Vehicle control system

Abstract

The present invention provides a vehicle control device that can accurately determine the state of another vehicle, such as when it is encroaching on the vehicle's lane and approaching it, and appropriately assist the driver's operation. [Solution] The control device 30 of the vehicle 1 includes a pattern recognition unit 34 configured to recognize a display pattern P projected onto the road surface in the area in front of the vehicle 1 by another vehicle 2, a deviation determination unit 35 configured to predict or detect, based on the display pattern P recognized by the pattern recognition unit 34, that another vehicle 2 will deviate from the second lane L2 adjacent to the first lane L1 on which the vehicle 1 is traveling into the first lane L1, and an avoidance support control unit 36 ​​configured to perform avoidance support control to avoid a collision with the other vehicle 2 when the deviation determination unit 35 predicts or detects that the other vehicle 2 will deviate from the second lane L2 into the first lane L1.

Description

Technical Field

[0001] The present invention relates to a vehicle control device.

Background Art

[0002] Various driving support technologies for assisting a driver in driving a vehicle are known. Examples of driving support technologies include lane keeping control for assisting driving near the center of a lane of a vehicle, and emergency avoidance control for avoiding a collision between the vehicle and an obstacle. For example, in Patent Document 1, when it is determined that there is a possibility that a vehicle may deviate from a lane by executing steering avoidance control with respect to an obstacle such as an oncoming vehicle, a target travel route offset to the side where there is a possibility of deviation with respect to the center of the lane is set. A vehicle control device is disclosed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the device described in Patent Document 1 above, steering avoidance control is performed to avoid a collision when there is a possibility of a collision between the vehicle and another vehicle. Here, whether or not there is a possibility of a collision between the vehicle and another vehicle is generally determined based on the vehicle's state and driving operation state, as well as the detection results of the other vehicle by detection devices such as cameras and sensors installed in the vehicle. If the other vehicle is traveling in the oncoming lane, a situation in which the other vehicle veers into the vehicle's lane and approaches the vehicle indicates a possibility of a collision between the vehicle and the other vehicle. However, while detection devices can detect the relative speed and direction of movement of the other vehicle as seen from the vehicle, and the positional relationship of the other vehicle with respect to the lane markings, they cannot directly detect the driving operation state of the other vehicle, such as the amount of steering input. Thus, it is difficult to accurately determine the state of another vehicle using the vehicle's detection devices, and there is a need to accurately grasp whether the other vehicle is veering into the vehicle's lane and appropriately support the vehicle's driving operation.

[0005] This invention has been made in view of the above-described circumstances, and its purpose is to provide a vehicle control device that can accurately determine the state of another vehicle, such as when another vehicle is encroaching on the vehicle's lane and approaching it, and can appropriately support the vehicle's driving operation. [Means for solving the problem]

[0006] According to one aspect of the present invention, a vehicle control device includes: a pattern recognition unit configured to recognize a display pattern projected onto the road surface in the area in front of the vehicle by another vehicle; a deviation determination unit configured to predict or detect, based on the display pattern recognized by the pattern recognition unit, that another vehicle will deviate from a second lane adjacent to the first lane in which the vehicle is traveling into the first lane; and an avoidance support control unit configured to perform avoidance support control to avoid a collision with the other vehicle when the deviation determination unit predicts or detects that the other vehicle will deviate from the second lane into the first lane. [Effects of the Invention]

[0007] The vehicle control device according to the present invention can accurately determine the state of another vehicle, such as when it is encroaching on the vehicle's lane and approaching it, and can appropriately support the vehicle's driving operation. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a block diagram showing a schematic configuration of a vehicle control system in one embodiment of the present invention. [Figure 2] Figure 2 is a diagram illustrating the overview of avoidance support control in one embodiment. [Figure 3] This flowchart shows the flow of avoidance support control in one embodiment. [Modes for carrying out the invention]

[0009] Hereinafter, a vehicle control device according to one embodiment of the present invention will be described in detail with reference to the drawings. Figure 1 is a block diagram showing the schematic configuration of a vehicle control system 10 including the control device in this embodiment. The vehicle control device in this embodiment is configured to assist the driver's driving operations by utilizing information from a display pattern projected onto the road surface in order to assist the driver's driving operations.

[0010] As shown in Figure 1, the vehicle control system 10 includes a camera 21 as a forward detection means for detecting the area in front of the vehicle, a yaw rate sensor 22 for detecting the vehicle's yaw rate γ, a vehicle speed sensor 23 for detecting the vehicle's speed (vehicle speed) V, and a steering angle sensor 24 for detecting the vehicle's steering angle (front wheel steering angle) δ. The vehicle control system 10 further includes a control device 30, an EPS (electric power steering) controller 50, and a display device 60.

[0011] Camera 21 is configured to capture images of the area in front of the vehicle using an image sensor and input the image data to the control device 30. Camera 21 is a detection device capable of detecting the position of road markings that define the vehicle's own lane and adjacent lanes, as well as the presence and relative distance of obstacles such as other vehicles and people around the vehicle. The area in front of the vehicle captured by camera 21 includes not only the vehicle's own lane but also adjacent lanes where other vehicles are traveling.

[0012] The signals of the yaw rate γ detected by the yaw rate sensor 22, the vehicle speed V detected by the vehicle speed sensor 23, and the steering angle δ detected by the steering angle sensor 24 are input to the control device 30. The signals of the vehicle speed V detected by the vehicle speed sensor 23 and the steering angle δ detected by the steering angle sensor 24 are also input to the EPS controller 50.

[0013] The control device 30 is composed of a computer that includes, for example, a ROM for storing programs and data, a CPU for performing calculations, a RAM for storing dynamic data and calculation results, and an input / output interface. The control device 30 is configured to perform lane keeping control, which keeps the vehicle near the center of the lane and drives within the lane. The system that performs lane keeping control is also called a Lane Keeping Assistance System (LKAS). The control device 30 is further configured to perform avoidance assistance control to avoid collisions with obstacles around the vehicle, especially other vehicles that deviate from the oncoming lane and encroach into the vehicle's lane, while lane keeping control is being performed.

[0014] Therefore, the control device 30 is configured to control the entire vehicle control system 10 by executing the functions of the lane recognition unit 31, the target steering angle calculation unit 32, the lane keeping control unit 33, the pattern recognition unit 34, the lane departure detection unit 35, and the avoidance support control unit 36. In the control device 30, the lane recognition unit 31, the target steering angle calculation unit 32, and the lane keeping control unit 33 constitute the lane keeping support unit 30A, and the pattern recognition unit 34, the lane departure detection unit 35, and the avoidance support control unit 36 ​​constitute the avoidance support unit 30B. The configurations of the lane keeping support unit 30A and the avoidance support unit 30B will be described later.

[0015] The EPS controller 50 is composed of a computer that includes, for example, a ROM for storing programs and data, a CPU for performing calculations, a RAM for storing dynamic data and calculation results, and an input / output interface. The EPS controller 50 is configured to control the steering mechanism 51 based on a steering angle command input from the lane keeping support unit 30A or the avoidance support unit 30B, or a steering angle command corresponding to manual steering 52 of the steering wheel.

[0016] Since the steering reaction force changes with vehicle speed, the EPS controller 50 refers to a steering angle-steering torque map for each vehicle speed stored in a memory (not shown) to obtain the steering torque based on the steering angle command and outputs a torque command to the steering mechanism 51. The steering mechanism 51 drives an actuator (EPS motor) (not shown) in response to the torque command. As a result, the front wheel steering angle δ is controlled so that the vehicle follows the target path, and steering control is performed.

[0017] The display device 60 is configured to display information to the vehicle occupants in response to commands from the control device 30. The display device 60 has, for example, a liquid crystal display, indicator lights, etc., located on the instrument panel at the front of the vehicle, and can provide information to the occupants visually. When the lane keeping control described above is being performed, the display device 60 displays information indicating that lane keeping control is being performed, and when evasive support control is being performed, it displays information indicating that evasive support control is being performed. The display device 60 can be configured, for example, as the display of a navigation system (not shown). As a means of providing information, in addition to the display device 60, or instead of the display device 60, information may be provided to the occupants auditorily using, for example, a speaker.

[0018] Next, the configuration of the lane keeping support unit 30A will be described. The lane recognition unit 31 is configured to recognize the lane (driving lane) in which the vehicle is traveling. For example, the lane recognition unit 31 performs image processing based on image data of the forward area input from the camera 21 and recognizes the left and right lane markings (white lines) that define the lane in which the vehicle is traveling. The lane markings include the markings of the own lane and adjacent lanes, as well as the markings at the lateral edges of the own lane. The lane recognition unit 31 also calculates the width of the lane and the center line of the lane passing through the midpoint between the left and right lane markings from the positions of the left and right lane markings, and calculates the radius of curvature or curvature (= reciprocal of the radius of curvature) of the road based on the center line of the lane.

[0019] The target steering angle calculation unit 32 is configured to calculate a target steering angle θa for the vehicle to follow a target path within a lane. For example, the target steering angle calculation unit 32 sets a center line passing through the center position of the lane calculated by the lane recognition unit 31 as the target path, and calculates the position and attitude of the vehicle with respect to the center line of the lane. The position of the vehicle is, for example, the distance (lateral displacement) y in the vehicle width direction from the center line of the lane to the center of gravity position of the vehicle, and the attitude of the vehicle is, for example, the angle (yaw angle) θy formed between the tangent direction of the center line of the lane and the center axis in the longitudinal direction of the vehicle. The yaw angle θy can also be calculated by integrating the yaw rate γ input from the yaw rate sensor 22. The target steering angle calculation unit 32 calculates a target steering angle θa for following the target path based on the position and attitude of the vehicle.

[0020] The lane keeping control unit 33 executes lane keeping control. Specifically, the lane keeping control unit 33 is configured to perform steering control based on the target steering angle θa in order to maintain the vehicle's travel within the lane. For example, the lane keeping control unit 33 uses the position and motion characteristics of the vehicle, that is, the front wheel steering angle δ that occurs when a steering torque T is applied to the steering mechanism 51 while the vehicle is traveling at a vehicle speed V, to estimate the yaw rate γ and lateral acceleration (d 2 y / dt 2 ) of the vehicle caused by the vehicle motion. From the relationship, the attitude and lateral displacement of the vehicle after Δt seconds are estimated. The lane keeping control unit 33 calculates a steering angle command such that the lateral displacement becomes yt after Δt seconds and outputs it to the EPS controller 50.

[0021] As described above, the control device 30 according to the present embodiment is configured to execute lane keeping control that supports the driver's driving operation so that the vehicle maintains near the center of the lane and travels within the lane by the lane keeping support unit 30A. The control device 30 is further configured to execute avoidance support control for avoiding a collision with another vehicle in a situation where another vehicle protrudes from the oncoming lane to the own lane side during the execution of the lane keeping control by the avoidance support unit 30B.

[0022] Here, whether there is a possibility that other vehicles traveling in the oncoming lane will protrude into the own lane and collide with the vehicle is generally determined based on the detection results of other vehicles by detection devices such as cameras and sensors equipped on the vehicle, in addition to the vehicle state and driving operation state of the vehicle. A situation where other vehicles protrude into the adjacent lane and approach the vehicle can be said to have a possibility of collision between the vehicle and the other vehicle.

[0023] As described above, by imaging the front area of the vehicle with a detection device for detecting other vehicles, for example, camera 21, it is possible to detect the relative moving speed and moving direction of other vehicles as seen from the vehicle, and the positional relationship of other vehicles with respect to the lane dividing line. Therefore, based on the image data captured by camera 21, it is possible to detect the moving direction of other vehicles up to the present, further predict the future traveling direction, and determine whether there is a possibility that other vehicles will protrude into the own lane and collide with the vehicle.

[0024] However, the camera 21 of the vehicle cannot directly detect the vehicle state and driving operation state of other vehicles. For example, the steering operation amount of other vehicles cannot be detected from the image data captured by camera 21. That is, the vehicle cannot accurately grasp in which direction other vehicles are trying to move based on the actual steering operation amount of other vehicles by camera 2, and it is difficult to accurately determine whether other vehicles will deviate from the adjacent lane and protrude into the own lane.

[0025] Incidentally, a driver assistance projection system has been proposed that uses the vehicle's variable-beam headlights to project warnings onto the road surface in order to assist the driver's driving operations. Driver assistance projection is a function that projects display patterns representing specific warnings, such as collision risk warnings and lane keeping assist warnings, onto the road surface as a driver assistance projection to assist the driver's driving operations. For example, consider a case where the driver assistance projection function is configured to project a display pattern indicating a lane keeping assist warning onto the road surface when it is predicted or detected that the vehicle is deviating from its lane. In this case, by projecting a display pattern indicating a lane keeping assist warning onto the road surface in front of the vehicle, the driver of the vehicle can be alerted to the possibility of deviating from the lane and encouraged to take driving actions to maintain driving within the lane.

[0026] The display pattern is projected onto the road surface when it is determined that the vehicle will deviate from its lane, based on actual detection results such as the vehicle's position relative to the lane markings and the amount of steering input. In other words, the display pattern projected onto the road surface as a driver assistance projection reflects the actual driving operation state of the vehicle equipped with the driver assistance projection function. Therefore, in this embodiment, when another vehicle traveling in an adjacent lane has a driver assistance projection function and a driver assistance projection display pattern is projected onto the road surface in front of the other vehicle, the driver assistance projection display pattern projected by the other vehicle is utilized for the vehicle's avoidance assistance control.

[0027] Specifically, in this embodiment, the display pattern of the driver assistance projection projected by another vehicle is recognized, and avoidance assistance control is performed by the avoidance assistance unit 30B. The configuration of the avoidance assistance unit 30B and the avoidance assistance control will be described below with reference to Figure 2. Figure 2 is a diagram illustrating the overview of the avoidance assistance control in this embodiment. In Figure 2, vehicle 1, to which the vehicle control device according to this embodiment is applied, is traveling in its own lane (first lane) L1. Other vehicle 2 is an oncoming vehicle traveling in the opposite direction to the direction of travel of vehicle 1, and is traveling in the adjacent lane (second lane) L2 adjacent to the own lane. The own lane L1 and the adjacent lane L2 are distinguished by lane markings M0, and the own lane L1 is defined by lane markings M0 and lane markings M1 at the lateral end.

[0028] The pattern recognition unit 34 is configured to recognize a display pattern P projected onto the road surface in the area in front of vehicle 1 by the control device 130 of another vehicle 2. Specifically, it performs image processing based on image data of the area in front of vehicle 1 input from camera 21 and recognizes the display pattern P of the driver assistance projection projected onto the road surface of the adjacent lane L2 where the other vehicle 2 is traveling.

[0029] The pattern recognition unit 34 determines whether the image data of the area in front of the vehicle 1 contains an image corresponding to the display pattern of the driver assistance projection. If an image corresponding to the display pattern is found, it determines whether that image corresponds to a lane keeping assistance warning. The pattern recognition unit 34 can determine whether the display pattern P projected onto the road surface indicates a lane keeping assistance warning, for example, by using pattern matching. The display pattern P shown in Figure 2 is a symbol that can be used as a lane keeping assistance warning, and indicates that another vehicle 2 traveling in the adjacent lane L2 may deviate towards the vehicle's own lane L1, as indicated by arrow A.

[0030] The lane departure detection unit 35 is configured to predict, based on the display pattern P recognized by the pattern recognition unit 34, that another vehicle 2 will deviate from the adjacent lane L2 adjacent to the vehicle 1's own lane L1 into the vehicle 1's own lane L1. When the lane departure detection unit 35 determines from the positional relationship of the other vehicle 2 with respect to the lane marking M0 recognized by the lane recognition unit 31 that the other vehicle 2 is traveling within the adjacent lane L2, and the pattern recognition unit 34 recognizes the display pattern P shown in Figure 2, the unit predicts that the other vehicle 2 will deviate from the vehicle 1's own lane L1.

[0031] The lane departure detection unit 35 may also detect that another vehicle 2 has actually deviated into its own lane L1. In this case, when the pattern recognition unit 34 recognizes the display pattern P, the lane departure detection unit 35 detects that the other vehicle 2 has deviated from the adjacent lane L2 based on the positional relationship of the other vehicle 2 with respect to the lane marking M0, and detects that the other vehicle 2 has deviated into its own lane L1.

[0032] The lane departure detection unit 35 may also be configured to determine the possibility of other vehicles 2 deviating from their lane. The lane departure detection unit 35 determines the possibility of other vehicles 2 deviating into its own lane L1, for example, based on the speed of other vehicles 2 and the positional relationship of other vehicles 2 with respect to the lane marking M0. The lane departure detection unit 35 determines that the possibility of deviating is higher the faster the speed of other vehicles 2, the closer other vehicles 2 are to the lane marking M0, or the more the direction (direction of travel) of other vehicles 2 is approaching the lane marking M0.

[0033] The avoidance support control unit 36 ​​is configured to perform avoidance support control to avoid a collision with the other vehicle 2 when the lane departure detection unit 35 predicts or detects that the other vehicle 2 is about to deviate into the vehicle's lane L1. Avoidance support control methods include, for example, avoiding a collision by steering control and avoiding a collision by braking control. In this embodiment, the avoidance support control unit 36 ​​performs steering control as the avoidance support control.

[0034] Specifically, the avoidance support control unit 36 ​​offsets the target path of the lane keeping control performed by the lane keeping support unit 30A in a direction away from the adjacent lane L2, as shown by arrows B and C, and performs steering control so that vehicle 1 follows the offset target path. The target path of the lane keeping control is set to pass through the center of the own lane L1. The offset target path (offset path) is set to move away from the adjacent lane L2, and so that vehicle 1 can travel within its own lane L1. Figure 2 shows an example of vehicle 1 traveling along the offset path as vehicle 1A.

[0035] Therefore, the avoidance support control unit 36 ​​determines whether or not there is space (offset area) within the vehicle's lane L1 to offset the target path, based on the image data of the area in front of the vehicle 1 input from the camera 21. For example, if the width of the vehicle's lane L1 in front of the vehicle 1 is narrow, or if there is an obstacle such as a parked vehicle in the vehicle's lane L1 in front of the vehicle 1, the avoidance support control unit 36 ​​determines that there is no offset area if there is no space within the vehicle's lane L1 to safely offset the vehicle's driving position in the vehicle width direction. If there is no obstacle in the vehicle's lane L1 in front of the vehicle 1, and there is sufficient space within the vehicle's lane L1 to offset the vehicle's driving position in the vehicle width direction, the avoidance support control unit 36 ​​determines that there is an offset area.

[0036] If the avoidance support control unit 36 ​​determines that there is an offset area within its own lane L1, it sets an offset path for the target path of lane keeping control, offsetting it in the direction away from the adjacent lane L2. The offset path is set considering the width of vehicle 1 so that the entire vehicle 1 stays within its own lane L1 without exceeding the lane marking M1. In this case, the avoidance support control unit 36 ​​calculates a steering angle command to follow the offset path and outputs it to the EPS controller 50. On the other hand, if the avoidance support control unit 36 ​​determines that there is no offset area within its own lane L1, it does not set an offset path. In this case, avoidance support control by the avoidance support unit 30B is not executed, and the driver performs steering and / or braking operations themselves to avoid a collision with the other vehicle 2.

[0037] Furthermore, the avoidance support control unit 36 ​​may be configured to adjust the timing of initiating avoidance support control according to the likelihood of the other vehicle 2 crossing the lane when the crossing detection unit 35 predicts that the other vehicle 2 will cross the lane. Specifically, the less likely the other vehicle 2 is to cross into the vehicle's own lane L1, the later the timing of initiating the target path offset described above. For example, when the crossing detection unit 35 detects that the other vehicle 2 has crossed into the vehicle's own lane L1, the avoidance support control unit 36 ​​immediately performs the target path offset. On the other hand, when the crossing detection unit 35 predicts that the other vehicle 2 will cross into the vehicle's own lane L1, the avoidance support control unit 36 ​​sets the time from when the crossing is predicted until the target path offset is performed to be longer, as the likelihood of the crossing decreases.

[0038] The avoidance support control in this embodiment will be described in detail below using the flowchart in Figure 3. The flowchart in Figure 3 shows the flow of the avoidance support control that is performed while lane keeping control is in operation. The avoidance support unit 30B of the control device 30 repeatedly performs the process shown in Figure 3 at a predetermined cycle while lane keeping control is in operation by the lane keeping support unit 30A.

[0039] In step S101, the avoidance support unit 30B determines whether lane keeping control is active by the lane keeping support unit 30A. For example, if the LKAS function is turned on by the driver operating a switch, it is determined that lane keeping control is active, and the process proceeds to step S102. If lane keeping control is not active, this process ends.

[0040] In step S102, the pattern recognition unit 34 recognizes a display pattern P projected onto the road surface in front of another vehicle 2 traveling in the adjacent lane L2, based on image data of the area in front of vehicle 1 input from camera 21. In step S103, it is determined whether the recognized display pattern P represents a lane keeping assist warning. If it is determined that the display pattern P represents a lane keeping assist warning, the process proceeds to step S104; if it is determined that it does not represent a lane keeping assist warning, this process ends.

[0041] In step S104, the lane departure detection unit 35 determines whether another vehicle 2 traveling in the adjacent lane L2 is about to deviate into its own lane L1. It determines whether the recognized display pattern P representing the lane keeping support warning warns of the other vehicle 2 deviating from the adjacent lane L2 into its own lane L1, as shown in Figure 2. If the recognized display pattern P warns of the other vehicle 2 deviating from the adjacent lane L2 into its own lane L1, the process proceeds to step S105. On the other hand, if the recognized display pattern P does not warn of the other vehicle 2 deviating from the adjacent lane L2 into its own lane L1, for example, if it warns of the other vehicle 2 deviating in the opposite direction to its own lane L1, this process is terminated.

[0042] In step S105, the avoidance support control unit 36 ​​determines whether or not there is an offsettable area within its own lane L1 based on the image data of the area in front of the vehicle 1 input from the camera 21. If it is determined that there is an offsettable area, the process proceeds to step S106; if it is determined that there is no offsettable area, this process ends.

[0043] In step S106, the avoidance support control unit 36 ​​sets an offset path for the target path of lane keeping control by the lane keeping support unit 30A, which is offset in the direction away from the adjacent lane L2. The avoidance support control unit 36 ​​calculates a steering angle command to follow the offset path and outputs it to the EPS controller 50. As a result, steering control is executed so that vehicle 1 follows the offset path as an avoidance control to avoid the other vehicle 2 that is encroaching on the side of its own lane L1. The avoidance support control unit 36 ​​also outputs a command to the display device 60 to display information indicating that avoidance support control is being executed.

[0044] The vehicle control device according to this embodiment, as described above, can achieve the following effects.

[0045] (1) The control device 30 of the vehicle 1 includes a pattern recognition unit 34 configured to recognize a display pattern P projected onto the road surface in the area in front of the vehicle 1 by another vehicle 2, a deviation determination unit 35 configured to predict or detect, based on the display pattern P recognized by the pattern recognition unit 34, that another vehicle 2 will deviate from an adjacent lane (second lane) L2 adjacent to the vehicle's own lane (first lane) L1 into the vehicle's own lane L1, and an avoidance support control unit 36 ​​configured to perform avoidance support control to avoid a collision with the other vehicle 2 when the deviation determination unit 35 predicts or detects that another vehicle 2 will deviate from the adjacent lane L2 into the vehicle's own lane L1.

[0046] It is difficult for vehicle 1 to accurately detect the driving state of other vehicle 2 using detection devices such as the camera 21 installed in vehicle 1. Therefore, by using the display pattern P projected by other vehicle 2 itself to predict or detect when other vehicle 2 is about to veer into the vehicle's lane L1, it is possible to accurately determine the state of other vehicle 2, which is about to veer into the vehicle's lane L1 and approach vehicle 1, and to perform avoidance support control to avoid a collision with other vehicle 2. By using highly accurate information about other vehicle 2's veering into the lane, safer avoidance support control can be performed.

[0047] (2) The display pattern P is designed to be projected onto the road surface in front of the other vehicle 2 by the control device 130 of the other vehicle 2 as a lane keeping support warning for the driver assistance projection function when the control device (other vehicle control device) 130 of the other vehicle 2 predicts or detects that the other vehicle 2 is veering out of the adjacent lane L2. The pattern recognition unit 34 recognizes the display pattern P projected onto the road surface of the adjacent lane L2 in front of the other vehicle 2. By using the display pattern P defined as a lane keeping support warning for the driver assistance projection function, the pattern recognition unit 34 of vehicle 1 can easily determine whether or not the display pattern P represents a lane keeping support warning. By using the display pattern P that represents the risk of departure of the other vehicle 2, which is determined by the control device 130 of the other vehicle 2 based on information such as its own steering operation amount, the veering of the other vehicle 2 towards the L1 side of the vehicle can be determined with high accuracy. Furthermore, since there is no need to provide the vehicle 1 with a new device to detect information such as the steering operation amount of the other vehicle 2, the number of parts can be suppressed.

[0048] (3) The control device 30 includes a lane keeping support unit 30A configured to perform lane keeping control, which involves steering control to ensure that the vehicle 1 follows a target path within its own lane L1. When the lane departure detection unit 35 predicts or detects that another vehicle 2 is about to deviate into its own lane L1, the avoidance support control unit 36 ​​offsets the target path set by the lane keeping support unit 30A in a direction away from the adjacent lane L2. Since avoidance support control is performed by offsetting the target path set by the lane keeping support unit 30A, a simple and safe control system can be constructed by utilizing the existing LKAS functions of the control device 30. In general, the lane keeping control by the lane keeping support unit 30A has an override function that prioritizes the override operation and transfers authority to the driver if there is an override operation by the driver. The override function can also be applied to avoidance support control, in which case, even if the target path is offset, the driver's avoidance operation can be prioritized if the driver performs an avoidance operation by operating the vehicle themselves.

[0049] (4) The avoidance support control unit 36 ​​determines whether or not there is an offsettable area within the current lane L1, and if there is an offsettable area, it offsets the target path within the current lane L1. As a result, even if the target path is offset, the vehicle 1 will not deviate from the current lane L1, and the avoidance support control can be safely executed.

[0050] (5) The lane departure detection unit 35 determines the possibility of lane departure by the other vehicle 2 based on the vehicle speed of the other vehicle 2 and the positional relationship of the other vehicle 2 with respect to the lane marking M0 between the vehicle's own lane L1 and the adjacent lane L2. The avoidance support control unit 36 ​​delays the timing of starting the offset of the target path the lower the possibility of lane departure by the other vehicle 2. Even if lane departure is predicted by the lane departure detection unit 35, there is a possibility that the other vehicle 2 will perform an avoidance maneuver to avoid the lane departure. Therefore, when the display pattern P is projected by the other vehicle 2 as a lane keeping support warning of the driving support projection function, the possibility of lane departure is determined by combining the information of the other vehicle 2 detected by vehicle 1, thereby enabling avoidance support control to be executed according to the possibility, i.e., certainty, of the other vehicle 2's lane departure. By delaying the start of avoidance support control the lower the possibility of lane departure, if the other vehicle 2 performs an avoidance maneuver to avoid the lane departure, vehicle 1 can avoid executing unnecessary avoidance support control.

[0051] -Variations- (1) In the above-described embodiment, the avoidance support control unit 36 ​​is configured not to set an offset path and not to execute avoidance support control if there is no offsettable area within its own lane L1. However, it is not limited to this, and it may be configured to execute brake control as avoidance support control when there is no offsettable area. For example, the avoidance support control unit 36 ​​outputs a deceleration command to a brake actuator (not shown) to activate automatic emergency braking (AEB). By activating automatic emergency braking, it is possible to avoid a collision between vehicle 1 and other vehicle 2, or to reduce the damage in the event of a collision with other vehicle 2. In addition, the avoidance support control unit 36 ​​may be configured to execute a combination of steering control and brake control depending on the likelihood of the other vehicle 2 veering out of its lane when the veering detection unit 35 predicts that the other vehicle 2 will veering out of its lane. For example, if there is a high possibility that other vehicle 2 will veering out of its lane and the risk of a collision between other vehicle 2 and vehicle 1 is high, it may be configured to execute brake control and steering control, and if there is a low possibility that other vehicle 2 will veering out of its lane, it may be configured to execute only steering control.

[0052] (2) In the above-described embodiment, the system is configured to perform avoidance support control by the avoidance support unit 30B when lane keeping control is being performed by the lane keeping support unit 30A. However, it is not limited to this, and avoidance support control by the avoidance support unit 30B may be performed when lane keeping control by the lane keeping support unit 30A is not being performed. In this case, when the avoidance support control unit 36 ​​determines that the other vehicle 2 has deviated from its lane by the deviation determination unit 35, it sets a target position shifted from the current position of the vehicle 1 in the vehicle width direction to a position away from the adjacent lane within the own lane L1, and calculates a steering angle command so that the vehicle 1 moves toward the target position. As a result, steering control to avoid the other vehicle 2 is performed independently of the lane keeping control. In this case, the lane keeping control unit 33 may be omitted. It is also possible to apply the avoidance support control by the avoidance support unit 30B to an Automatically Lane Keeping System (ALKS) that combines a lane keeping support system and an Adaptive Cruise Control System (ACCS).

[0053] (3) In the above-described embodiment, the control device 30 is configured to include a lane keeping support unit 30A and an avoidance support unit 30B. However, it is not limited to this, and the lane keeping support unit 30A and the avoidance support unit 30B may be configured as separate controllers.

[0054] (4) In the above-described embodiment, a case was described in which another vehicle 2 has a driver assistance projection function, and vehicle 1 detects the display pattern of the driver assistance projection projected onto the road surface by the other vehicle 2 and utilizes it for avoidance assistance control. However, the system is not limited to this, and vehicle 1 may also be configured to have a driver assistance projection function. In this case, a driver assistance system can be configured consisting of multiple vehicles, each having a driver assistance projection function and capable of performing avoidance assistance control.

[0055] Although several embodiments of the present invention have been described above, it should be noted that the present invention is not limited to the above embodiments, and various further modifications and changes are possible within the scope of the present invention. [Explanation of Symbols]

[0056] 1 vehicle 2 Other vehicles 21 Cameras 30 Control device 30A Lane keeping support unit, 31 Lane recognition unit, 32 Target steering angle calculation unit, 33 Lane keeping control unit 30B Avoidance support unit, 34 Pattern recognition unit, 35 Overhang detection unit, 36 Avoidance support control unit 50 EPS controller, 51 steering mechanism 130 Other Vehicle Control Systems

Claims

1. A pattern recognition unit configured to recognize a display pattern projected onto the road surface in the area in front of the vehicle by another vehicle, A deviation detection unit is configured to predict or detect, based on the display pattern recognized by the pattern recognition unit, that another vehicle will deviate from a second lane adjacent to the first lane in which the vehicle is traveling into the first lane. When the lane departure detection unit predicts or detects that the other vehicle is about to veer from the second lane into the first lane, the avoidance support control unit is configured to perform avoidance support control to avoid a collision with the other vehicle. A vehicle control device equipped with [a specific feature].

2. The aforementioned display pattern is designed to be projected onto the road surface in front of the other vehicle by the other vehicle control device when the other vehicle control device of the other vehicle predicts or detects that the other vehicle is veering out of the second lane, as a lane keeping support warning for the driver assistance projection function. The vehicle control device according to claim 1, wherein the pattern recognition unit recognizes the display pattern projected onto the road surface of the second lane in front of the other vehicle.

3. The vehicle is equipped with a lane keeping support unit configured to perform lane keeping control, which involves steering control to ensure the vehicle follows a target path within the first lane. The vehicle control device according to claim 1, wherein the avoidance support control unit, when the lane departure determination unit predicts or detects that the other vehicle is about to deviate into the first lane, offsets the target path set by the lane keeping support unit in a direction away from the second lane.

4. The vehicle control device according to claim 3, wherein the avoidance support control unit determines whether or not there is an offsettable area within the first lane, and if there is an offsettable area, it offsets the target path within the first lane.

5. The lane departure detection unit determines the possibility of the other vehicle deviating from its lane based on the speed of the other vehicle and the positional relationship of the other vehicle with respect to the lane markings between the first lane and the second lane. The vehicle control device according to claim 3, wherein the avoidance support control unit delays the timing at which it starts offsetting the target path as the likelihood of the other vehicle deviating from the path decreases.

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