the driving environment in front. Furthermore, these may be combined with a monocular camera to form the forward recognition sensor 12.

[0023] Furthermore, the locator unit 16 includes a GNSS (Global Navigation Satellite System) sensor 17 and a road map database (road map DB) 18. The GNSS sensor 17 receives positioning signals transmitted from multiple positioning satellites and determines the position of the vehicle M (latitude, longitude, altitude, etc.). The road map DB 18 is a large-capacity storage medium such as an HDD (Hard Disk Drive) or SSD (Solid State Drive). Road map information is stored in this road map DB 18.

[0024] Furthermore, the locator unit 16 maps the position information of the vehicle M, which is determined by the GNSS sensor 17, onto the road map information of the road map DB 18 to estimate the vehicle's position (current position) on the road map.

[0025] Furthermore, the vehicle speed sensor 19 detects the vehicle speed (own vehicle speed) of the vehicle M. The vehicle speed sensor 19 detects the own vehicle speed from, for example, the average value of the wheel speeds detected by wheel speed sensors installed on the four wheels.

[0026] Furthermore, the steering control unit 21, acceleration / deceleration control unit 22, brake control unit 23, and notification device 24 are connected to the output side of the driver assistance control unit 11.

[0027] The steering control unit 21 controls the steering torque generated by the electric power steering (EPS) motor. The acceleration / deceleration control unit 22 controls the output of the drive source, such as the engine or electric motor, mounted on the vehicle M. The brake control unit 23 adjusts the brake hydraulic pressure supplied to the brake wheel cylinders provided on each wheel. By adjusting the brake hydraulic pressure, the brake control unit 23 controls the braking force generated on each wheel. The notification device 24 consists of a monitor, speaker, etc.

[0028] During ACC control, if the driver assistance control unit 11 has not detected a preceding vehicle to be followed or a vehicle traveling in an adjacent lane, it sets the set vehicle speed as the target vehicle speed. The driver assistance control unit 11 then causes the acceleration / deceleration control unit 22 to perform acceleration / deceleration control on the drive source so that the vehicle's speed converges to the target vehicle speed.

[0029] Meanwhile, when the driver assistance control unit 11 detects the nearest preceding vehicle F during ACC control, it checks whether this preceding vehicle F satisfies the conditions for being a vehicle to follow. If the driver assistance control unit 11 finds that the preceding vehicle F satisfies the conditions for being a vehicle to follow, it registers this preceding vehicle F as a vehicle to follow. In this embodiment, for convenience, the nearest preceding vehicle F is represented as the vehicle to follow (F).

[0030] The driver assistance control unit 11 sets a target vehicle speed for the registered target vehicle (F) to follow while maintaining a pre-set target distance.

[0031] The driver assistance control unit 11 causes the acceleration / deceleration control unit 22 to perform acceleration / deceleration control on the drive source so that the vehicle speed converges to the target vehicle speed. Furthermore, if the driver assistance control unit 11 determines that the acceleration / deceleration control unit 22 cannot sufficiently reduce the vehicle speed, it causes the brake control unit 23 to perform brake control to forcibly reduce the vehicle speed to the target vehicle speed.

[0032] Furthermore, the driver assistance control unit 11 notifies the driver via the notification device 24 if, for example, the preceding vehicle F being followed changes lanes, or if the vehicle M changes lanes, and the preceding vehicle F becomes a vehicle subject to the no-passing rule.

[0033] Furthermore, if the preceding vehicle F, which is being followed, changes lanes, or if the vehicle M itself changes lanes, the driver assistance control unit 11 immediately registers the preceding vehicle as a vehicle to be prohibited from overtaking. The driver assistance control unit 11 then executes follow-up driving control to make the vehicle M follow the registered vehicle to be prohibited from overtaking.

[0034] Furthermore, while driving, the driver assistance control unit 11 performs various driver assistance controls, including ACC control, lane keeping assist (LKA) control, and lane departure prevention (LDP) control. For LKA and LDP control, the driver assistance control unit 11 outputs steering command signals to the steering control unit 21, causing it to execute steering control. Since LKA and LDP control are well known, a detailed explanation will be omitted.

[0035] The follow-me driving control performed by the driver assistance control unit 11 is specifically executed according to the follow-me driving control routine shown in Figures 2A and 2B. This routine is executed at predetermined calculation cycles after the system starts up. The processing in this routine corresponds to the follow-me driving control unit of the present invention.

[0036] First, the driver assistance control unit 11 checks whether the image recognition unit 15 has detected the preceding vehicle F within a predetermined distance (for example, 200 m) in front of its own vehicle M (step S1). If the driver assistance control unit 11 determines that the image recognition unit 15 has not detected the preceding vehicle F (NO), it exits the routine. If the driver assistance control unit 11 determines that the image recognition unit 15 has detected the preceding vehicle F (YES), it checks whether the preceding vehicle F satisfies the conditions for being followed (step S2).

[0037] The driver assistance control unit 11 determines whether the preceding vehicle F detected by the image recognition unit 15 satisfies the conditions for following, for example, according to the following conditions. (1) The vehicle M has detected the nearest preceding vehicle F within a predetermined distance in front of it (for example, 150 m when the vehicle speed is 130 km / h). (2) The preceding vehicle F is traveling in the same lane as vehicle M. (3) The speed of the preceding vehicle F is slower than the speed of your own vehicle.

[0038] If all of conditions (1) to (3) are met (YES), the driver assistance control unit 11 registers the preceding vehicle F as the vehicle to be followed (F), as shown in Figures 3A and 4A (step S3). On the other hand, if at least one of conditions (1) to (3) is not met (NO), the driver assistance control unit 11 exits the routine.

[0039] Next, the driver assistance control unit 11 performs ACC control to cause the vehicle M to follow the registered target vehicle (F) (step S4). That is, the driver assistance control unit 11 sets a target vehicle speed so that the vehicle M maintains a preset target distance from the target vehicle (F). Then, the driver assistance control unit 11 performs acceleration and deceleration control in the acceleration / deceleration control unit 22 and braking control in the brake control unit 23 so that the vehicle speed converges to the target vehicle speed. This target distance can be set in advance by the driver within a certain range. The target distance can also be set variably according to the vehicle speed. When the target distance is set variably according to the vehicle speed, the target distance decreases as the vehicle speed decreases.

[0040] Subsequently, the driver assistance control unit 11 checks whether the vehicle M or the vehicle being followed (F) is traveling in the departure section (step S5). Here, the departure section is the section from when the vehicle M or the vehicle being followed (F) starts changing lanes until it completes. In this embodiment, as shown in Figures 3B and 4B, the departure section is defined as the section from when the vehicle M or the vehicle being followed (F) starts changing direction toward the lane boundary line until it crosses the lane boundary line and the entire vehicle body becomes approximately parallel to the lane boundary line. The departure section may also be, for example, the section while the entire vehicle body is crossing the lane boundary line.

[0041] The driver assistance control unit 11 determines whether the vehicle M or the vehicle being followed (F) is traveling in the withdrawal section based on the information recognized by the image recognition unit 15 of the forward recognition sensor 12.

[0042] Then, if the driver assistance control unit 11 determines that its own vehicle M or the vehicle being followed (F) is traveling in the lane it is currently traveling in (step S5: NO), it returns to step S4 and continues the follow-up driving control. On the other hand, if the driver assistance control unit 11 determines that its own vehicle M or the vehicle being followed (F) is traveling in the departure section (step S5: YES), it checks whether the vehicle being followed (F) is traveling in the lane where overtaking is prohibited (step S6). The driver assistance control unit 11 determines the position of the vehicle being followed (F) based on the information recognized by the image recognition unit 15 of the forward recognition sensor 12.

[0043] A lane where overtaking is prohibited is, in lanes where right-hand traffic is regulated, the lane adjacent to the left of the lane in which vehicle M is traveling. In this case, the lane in which vehicle M is traveling becomes the lane where overtaking is prohibited. Therefore, in Figure 3A, the second lane in which vehicle M is traveling is the lane where overtaking is prohibited, and the third lane adjacent to its left is the lane where overtaking is prohibited. Also, in Figure 3B, if vehicle M is moving away towards the first lane (driving lane), the first lane becomes the lane where overtaking is prohibited, and the second lane (passing lane) becomes the lane where overtaking is prohibited.

[0044] Then, if the driver assistance control unit 11 determines that the vehicle being followed (F) is not traveling in the lane where overtaking is prohibited (NO), it clears the registration of the vehicle being followed (F) (step S7) and exits the routine. On the other hand, if the driver assistance control unit 11 determines that the vehicle being followed (F) is traveling in the lane where overtaking is prohibited (YES), it updates the registration of the vehicle being followed (F) as a vehicle where overtaking is prohibited (step S8). Note that the processing in this step corresponds to the vehicle registration unit for vehicles where overtaking is prohibited according to the present invention.

[0045] Subsequently, the driver assistance control unit 11 performs ACC control to cause its own vehicle M to follow the vehicle subject to the overtaking prohibition while maintaining the lane it is currently traveling in (step S9). The processing in this step corresponds to the overtaking prohibition follow control unit of the present invention.

[0046] Furthermore, the deceleration set by this ACC control when the vehicle M approaches a vehicle that is prohibited from being overtaken is set to a smaller value than the deceleration in normal ACC control. The reason for this is that since the vehicle prohibited from being overtaken is traveling in the adjacent lane, there is no possibility of a rear-end collision even if deceleration is delayed. Also, by reducing the deceleration, the discomfort caused to the driver by sudden deceleration is avoided. Moreover, by reducing the deceleration, even if the low-accuracy parallel vehicle detection process mistakenly identifies roadside objects as a parallel vehicle and causes false braking, the discomfort experienced by the driver can be reduced.

[0047] Furthermore, the target following distance set by this ACC control is set to the smallest distance within the range of following distances that can be taken with the target following distance set in step S4. By setting this target following distance short, the target following distance becomes shorter when switching from following the vehicle to follow the vehicle that is prohibited from overtaking. Then, the driver assistance control unit 11 moves its own vehicle M closer to the vehicle that is prohibited from overtaking in order to bring the following distance to the target following distance set for the vehicle that is prohibited from overtaking. The distance traveled when trying to close this following distance can be secured as a braking distance. As a result, the braking distance becomes longer, and even if the vehicle that is prohibited from overtaking slows down, the small deceleration described above is sufficient to respond.

[0048] Furthermore, by minimizing the target following distance, when switching from following the target vehicle (F) to following the vehicle where overtaking is prohibited, it becomes possible to change lanes behind the vehicle where overtaking is prohibited. Also, by minimizing the target following distance, the vehicle where overtaking is prohibited can easily see the vehicle M from the rear and side.

[0049] In this embodiment, the target distance when following a vehicle subject to overtaking restrictions using ACC control is simply set to the minimum distance among the target distances set in normal ACC control. Therefore, it can be shared with the normal ACC control system, thereby improving maintainability.

[0050] Furthermore, the acceleration set by this ACC control when the vehicle M approaches a vehicle that is prohibited from being overtaken is set to a smaller value than the acceleration in normal ACC control. By reducing the acceleration, even if the vehicle prohibited from being overtaken decelerates suddenly, the vehicle M can respond with a smaller deceleration without decelerating abruptly. As a result, the discomfort experienced by the driver can be reduced.

[0051] Incidentally, the function to suppress overtaking that is included in conventional ACC control is equipped with a parallel vehicle detection process that determines whether or not a parallel vehicle is traveling in a lane where overtaking is prohibited. In the case of the low-accuracy parallel vehicle detection process, in order to prevent false braking due to the low accuracy, only parallel vehicles that are continuously traveling in a lane where overtaking is prohibited for a certain period of time are registered as vehicles subject to overtaking prohibition.

[0052] Therefore, in this conventional parallel vehicle detection process, the ACC control sets the set speed to the target speed until the parallel vehicle is registered as a vehicle subject to overtaking restrictions. As a result, during the transient period until the parallel vehicle is registered as a vehicle subject to overtaking restrictions, the vehicle M accelerates against the driver's will. Then, when the parallel vehicle detection process registers the parallel vehicle as a vehicle subject to overtaking restrictions, the ACC control activates a function to suppress overtaking, and the vehicle M decelerates rapidly. As a result, unnecessary acceleration and deceleration control is performed.

[0053] In contrast, in this embodiment, even if the vehicle to be followed (F) disappears from the front of the vehicle M's direction of travel, the ACC control immediately registers the vehicle to be followed (F) as a vehicle to be prohibited from overtaking and executes follow-up driving control (steps S8 and S9 described above). Therefore, the ACC control does not set the set speed as the target speed. As a result, in the ACC control according to this embodiment, unnecessary acceleration and deceleration control against the driver's will is prevented. Furthermore, even during the transient period until the vehicle to be followed (F) becomes a vehicle to be prohibited from overtaking, the vehicle M is prevented from mistakenly overtaking the vehicle to be prohibited from overtaking.

[0054] Next, the driver assistance control unit 11 checks whether the vehicle subject to the no-passing rule has been driving alongside the vehicle in the no-passing lane (the second lane in Figure 3B, the third lane in Figure 4B) for a set time tim or longer (step S10). This set time tim is the elapsed time since the driver assistance control unit 11 determined that its own vehicle M or the following vehicle (F) had left the lane (see Figures 3B and 4B). This set time tim may be the same as the time required for the conventional parallel vehicle detection process (for example, 1 to 3 seconds).

[0055] Then, if the time spent driving in the lane where overtaking is prohibited has not reached the set time tim (NO), the driver assistance control unit 11 returns to step S9 and continues the follow-me driving control.

[0056] On the other hand, if the driver assistance control unit 11 determines that a vehicle subject to the no-passing rule has been continuously driving in the no-passing rule lane for a set time tim or longer (YES), it updates the registration of the vehicle subject to the no-passing rule as a vehicle that is not subject to the no-passing rule and is driving alongside the other vehicle (step S11). Then, the driver assistance control unit 11 causes the vehicle that is not subject to the no-passing rule and is driving alongside the other vehicle (see Figures 3B and 4B) to perform ACC control, which causes its own vehicle M to follow the vehicle while maintaining the lane it is currently driving in (step S12).

[0057] Subsequently, the driver assistance control unit 11 checks whether the vehicle traveling alongside in the no-passing zone has left the no-passing lane (step S13). If the driver assistance control unit 11 determines that the vehicle traveling alongside in the no-passing zone has not left the no-passing lane (NO), it checks whether the vehicle M has left the no-passing lane (step S14). If the driver assistance control unit 11 determines that the vehicle M has not left the no-passing lane (step S14: NO), it continues the ACC control from step S12.

[0058] Furthermore, if the driver assistance control unit 11 determines that the vehicle traveling alongside in a no-passing zone has left the no-passing lane (Step S13: YES), or if it determines that its own vehicle M has left the no-passing lane (Step S14: YES), it clears the registration of the vehicle traveling alongside in a no-passing zone and exits the routine. As a result, the driver assistance control unit 11 drives its own vehicle M using normal ACC control.

[0059] Thus, according to this embodiment, when ACC control is performed with a preceding vehicle F traveling ahead of the vehicle M designated as the vehicle to follow (F), if the vehicle M or the vehicle to follow (F) deviates from the driving lane and is traveling in a deviation section, the registration of the vehicle to follow (F) is immediately updated to a vehicle that is prohibited from being overtaken. This allows ACC control to continue. Therefore, even if the vehicle to follow (F) disappears in the deviation section, unnecessary acceleration and deceleration are suppressed, and discomfort experienced by the driver can be reduced. [Differentiation]

[0060] Figure 6 shows a modified version of the follow-me driving control routine. Figure 6 is applied in place of Figure 2B. The processing in steps S1 to S9 is the same as the flowcharts in Figures 2A and 2B.

[0061] In the embodiment described above, if a vehicle subject to the overtaking prohibition continues to travel in the lane subject to the overtaking prohibition for a set time tim or longer, the registration of the vehicle subject to the overtaking prohibition is updated to a vehicle traveling alongside that vehicle subject to the overtaking prohibition, and ACC control is executed (Figure 2B: Steps S10-S12).

[0062] In contrast, in this modified example, the processing in steps S10 to S12 is omitted. That is, in the routine shown in Figure 6, when the driver assistance control unit 11 is performing ACC control to make its own vehicle M follow the vehicle subject to the no-passing rule while maintaining the lane it is currently traveling in (step S9), it checks whether the vehicle subject to the no-passing rule has left the no-passing lane (step S21).

[0063] Then, if the driver assistance control unit 11 determines that the vehicle subject to the no-passing rule has not left the no-passing lane (step S21: NO), it checks whether its own vehicle M has left the no-passing lane (step S22). Also, if the driver assistance control unit 11 determines that its own vehicle M has not left the no-passing lane (step S21: NO), it continues the ACC control in step S9.

[0064] Furthermore, if the driver assistance control unit 11 determines that a vehicle subject to the no-passing rule has left the no-passing lane (Step S21: YES), or determines that its own vehicle M has left the no-passing lane (Step S22: YES), it clears the registration of the vehicle subject to the no-passing rule and exits the routine.

[0065] Thus, according to this modified example, the processing steps S10 to S12 of the above-described form are omitted, making calculations easier and reducing the load on the driver assistance control unit 11. [Explanation of symbols]

[0066] 1…Driving assistance system, 11…Driving support control unit, 12…Forward recognition sensor, 13…Stereo camera, 13a... Main camera, 13a, 13b... both cameras, 13b... Sub-camera, 14…Image processing unit, 15…Image recognition unit, 16...Locator unit, 17…GNSS sensor, 18…Road map database, 19…Vehicle speed sensor, 21... Steering control unit, 22...Acceleration / deceleration control unit, 23...Brake control unit, 24... Notification device, F... preceding vehicle, (F)...Vehicle to be followed, M... Own vehicle, tim…Setting time

Claims

1. A driving environment information acquisition unit that acquires driving environment information in front of the vehicle, Based on the driving environment information acquired by the driving environment information acquisition unit, if the nearest preceding vehicle traveling in the same lane as the own vehicle is detected, the following driving control unit executes following driving control for the preceding vehicle. In a vehicle driver assistance system equipped with, The aforementioned follow-me driving control unit, Based on the driving environment information acquired by the driving environment information acquisition unit, if the unit detects at least one of the following states: that the preceding vehicle has moved into the lane where overtaking is prohibited, and that the vehicle itself has moved into the lane where overtaking is prohibited, the unit registers the preceding vehicle as a vehicle subject to overtaking prohibition. In the vehicle registration unit subject to the overtaking prohibition, when a vehicle subject to the overtaking prohibition is registered, the vehicle performs the overtaking prohibition follow control, and A vehicle driving assistance device characterized by further having the following.

2. The deceleration during the follow-up driving control performed by the overtaking-prohibition follow-up control unit is set to a value smaller than the deceleration set when performing follow-up driving control for the preceding vehicle. The vehicle driving assistance device according to claim 1.

3. The target distance between vehicles during the follow-up driving control performed by the overtaking-prohibition follow-up control unit is set to the minimum distance within the target distance range set when performing follow-up driving control for the preceding vehicle. The vehicle driving assistance device according to claim 1.

4. The acceleration during the follow-up driving control performed by the overtaking-prohibition follow-up control unit is set to a value smaller than the acceleration set when performing follow-up driving control for the preceding vehicle. The vehicle driving assistance device according to claim 1.

5. The vehicle driving assistance device according to any one of claims 1 to 4, characterized in that the vehicle registration unit for vehicles subject to overtaking restrictions clears the registration of the vehicle subject to overtaking restrictions when the vehicle subject to overtaking restrictions moves away from the vehicle subject to overtaking restrictions, or when the vehicle itself moves away from the lane where overtaking is prohibited.

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