Merging support device, merging support system, and merging support method

Abstract

To provide a merging assistance device, a merging assistance system and a merging assistance method that are able to reduce driver's anxiety about vehicle control performed when merging vehicles meet.SOLUTION: A merging assistance device includes: a control unit that, based on a vehicle speed and a vehicle position of a second vehicle traveling in a second lane merging with a first lane in which a first vehicle is traveling, executes control for the first vehicle corresponding to a behavior when the second vehicle merges into the first lane; and a notifying unit that notifies a driver of the first vehicle of information about a control content for the first vehicle by the control unit.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a merging assistance device, a merging assistance system, and a merging assistance method. [Background technology]

[0002] Patent document 1 discloses an apparatus that detects the vehicle speed and vehicle position of a merging vehicle traveling on an on-ramp that merges into a lane in which a host vehicle is traveling, and adjusts the speed of the host vehicle based on the detected speed and position.

[0003] This device can automatically adjust the speed of the host vehicle, taking into account the vehicle speed and vehicle position of the merging vehicle, even when the host vehicle's speed is set to a speed set by the driver by an adaptive cruise control system installed in the host vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6353525 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the conventional technology disclosed in Patent Document 1, when a merging vehicle merges into the lane in which the host vehicle is traveling, vehicle control such as speed adjustment of the host vehicle is performed at a timing not intended by the driver of the host vehicle, which causes anxiety to the driver.

[0006] Non-limiting examples of the present disclosure contribute to providing a merging assistance device, a merging assistance system, and a merging assistance method that can reduce a driver's anxiety about vehicle control performed when a merging vehicle merges. [Means for solving the problem]

[0007] A merging support device according to an embodiment of the present disclosure includes: a control unit that executes control of a first vehicle corresponding to a behavior of a second vehicle traveling on a second lane merging into a first lane on which a first vehicle is traveling, based on a vehicle speed and a vehicle position of the second vehicle; and a notification unit that notifies a driver of the first vehicle of information related to a control content of the first vehicle by the control unit. The notification unit notifies the driver of an operation of the first vehicle after the control of the first vehicle is started. .

[0008] A merging assistance system according to an embodiment of the present disclosure includes the above-mentioned merging assistance device, and a center server that collects information on the vehicle speed and the vehicle position transmitted from the second vehicle and transmits the information to the first vehicle.

[0009] A merging support method according to an embodiment of the present disclosure includes a step of detecting a vehicle speed and a vehicle position of a second vehicle traveling on a second lane merging into a first lane in which a first vehicle is traveling, a step of executing control of the first vehicle corresponding to a behavior of the second vehicle when the second vehicle merges into the first lane based on the vehicle speed and the vehicle position of the second vehicle, and a step of notifying a driver of the first vehicle of information related to the content of the control of the first vehicle. and the step of notifying includes performing a notification of an operation by a driver of the first vehicle after the control of the first vehicle is started. . Effect of the Invention

[0010] According to an embodiment of the present disclosure, it is possible to provide a merging assistance device, a merging assistance system, and a merging assistance method that enable a merging vehicle to adjust its speed when merging without causing anxiety to the driver.

[0011] Further advantages and benefits of an embodiment of the present disclosure will become apparent from the specification and drawings, in which such advantages and / or benefits are provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of which are provided to obtain one or more identical features. [Brief description of the drawings]

[0012] [Figure 1]FIG. 1 is a diagram showing a configuration example of a merging support system 1 according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 shows an example of the hardware configuration of a merging support device 32. [Diagram 3] FIG. 2 shows an example of the configuration of a merging support device 32. [Figure 4] FIG. 2 is a diagram for explaining the function of the merging support device 32. [Figure 5A] A flowchart for explaining the operation of the merging support system 1. [Figure 5B] A flowchart for explaining the operation of the merging support system 1. [Figure 6A] A flowchart for explaining the operation of the merging support system 1. [Figure 6B] A flowchart for explaining the operation of the merging support system 1. [Figure 7A] A flowchart for explaining the operation of the merging support system 1. [Figure 7B] A flowchart for explaining the operation of the merging support system 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functions are denoted by the same reference numerals, and redundant description will be omitted.

[0014] (Embodiment) First, the background that led to the creation of the embodiments of the present disclosure will be described.

[0015] For example, the known technology described in Patent Document 1 discloses a technology for detecting the vehicle speed and vehicle position of a merging vehicle traveling on an on-ramp that merges into a lane in which a host vehicle is traveling, and adjusting the speed of the host vehicle based on the detected vehicle speed and vehicle position. In such a known technology, an adaptive cruise control system mounted on the host vehicle can automatically adjust the speed of the host vehicle by taking into account the vehicle speed and vehicle position of the merging vehicle, even when the speed of the host vehicle is set to a speed set by the driver.

[0016] However, with the above-mentioned known technology, when a merging vehicle merges into the lane in which the host vehicle is traveling, vehicle control such as speed adjustment of the host vehicle is performed at a timing not intended by the driver of the host vehicle, which causes anxiety to the driver.

[0017] For this reason, it is desirable to be able to perform vehicle control without making the driver feel uneasy when a merging vehicle merges into the lane in which the host vehicle is traveling.

[0018] FIG. 1 is a diagram illustrating an example of a configuration of a merging support system 1 according to an embodiment of the present disclosure.

[0019] (Merge Support System 1) The merging support system 1 includes an on-board device 30 mounted in each of a plurality of vehicles 3, and a center server 5 capable of communicating with the on-board device 30. The center server 5 is a device that manages information transmitted between the plurality of vehicles 3.

[0020] (In-vehicle device 30) The vehicle-mounted device 30 includes a data communication module (DCM) 31 , a merging assistance device 32 , a global positioning system (GPS) module 33 , an adaptive cruise control (ACC) switch 34 , a sensor 35 , an imaging device 36 , and a display device 37 .

[0021] The vehicle-mounted device 30 also includes a brake lamp control unit 39, a steering control unit 40, a turn signal control unit 41, a brake control unit 42, a horn control unit 43, a torque control unit 44, a user interface control unit 45, and an inter-vehicle communication device 46.

[0022] In addition to the above, the vehicle-mounted device 30 also includes, for example, a car navigation device, an audio device, an inverter, a motor, and auxiliary devices.

[0023] (DCM31) The DCM 31 is a communication device that performs bidirectional communication with the center server 5 through a communication network NW. The communication network NW is, for example, a mobile phone network terminated at a large number of base stations, or a satellite communication network using a communication satellite.

[0024] Furthermore, the DCM 31 is connected to the merging support device 32 via a CAN (Controller Area Network) 38, which is an in-vehicle network, so as to be able to communicate with each other, and transmits various information to the center server 5 in response to a request from the merging support device 32. Note that the DCM 31 may be connected to the merging support device 32 via a network of another standard, such as Ethernet (registered trademark), other than the CAN 38.

[0025] (merging support device 32) The merging assistance device 32 is an electronic control unit that collects vehicle information and performs various control processes related to predetermined functions in the vehicle 3, such as a motor ECU (Electronic Control Unit), a hybrid ECU, or an engine ECU.

[0026] The vehicle information includes information such as the vehicle position, the vehicle speed, the vehicle condition, and image data.

[0027] The vehicle position information is, for example, latitude and longitude information indicating the position where the vehicle 3 is located, transmitted from a car navigation device, the GPS module 33, or the like.

[0028] The vehicle speed information is information indicating the current speed of the vehicle 3 and is transmitted from a vehicle speed sensor.

[0029] The vehicle state information is information that indicates the vehicle state, such as the state of the ACC switch 34, the accelerator opening, the amount of brake depression, the amount of steering of the steering wheel, and the like.

[0030] The imaging data is data of an image captured by the imaging device 36. The imaging data includes time information indicating the time when the image was generated.

[0031] (Imaging device 36) The imaging device 36 is a camera equipped with an imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). The imaging device 36 includes, for example, an external imaging device that captures an image of the outside of the vehicle.

[0032] The external imaging device is an omnidirectional camera, a panoramic camera, etc., that captures the scenery around the vehicle. The scenery around the vehicle is, for example, the scenery in front of the vehicle 3, the scenery to the side of the vehicle 3, the scenery behind the vehicle 3, etc. The scenery includes, for example, the roadway on which the vehicle 3 is traveling, objects existing on the roadway, the sidewalk facing the roadway, objects existing on the sidewalk, etc.

[0033] (GPS module 33) The GPS module 33 receives GPS signals transmitted from satellites and determines the position of the vehicle 3 in which the GPS module 33 is mounted. The GPS module 33 is communicably connected to the merging support device 32 via the CAN 38. Vehicle position information indicating the position of the vehicle 3 measured by the GPS module 33 is transmitted to the merging support device 32.

[0034] (ACC switch 34) The ACC switch 34 is a switch for turning on or off an adaptive cruise control function, which is a driving assistance function that allows the vehicle 3 to follow the preceding vehicle while maintaining a distance from the vehicle 3 to the preceding vehicle.

[0035] (Sensor 35) The sensors 35 include a sensor that detects the voltage applied to an inverter mounted on the vehicle 3, a sensor that detects the voltage applied to the motor, a vehicle speed sensor that detects the vehicle speed, an accelerator opening sensor that detects the accelerator opening, a steering amount sensor that detects the amount of steering wheel operation, a brake operation amount sensor that detects the amount of brake operation, and a distance detection sensor that detects the distance from the vehicle 3 to objects around the vehicle 3.

[0036] The information output from the sensor 35 is input to the merging assistance device 32 via the CAN 38 .

[0037] (Display device 37) The display device 37 is a center display, a meter panel, a head-up display, or the like provided in the vehicle cabin.

[0038] (Brake lamp control unit 39) The brake lamp control unit 39 turns on the brake lamps by supplying a current to the brake lamps, and turns off the brake lamps by stopping the supply of current to the brake lamps.

[0039] (Control example 1 of the brake lamp control unit 39) When the merging assistance device 32 receives a brake pedal operation amount signal transmitted from the brake operation amount sensor, the merging assistance device 32 generates a brake operation signal and transmits the brake operation signal to the brake lamp control unit 39 .

[0040] The brake lamp control unit 39 that receives the brake operation signal supplies a current to the brake lamps to turn on the brake lamps, thereby notifying the following vehicles that the vehicle 3 is decelerating.

[0041] (Control example 2 of the brake lamp control unit 39) When the merging assistance device 32 receives the distance signal transmitted from the distance detection sensor, the merging assistance device 32 measures the inter-vehicle distance between the vehicle 3 and the preceding vehicle based on the distance signal.

[0042] If the inter-vehicle distance is shorter than a set distance set by the adaptive cruise control function, the merging assistance device 32 transmits a brake operation signal to the brake lamp control unit 39 .

[0043] The brake lamp control unit 39 that receives the brake operation signal supplies a current to the brake lamps to turn on the brake lamps, thereby notifying the following vehicles that the vehicle 3 is decelerating.

[0044] (Handle control unit 40) The steering control unit 40 controls the steering angle of the vehicle's front wheels in response to steering wheel operation by the driver, controls the steering wheel using a lane keep assist function, and controls collision avoidance assistance.

[0045] The lane keep assist function is a driving assistance function that assists the vehicle 3 in driving within the lane.

[0046] (Control example 1 of the handle control unit 40) When the lane keep assist function is turned on, the merging assistance device 32 identifies the boundary line of the lane in which the vehicle 3 is traveling using a publicly known method for identifying lane boundary lines, and determines whether the vehicle 3 has deviated from the center of the lane based on the identified lane boundary line and the vehicle position information transmitted from the GPS module 33.

[0047] When it is determined that the vehicle 3 deviates from the center of the lane, the merging assistance device 32 transmits a steering signal to the steering control unit 40 to correct the vehicle position.

[0048] The steering control unit 40 that receives the steering signal adjusts the amount of rotation of the steering wheel so as to correct the vehicle position to near the center of the lane based on the steering signal.

[0049] (Control example 2 of the handle control unit 40) The merging assistance device 32 determines whether or not there is a possibility that the vehicle 3 will collide with another vehicle using a known collision avoidance assistance method based on the vehicle speed and vehicle position transmitted from other vehicles around the vehicle 3.

[0050] The other vehicles include a vehicle ahead of vehicle 3, a merging vehicle, etc. The merging vehicle is a vehicle traveling in a merging lane that merges into the lane in which vehicle 3 is traveling.

[0051] When there is a possibility of a collision, the merging assistance device 32 transmits a steering signal to the steering control unit 40 to cause the vehicle 3 to change lanes.

[0052] The steering wheel control unit 40 that has received the steering signal adjusts the amount of rotation of the steering wheel so as to change lanes of the vehicle 3 based on the steering signal.

[0053] (Example 1 of warning following vehicles when the vehicle deviates from its lane) The merging assistance device 32 may be configured to transmit a turn indicator blinking signal to the turn indicator control unit 41 before transmitting a steering signal for executing a lane change of the vehicle 3 to the steering wheel control unit 40. The turn indicator blinking signal is a signal transmitted from a turn indicator operation lever (not shown) when the turn indicator operation lever is operated. The configuration of the turn indicator control unit 41 will be described in detail later.

[0054] This allows vehicles following vehicle 3 to be notified that vehicle 3 is about to start changing lanes, and then the lane change can be carried out.

[0055] (Example 2 of warning the driver when the vehicle deviates from its lane) In addition, when the lane keep assist function is turned on, the merging assistance device 32 may be configured to determine whether the vehicle 3 has deviated from the lane, and if the vehicle 3 has deviated from the lane, to send a warning signal to the steering control unit 40 to warn that the vehicle 3 has deviated from the lane.

[0056] In this case, the steering wheel control unit 40 that has received the warning signal vibrates the steering wheel based on the warning signal, thereby notifying the driver that the vehicle 3 is deviating from the lane.

[0057] (Example 3 of warning the driver when the vehicle deviates from its lane) In addition, when the lane keep assist function is turned on, the merging assistance device 32 may be configured to determine whether the vehicle 3 has deviated from the lane, and if the vehicle 3 has deviated from the lane, to transmit the above-mentioned warning signal to the steering wheel control unit 40, as well as to the display device 37 and a speaker driving device not shown.

[0058] The display device 37 that has received the warning signal displays a warning message on the screen of the display device 37 based on the warning signal. The speaker driving device that has received the warning signal plays the warning message from the speaker based on the warning signal. In this case, the warning message is, for example, "You are leaving your lane."

[0059] (Turn indicator control unit 41) The direction indicator control unit 41 controls the blinking of a direction indicator (not shown).

[0060] (Example of control of the turn signal control unit 41) For example, when the turn indicator operating lever is operated by driving, the turn indicator control unit 41 determines the direction of travel of the vehicle 3 based on the turn indicator signal transmitted from the turn indicator operating lever, and transmits to the turn indicator control unit 41 a turn indicator flashing signal that flashes the turn indicator at a position corresponding to the determined direction of travel.

[0061] The turn indicator control unit 41 that has received the turn indicator blinking signal blinks the turn indicator based on the turn indicator blinking signal, thereby making it possible to inform vehicles following the vehicle 3 of a change in behavior of the vehicle 3.

[0062] (Brake control unit 42) The brake control unit 42 controls the braking force of a braking device (not shown).

[0063] (Control example 1 of brake control unit 42) When the merging assistance device 32 receives a brake pedal operation amount signal transmitted from the brake operation amount sensor, it generates a brake operation signal that generates a braking force corresponding to the brake pedal operation amount, and transmits the brake operation signal to the brake control unit 42.

[0064] The brake control unit 42 that receives the brake operation signal controls the hydraulic pressure of a brake device (not shown) so as to generate a braking force corresponding to the amount of operation of the brake pedal.

[0065] As a result, brake pads provided in a braking device (not shown) are pressed against the brake rotor, generating a braking force corresponding to the amount of depression of the brake pedal.

[0066] (Control example 2 of brake control unit 42) The merging assistance device 32 receives a distance signal transmitted from a distance detection sensor, and obtains information on the distance between the vehicle 3 and a preceding vehicle.

[0067] When the inter-vehicle distance is shorter than the set distance set by the adaptive cruise control function, the merging support device 32 generates a brake operation signal that generates a braking force to return the inter-vehicle distance to the set distance. The merging support device 32 transmits the generated brake operation signal to the brake control unit 42.

[0068] The brake control unit 42 that has received the brake actuation signal controls the hydraulic pressure of a brake device (not shown) based on the brake actuation signal so that the inter-vehicle distance returns to the set distance, thereby generating a desired braking force.

[0069] (Horn control unit 43) The alarm horn control unit 43 generates an alarm sound from a horn that generates an alarm sound.

[0070] (Control example 1 of the horn control unit 43) When the driver presses a horn switch provided on the steering wheel, the merging support device 32 receives a horn operation signal transmitted from the horn switch, and generates a horn sound generation signal for emitting a horn sound based on the received horn operation signal. The merging support device 32 transmits the generated horn sound generation signal to the horn control unit 43.

[0071] The horn control unit 43 that receives the horn sound generation signal generates a high-frequency signal based on the horn sound generation signal and transmits the high-frequency signal to the horn.

[0072] The horn receives the high-frequency signal and controls the current flowing through a coil built into the horn based on the high-frequency signal, causing a vibration unit built into the horn to vibrate, which produces a warning sound.

[0073] (Control example 2 of the horn control unit 43) The merging assistance device 32 receives a distance signal transmitted from the distance detection sensor, and measures the inter-vehicle distance between the vehicle 3 and a preceding vehicle based on the distance signal.

[0074] When the inter-vehicle distance becomes shorter in a short time than the set distance set by the adaptive cruise control function, the merging support device 32 determines that the vehicle ahead of the vehicle 3 has applied the brakes suddenly or that the merging vehicle has cut in unreasonably.

[0075] In this case, the merging assistance device 32 generates a warning sound generation signal that generates a warning sound, and transmits the generated warning sound generation signal to the warning sound control unit 43.

[0076] The horn control unit 43 that has received the horn sound generation signal generates a high-frequency signal based on the horn sound generation signal and transmits the signal to the horn, causing the horn to generate a horn sound in the same manner as described above.

[0077] (torque control unit 44) The torque control unit 44 controls the speed of the vehicle 3 .

[0078] (Control example 1 of torque control unit 44) When the merging assistance device 32 receives an accelerator opening signal transmitted from the accelerator opening sensor, it generates a torque signal that generates a torque corresponding to the accelerator opening and transmits the generated torque signal to the torque control unit 44.

[0079] The torque control unit 44 that receives the torque signal controls the throttle valve, fuel injection valve, and the like of the internal combustion engine based on the torque signal, thereby controlling the output torque and rotation speed of the internal combustion engine.

[0080] (Control example 2 of torque control unit 44) The merging assistance device 32 receives a distance signal transmitted from a distance detection sensor, and obtains information on the distance between the vehicle 3 and a preceding vehicle.

[0081] The merging assistance device 32 generates a torque signal that generates a torque such that the inter-vehicle distance is maintained at a set distance set by the adaptive cruise control function, and transmits the generated torque signal to a torque control unit 44.

[0082] The torque control unit 44 that receives the torque signal controls the throttle valve, fuel injection valve, and the like of the internal combustion engine based on the torque signal, thereby controlling the output torque and rotation speed of the internal combustion engine.

[0083] The object to be controlled by the torque control unit 44 is not limited to an internal combustion engine, but may be a motor.

[0084] (User interface control unit 45) When an operation is performed on the user interface, the user interface control unit 45 executes various controls corresponding to the operation content based on an operation signal indicating the operation content.

[0085] The user interface is, for example, a joystick, a touch screen, etc. mounted on the vehicle 3.

[0086] (Vehicle-to-vehicle communication device 46) The vehicle-to-vehicle communication device 46 is, for example, a V2X (Vehicle to Everything) communication device that performs wireless communication between the vehicle 3 and other vehicles present around the vehicle 3.

[0087] V2X is a communication technology that connects vehicles with various things. V2X includes communications such as V2V (Vehicle to Vehicle), V2P (Vehicle to Pedestrian), V2I (Vehicle to Infrastructure), and V2N (Vehicle to Network).

[0088] (Center Server 5) The center server 5 is a server that provides various services by collecting information from a plurality of vehicles 3 and distributing the information. The center server 5 includes a communication device 51 and an information processing device 52.

[0089] The communication equipment 51 is a communication device that performs bidirectional communication with each of the multiple vehicles 3 through the communication network NW under the control of the information processing device 52.

[0090] The information processing device 52 executes various control processes in the center server 5. The information processing device 52 is configured as a server computer including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), an auxiliary storage device, an input / output interface, and the like.

[0091] Next, a hardware configuration of the merging support device 32 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the hardware configuration of the merging support device 32.

[0092] The merging assistance device 32 includes an auxiliary storage device 32A, a memory device 32B, a CPU 32C, and an interface device 32D.

[0093] The auxiliary storage device 32A, the memory device 32B, the CPU 32C, and the interface device 32D are connected to one another by a bus line 32E.

[0094] (Auxiliary storage device 32A) The auxiliary storage device 32A stores files, data, and the like necessary for processing by the merging support device 32. The auxiliary storage device 32A is composed of a HDD (Hard Disk Drive), a flash memory, and the like.

[0095] (Memory device 32B) When an instruction to start a program is received, the memory device 32B reads out the program from the auxiliary storage device 32A and stores it, and temporarily stores data used by the program.

[0096] (CPU32C) The CPU 32C executes the programs stored in the memory device 32B, and realizes various functions of the merging assistance device 32 in accordance with the programs.

[0097] (Interface device 32D) The interface device 32D is an interface that connects the CPU 32C to the DCM 31.

[0098] Furthermore, the interface device 32D connects the imaging device 36, the sensor 35, and the like to the DCM 31 via the CAN 38.

[0099] Next, the function of the merging assistance device 32 will be described with reference to FIG. 3 and FIG.

[0100] FIG. 3 is a diagram showing an example of the configuration of the merging support device 32, and FIG.

[0101] Fig. 4 shows a first vehicle 3-1 and a second vehicle 3-2. Each of the first vehicle 3-1 and the second vehicle 3-2 is equipped with the vehicle-mounted device 30 shown in Fig. 1 and is configured to be capable of inter-vehicle communication.

[0102] The first vehicle 3-1 is a vehicle traveling in the first lane 1-1. The first lane 1-1 is, for example, an overtaking lane on a highway.

[0103] The first lane 1-1 is not limited to an overtaking lane on an expressway, but may be a driving lane other than an overtaking lane on an expressway, a driving lane on an ordinary road, a driving lane on a bypass road, or the like.

[0104] The second vehicle 3-2 is a merging vehicle traveling on the second lane 1-2. The second lane 1-2 is a lane that merges into the first lane 1-1.

[0105] Hereinafter, the second vehicle 3-2 may be referred to as the "merging vehicle," and the second lane 1-2 may be referred to as the "merging lane."

[0106] As shown in FIG. 3, the merging assistance device 32 includes a detection unit 321, a control unit 322, and a notification unit 323.

[0107] (Detection unit 321) The detection unit 321 detects the vehicle speed and vehicle position of the merging vehicle.

[0108] For example, when the inter-vehicle communication device 46 shown in FIG. 1 receives vehicle information transmitted by wireless communication from a merging vehicle, the inter-vehicle communication device 46 transfers the received vehicle information to the detection unit 321.

[0109] The vehicle information includes information such as the vehicle speed, vehicle position, acceleration, steering amount, and vehicle type of the merging vehicle.

[0110] The detection unit 321 detects at least the vehicle speed and vehicle position of the merging vehicle from the received vehicle information, and transmits the detected information regarding the vehicle speed and vehicle position to the control unit 322.

[0111] In this way, by utilizing the vehicle information received by the vehicle-to-vehicle communication device 46, the detection unit 321 can detect the vehicle speed and vehicle position of the merging vehicle even if the imaging device 36 and radar (not shown) mounted on the first vehicle 3-1 do not function due to bad weather.

[0112] Furthermore, even if, for example, a soundproof wall or the like is installed between the first lane 1-1 and the merging lane and the vehicle speed and vehicle position of the merging vehicle cannot be detected by the imaging device 36 mounted on the first vehicle 3-1, a radar (not shown), etc., the detection unit 321 can detect the vehicle speed and vehicle position of the merging vehicle by utilizing the vehicle information received by the vehicle-to-vehicle communication device 46.

[0113] (Control unit 322) Based on the vehicle speed and vehicle position of the merging vehicle detected by the detection unit 321, the control unit 322 executes control of the first vehicle 3-1 in accordance with the behavior of the merging vehicle when merging into the first lane 1-1.

[0114] The behavior of the merging vehicle when merging into the first lane 1-1 includes acceleration, deceleration, lane change, and the like.

[0115] The control of the first vehicle 3-1 according to the behavior includes acceleration, deceleration, lane changing, braking, turning on the brake lights, outputting the alarm, and the like.

[0116] An example of control of the first vehicle 3-1 corresponding to the behavior of the merging vehicle when merging into the first lane 1-1 will be described below.

[0117] (Control example 1 by the control unit 322) For example, the control unit 322 calculates a first arrival time of the first vehicle 3-1 at the merging point between the first lane 1-1 and the merging lane and a second arrival time of the merging vehicle at the merging point based on the vehicle speed of the first vehicle 3-1, the vehicle position of the first vehicle 3-1, the vehicle speed of the merging vehicle, and the vehicle position of the merging vehicle.

[0118] As a result of comparing the calculated first arrival time with the second arrival time, for example, if the first arrival time is earlier than the second arrival time by a predetermined time or more and the vehicle speed of the first vehicle 3-1 is 5 km / h or more higher than the vehicle speed of the merging vehicle, the control unit 322 determines that the merging vehicle can safely merge after the first vehicle 3-1.

[0119] In this case, the control unit 322 transmits a torque signal for keeping the vehicle speed of the first vehicle 3-1 constant to the torque control unit 44 shown in FIG.

[0120] Furthermore, the control unit 322 transmits a steering signal to the steering control unit 40 shown in FIG. 1, which maintains the current steering control without changing the steering angle of the first vehicle 3-1.

[0121] (Control example 2 by the control unit 322) As a result of comparing the first arrival time with the second arrival time, for example, if the first arrival time is later than the second arrival time by a predetermined time or more and the vehicle speed of the first vehicle 3-1 is slower than the vehicle speed of the merging vehicle by 5 km / h or more, the control unit 322 determines that the merging vehicle can safely merge before the first vehicle 3-1.

[0122] In this case, the control unit 322 also transmits a torque signal to the torque control unit 44 shown in FIG. 1 to keep the vehicle speed of the first vehicle 3-1 constant, and transmits a steering signal to the handle control unit 40 shown in FIG. 1 to maintain the current handle control.

[0123] (Control example 3 by control unit 322) As a result of comparing the first arrival time with the second arrival time, for example, if the first arrival time is earlier than the second arrival time by a predetermined time or more, but the merging vehicle begins accelerating after the second arrival time is calculated, the control unit 322 determines that it is necessary to accelerate the first vehicle 3-1.

[0124] In this case, the control unit 322 generates a torque signal that generates a torque greater than the torque corresponding to the accelerator opening in order to temporarily increase the vehicle speed of the first vehicle 3-1, and transmits the generated torque signal to the torque control unit 44 shown in FIG. 1.

[0125] In addition, if the control unit 322 determines that the inter-vehicle distance after merging is shorter than a predetermined value even if the torque is increased, it sends a steering signal to the steering control unit 40 shown in Figure 1 to execute a lane change for the first vehicle 3-1.

[0126] In this case, before transmitting the steering signal to the handle control unit 40, the control unit 322 transmits a turn indicator blinking signal to the turn indicator control unit 41 shown in FIG. 1 in order to blink the turn indicator corresponding to the steering direction.

[0127] (Control example 4 by control unit 322) As a result of comparing the first arrival time with the second arrival time, for example, if the first arrival time is later than the second arrival time by a predetermined time or more, but the merging vehicle begins to decelerate after the second arrival time is calculated, the control unit 322 determines that it is necessary to decelerate the first vehicle 3-1.

[0128] In this case, the control unit 322 generates a torque signal that generates a torque smaller than the torque corresponding to the accelerator opening in order to temporarily reduce the vehicle speed of the first vehicle 3-1, and transmits the generated torque signal to the torque control unit 44 shown in FIG. 1.

[0129] In addition, if the control unit 322 determines that the inter-vehicle distance after merging is shorter than a predetermined value even when the torque is reduced, it uses a distance detection sensor to determine whether or not a following vehicle is present within a range to a position a predetermined distance rearward from the vehicle 3.

[0130] When there is no following vehicle, the control unit 322 generates a brake actuation signal for generating a braking force, and transmits the brake actuation signal to the brake control unit 42 shown in FIG.

[0131] If there is a following vehicle, the control unit 322 determines whether or not there is another vehicle 3 in the adjacent lane.

[0132] When there is no other vehicle 3, the control unit 322 transmits a steering signal for executing a lane change of the first vehicle 3-1 to the steering control unit 40 shown in FIG.

[0133] In this case, before transmitting the steering signal to the handle control unit 40, the control unit 322 transmits a turn indicator blinking signal to the turn indicator control unit 41 shown in FIG. 1 in order to blink the turn indicator corresponding to the steering direction.

[0134] When there is a following vehicle and another vehicle in an adjacent lane, the control unit 322 generates a horn operation signal and transmits the generated horn sound generation signal to the horn control unit 43 shown in Fig. 1. This makes it possible to alert the merging vehicle.

[0135] In addition, even if the driver of the first vehicle 3-1 cannot visually see the merging vehicle traveling in the merging lane because a soundproof wall or the like is installed between the first lane 1-1 and the second lane 1-2 shown in Figure 4, the control unit 322 can control the first vehicle 3-1 based on the vehicle information received through vehicle-to-vehicle communication.

[0136] (Notification unit 323) The notification unit 323 notifies the driver of the first vehicle of information relating to the control of the first vehicle 3-1 by the control unit 322.

[0137] The information on the control contents includes, for example, turning on the brake lights, outputting the alarm horn, flashing the direction indicators, steering the steering wheel, changing the vehicle speed, applying the brakes, and the like.

[0138] (Example 1 of information notification by notification unit 323) The notification unit 323 notifies information relating to the control content of the first vehicle 3-1 before the control of the first vehicle 3-1 is started.

[0139] For example, it is assumed that the control unit 322 generates a torque signal that generates a torque larger than the torque corresponding to the accelerator opening degree operated by the driver in order to increase the vehicle speed of the first vehicle 3-1.

[0140] In this case, the notification unit 323 reads guidance data such as "Accelerate because a merging vehicle is approaching" or "Accelerate to increase the distance between the vehicle and the merging vehicle" from the memory device 32B based on the torque signal, and transmits the guidance data to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0141] This causes the guidance to be displayed on the display device 37 and played back from a speaker driving device (not shown). As a result, even if the first vehicle 3-1 accelerates at a timing unintended by the driver, the driver is not made to feel uneasy, and the driver can concentrate on driving the first vehicle 3-1.

[0142] Also, suppose that the control unit 322 generates a torque signal that generates a torque smaller than the torque corresponding to the accelerator opening in order to reduce the vehicle speed of the first vehicle 3-1. In this case, the notification unit 323 reads guidance data such as "Decelerate because a merging vehicle is approaching" or "Decelerate to increase the distance between the vehicle and the merging vehicle" from the memory device 32B based on the torque signal, and transmits the guidance data to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0143] This causes the guidance to be displayed on the display device 37 and played back from a speaker driving device (not shown). As a result, even if the first vehicle 3-1 decelerates at a timing unintended by the driver, the driver is not made to feel uneasy, and the driver can concentrate on driving the first vehicle 3-1.

[0144] In addition, it is assumed that the control unit 322 generates a steering signal to execute lane change of the first vehicle 3-1. In this case, the notification unit 323 reads guidance data such as "A merging vehicle is approaching, so change lanes" from the memory device 32B based on the steering signal, and transmits the guidance data to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0145] This causes the guidance to be displayed on the display device 37 and played back from a speaker driving device (not shown). As a result, even if the first vehicle 3-1 changes lanes at a timing unintended by the driver, the driver is not made to feel uneasy, and the driver can concentrate on driving the first vehicle 3-1.

[0146] Also, as described above, even if the driver of the first vehicle 3-1 cannot visually see the merging vehicle, the notification unit 323 can notify the driver of the control content of the first vehicle 3-1 before control of the first vehicle 3-1 begins.

[0147] (Example 2 of information notification by notification unit 323) The notification unit 323 may be configured to notify information related to the control content of the first vehicle 3-1 after the control of the first vehicle 3-1 is started.

[0148] For example, immediately after the vehicle speed of the first vehicle 3-1 changes, the notification unit 323 reads guidance data such as "Accelerating because a merging vehicle is approaching" from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device not shown.

[0149] This causes the guidance to be displayed on the display device 37 and played back from a speaker driving device (not shown). As a result, the driver can understand that control of the first vehicle 3-1 has been executed in response to the merging of the merging vehicle, and can concentrate on driving the first vehicle 3-1.

[0150] (Information Notification Example 3 by Notification Unit 323) The notification unit 323 may be configured to notify information indicating that the control of the first vehicle 3-1 has been interrupted when the control of the first vehicle 3-1 is interrupted after the control of the first vehicle 3-1 has been started.

[0151] For example, if a vehicle other than the merging vehicle cuts in after the vehicle speed of the first vehicle 3-1 has been changed by the control of the control unit 322, the control unit 322 stops controlling the vehicle speed.

[0152] In this case, the notification unit 323 reads guidance data such as "Acceleration control for merging has been suspended" from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0153] This causes the guidance to be displayed on the display device 37 and played back from a speaker driving device (not shown). As a result, the driver can understand that control of the first vehicle 3-1 due to the merging of the merging vehicle has been suspended, and can concentrate on driving the first vehicle 3-1.

[0154] (Example 4 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to notify information indicating that an operation has been intervened when an operation by the driver of the first vehicle 3-1 has intervened after control of the first vehicle 3-1 has been started.

[0155] For example, if the driver intervenes by operating the steering wheel immediately after the first vehicle 3-1 automatically starts changing lanes due to the merging vehicle merging, the notification unit 323 reads guidance data such as "The lane change has been aborted because steering wheel operation has been detected" from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device not shown.

[0156] This causes the guidance to be displayed on the display device 37 and played back from a speaker drive device (not shown). As a result, the driver can understand that the control of the first vehicle 3-1 associated with the merging of the merging vehicle has been suspended by the driver's operation.

[0157] (Example 5 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to notify the driver that an operation is required when it is determined that an operation by the driver of the first vehicle 3-1 is required after control of the first vehicle 3-1 has started.

[0158] For example, when the vehicle speed of the first vehicle 3-1 is changed by the control of the control unit 322 and then a vehicle other than the merging vehicle cuts in, the control unit 322 analyzes the imaging data captured by the imaging device 36 to determine whether or not an operation by the driver is required.

[0159] If the result of the determination is that operation by the driver is necessary, the notification unit 323 reads guidance data, such as "Please take operation to avoid contact with the cutting-in vehicle," from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0160] (Example 6 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to cause the display device 37 to display the course of the merging vehicle from the vehicle position to the point where the merging vehicle merges into the first lane 1-1.

[0161] For example, the notification unit 323 calculates a driving route from the vehicle position of the merging vehicle to the merging point based on the vehicle speed and vehicle position of the merging vehicle, and displays the driving route on the screen of the display device 37 shown in FIG.

[0162] As a result, even if the control of the first vehicle 3-1 is performed automatically, the driver can be aware of the presence of a merging vehicle in advance, and can prepare for operations such as adjusting the distance between vehicles and changing lanes.

[0163] (Example 7 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to notify the position of the merging vehicle after the merging vehicle has merged into the first lane 1-1.

[0164] For example, the notification unit 323 generates image information indicating the vehicle positions of the merging vehicle and the first vehicle 3-1 based on the vehicle position of each vehicle, and displays the image information on the screen of the display device 37 shown in FIG.

[0165] This allows the driver to check the location of the merging vehicle relative to the vehicle position of the first vehicle 3-1, as the vehicle position of the merging vehicle is displayed on the head-up display, in-vehicle speedometer, etc. As a result, the driver's line of sight movement is reduced, enabling safe driving.

[0166] (Example 8 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to notify the driver of the speed difference between the merging vehicle and the first vehicle 3-1 after the merging vehicle merges into the first lane 1-1.

[0167] For example, the notification unit 323 calculates the speed difference between the vehicle speed of the merging vehicle and the vehicle speed of the first vehicle 3-1, generates image information indicating the calculated speed difference, and displays the image information on the screen of the display device 37 shown in Figure 1.

[0168] As a result, even if the control of the first vehicle 3-1 is performed automatically, the driver can adjust the distance between the vehicle and the merging vehicle that has merged in front of or behind the first vehicle 3-1 while checking the speed difference displayed on the screen of the display device 37.

[0169] (Example 9 of Information Notification by Notification Unit 323) The notification unit 323 may be configured to notify whether the merging vehicle is ahead of the first vehicle 3-1 or whether the first vehicle 3-1 is ahead of the merging vehicle after the merging vehicle merges into the first lane 1-1.

[0170] For example, the control unit 322 determines whether the merging vehicle is ahead based on the vehicle position of the merging vehicle and the vehicle position of the first vehicle 3-1.

[0171] If the control unit 322 determines that the merging vehicle is ahead, the notification unit 323 receives information regarding the determination result of the control unit 322 and reads guidance data such as "A merging vehicle has merged ahead" from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device (not shown).

[0172] In addition, when the first vehicle 3-1 is ahead, the notification unit 323 reads guidance data, for example, "A merging vehicle has merged behind" from the memory device 32B and transmits it to the display device 37 shown in FIG. 1 and a speaker driving device not shown.

[0173] This causes the guidance to be displayed on the display device 37 and played back from a speaker drive device (not shown). As a result, the driver of the first vehicle 3-1 can intuitively grasp the position of the merging vehicle, reducing the driver's eye movement and enabling safe driving while being conscious of the distance between the vehicle and the merging vehicle.

[0174] Next, the operation of the merging assistance system 1 will be described with reference to FIGS. 5A to 7B.

[0175] 5A, 5B, 5C, 6A, 6B, 7A, and 7B are flowcharts for explaining the operation of the merging support system 1. FIG.

[0176] In step S1, the vehicle-to-vehicle communication device 46 of the first vehicle 3-1 transmits a vehicle information transmission request signal to the merging vehicle, and then executes the process of step S2.

[0177] In step S2, the inter-vehicle communication device 46 determines whether or not a response signal to the transmission request signal has been received.

[0178] If a response signal has not been received (step S2, NO), the inter-vehicle communication device 46 executes the process of step S3.

[0179] In step S3, the inter-vehicle communication device 46 determines whether or not a certain period of time has elapsed since the transmission of the transmission request signal.

[0180] If the certain period of time has not elapsed (step S3, NO), the inter-vehicle communication device 46 repeats the processes from step S2 onwards.

[0181] If the certain time has elapsed (step S3, YES), the inter-vehicle communication device 46 determines that inter-vehicle communication is difficult.

[0182] In this case, the vehicle-to-vehicle communication device 46 utilizes the imaging device 36 and on-board detection sensors such as a radar (not shown) mounted on the first vehicle 3-1, and therefore requests the on-board detection sensors to perform detection processing of the vehicle speed, etc. (step S4). Then, the process of step S5 is executed.

[0183] In step S5, the on-board detection sensor detects the vehicle speed and the like of the merging vehicle, and transmits a signal of the detected vehicle speed and the like to the merging assistance device 32. Thereafter, the process of step S8 is executed. The process of step S8 will be described later.

[0184] Returning to step S2, if a response signal is received within a certain period of time from the time when the transmission request signal was transmitted (step S2, YES), the inter-vehicle communication device 46 executes the process of step S6.

[0185] In step S6, the inter-vehicle communication device 46 starts inter-vehicle communication, and then executes the process of step S7.

[0186] In step S7, the inter-vehicle communication device 46 receives the vehicle information of the merging vehicle, and transfers the received vehicle information to the detection unit 321. After that, the process of step S8 is executed.

[0187] In step S8, the detection unit 321 that has received the vehicle information detects at least the vehicle speed and vehicle position of the merging vehicle from the received vehicle information, and transmits the detected vehicle speed and vehicle position information to the control unit 322.

[0188] The control unit 322, which has received the information on the vehicle speed and vehicle position, starts to control the first vehicle 3-1 according to the behavior of the merging vehicle when merging into the first lane 1-1, based on the information. Then, the process of step S9 shown in FIG. 5B is executed.

[0189] In step S9 shown in FIG. 5B, the control unit 322 determines whether or not there is a possibility of a dangerous merging by detecting, for example, a sudden acceleration or a sudden steering operation of a merging vehicle traveling in the merging lane.

[0190] If there is a possibility of a dangerous merging (step S9, YES), the control unit 322 executes the process of step S10.

[0191] In step S10, the control unit 322 executes control to output a warning horn to warn a merging vehicle that is about to forcibly cut in, and then repeats the processes in and after step S9.

[0192] If there is no possibility of a dangerous merging (step S9, NO), the control unit 322 executes the process of step S11.

[0193] In step S11, the control unit 322 determines whether or not the merging vehicle can merge by controlling only the speed of the first vehicle 3-1.

[0194] When it is determined that the merging vehicle can merge by speed control alone (step S11, YES), the control unit 322 executes a process related to speed control in step S12.

[0195] The process relating to speed control will be described with reference to FIG. 6A and FIG. 6B.

[0196] In step S20 shown in Fig. 6A, the notification unit 323 notifies the driver in advance that the speed control will be started via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S21 is executed.

[0197] In step S21, the control unit 322 starts speed control, after which the process proceeds to step S22.

[0198] In step S22, the notification unit 323 notifies the driver that speed control is being performed. After that, the process of step S23 is executed.

[0199] In step S23, the control unit 322 determines whether or not an operation by an erroneous person has occurred within a certain period of time since the notification in step S22 was made.

[0200] An incorrect human operation may, for example, be depressing the brake pedal immediately after the vehicle 3 starts to automatically accelerate, or depressing the accelerator pedal further immediately after the vehicle 3 starts to automatically decelerate, etc.

[0201] If an operation by an incorrect person has occurred (step S23, YES), the process of step S24 is executed.

[0202] In step S24, the notification unit 323 notifies the driver, via the display device 37 shown in FIG. 1 and a speaker driving device (not shown), that no operation is required.

[0203] In this case, guidance such as "Automatic acceleration. No accelerator pedal operation is required" is played back. After that, the process from step S23 onwards is repeated.

[0204] Returning to step S23, if there is no operation by an erroneous person (step S23, NO), the process of step S25 is executed.

[0205] In step S25, the notification unit 323 determines whether or not the speed control has been interrupted due to, for example, a forceful cutting-in by a vehicle other than the merging vehicle.

[0206] If the speed control is interrupted (step S25, YES), the notification unit 323 executes the process of step S26.

[0207] In step S26, the notification unit 323 notifies the driver that the speed control has been interrupted via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S27 is executed.

[0208] In step S27, the control unit 322 determines whether or not the speed control is resumed, for example, because the cutting-in operation by a vehicle other than the merging vehicle is interrupted midway.

[0209] If the vehicle speed control is resumed (step S27, YES), the processes from step S21 onwards are repeated.

[0210] If the vehicle speed control is not resumed (step S27, NO), the process of step S32 shown in Fig. 6B is executed. The process of step S32 will be described later.

[0211] Returning to step S25, if the speed control is not interrupted (step S25, NO), the process of step S28 shown in FIG. 6B is executed.

[0212] In step S28 shown in FIG. 6B, the notification unit 323 determines whether or not a human operation is required when the vehicle speed control is being executed by the control unit 322.

[0213] For example, when the merging vehicle shown in Fig. 4 exhibits a behavior such as suddenly decelerating immediately after merging into the first lane 1-1, the notification unit 323 determines that a person needs to apply the brakes, etc. In this case (step S28, YES), the notification unit 323 executes the process of step S29.

[0214] In step S29, the notification unit 323 notifies the driver that a human operation is required via the display device 37 shown in Fig. 1 and a speaker driving device (not shown), and then executes the process of step S32, which will be described later.

[0215] Returning to step S28, for example, if the merging vehicle shown in Fig. 4 does not exhibit a behavior such as sudden deceleration immediately after merging into the first lane 1-1, the notification unit 323 determines that no human operation is required. In this case (step S28, NO), the process of step S30 is executed.

[0216] In step S30, the notification unit 323 determines whether or not a certain time has elapsed since the merging vehicle merged into the first lane 1-1.

[0217] If the certain period of time has not elapsed (step S30, NO), the notification unit 323 repeats the process of step S30.

[0218] If the certain time has elapsed (step S30, YES), the notification unit 323 executes the process of step S31.

[0219] In step S31, the notification unit 323 notifies the driver that merging has been completed via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S32 is executed.

[0220] In step S32, the control unit 322 ends the speed control. After that, as shown in FIG 5B, the series of processes ends.

[0221] Returning to step S11 shown in FIG. 5B, if it is determined that it is difficult for the merging vehicle to merge by speed control alone (step S11, NO), the control unit 322 executes the process of step S13.

[0222] In step S13, the control unit 322 determines whether or not the merging vehicle can merge by changing lanes.

[0223] When it is determined that the merging vehicle can merge by changing lanes (YES in step S13), the control unit 322 executes a process related to steering wheel control in step S14. The details of the process related to the steering wheel will be described later.

[0224] When it is determined that it is difficult for the merging vehicle to merge by changing lanes (step S13, NO), the control unit 322 executes the process of step S15.

[0225] In step S15, the notification unit 323 notifies the driver, via the display device 37 shown in FIG. 1 and a speaker driving device (not shown), that a human operation is required, and then the series of processes ends.

[0226] Next, the process relating to the steering wheel control will be described with reference to FIG. 7A and FIG. 7B.

[0227] In step S40 shown in Fig. 7A, the notification unit 323 notifies the driver in advance that steering wheel control will be started via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S41 is executed.

[0228] In step S41, the control unit 322 starts controlling the direction indicators, after which the process proceeds to step S42.

[0229] In step S42, the control unit 322 starts controlling the steering wheel, after which the process proceeds to step S43.

[0230] In step S43, the notification unit 323 notifies the driver that the steering wheel control is being performed via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S44 is executed.

[0231] In step S44, the control unit 322 determines whether or not an operation by an erroneous person has occurred within a certain period of time since the notification in step S43 has been made.

[0232] An example of an erroneous human action would be keeping the steering wheel in neutral immediately after an automatic lane change has been initiated.

[0233] If an operation by an incorrect person has intervened (step S44, YES), the process of step S45 is executed.

[0234] In step S45, the notification unit 323 notifies the driver, via the display device 37 shown in FIG. 1 and a speaker driving device (not shown), that no operation is required.

[0235] In this case, a guidance such as "The lane is being changed automatically. There is no need to operate the steering wheel" is played back. After that, the process from step S44 onwards is repeated.

[0236] Returning to step S44, if an operation by an erroneous person has not been involved (step S44, NO), the process of step S46 is executed.

[0237] In step S46, the notification unit 323 determines whether or not the steering control has been interrupted due to, for example, a forceful cutting-in by a vehicle other than the merging vehicle.

[0238] If the steering wheel control is interrupted (step S46, YES), the notification unit 323 executes the process of step S47.

[0239] In step S47, the notification unit 323 notifies the driver that the steering wheel control has been interrupted via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S48 is executed.

[0240] In step S48, the notification unit 323 determines whether or not steering control has been resumed, for example, due to a cut-in operation by a vehicle other than the merging vehicle being interrupted midway.

[0241] If the steering control is resumed (step S48, YES), the processes from step S41 onwards are repeated.

[0242] If the steering control is not resumed (step S48, NO), the process of step S54 shown in Fig. 7B is executed. The process of step S54 will be described later.

[0243] Returning to step S46, if the steering wheel control is not interrupted (step S46, NO), the process of step S49 shown in FIG. 7B is executed.

[0244] In step S49 shown in FIG. 7B, the notification unit 323 determines whether or not a human operation is required when the steering wheel control is being executed by the control unit 322.

[0245] For example, when the merging vehicle shown in Fig. 4 exhibits a behavior such as suddenly decelerating immediately after merging into the first lane 1-1, the notification unit 323 determines that a steering operation by a person is required, etc. In this case (step S49, YES), the notification unit 323 executes the process of step S50.

[0246] In step S50, the notification unit 323 notifies the user that a human operation is required, and then executes the process of step S54, which will be described later.

[0247] Returning to step S49, for example, if the merging vehicle shown in Fig. 4 does not exhibit a behavior such as sudden deceleration immediately after merging into the first lane 1-1, the notification unit 323 determines that a steering operation by a person is not required. In this case (step S49, NO), the process of step S51 is executed.

[0248] In step S51, the notification unit 323 determines whether or not a certain time has elapsed since the merging vehicle merged into the first lane 1-1.

[0249] If the certain period of time has not elapsed (step S51, NO), the notification unit 323 repeats the process of step S51.

[0250] If the certain time has elapsed (step S51, YES), the notification unit 323 executes the process of step S52.

[0251] In step S52, the notification unit 323 notifies the driver that the merging has been completed via the display device 37 shown in Fig. 1 and a speaker driving device (not shown). After that, the process of step S53 is executed.

[0252] In step S53, the control unit 322 ends the control of the direction indicator, and then executes the process of step S54.

[0253] In step S54, the control unit 322 ends the control of the steering wheel. After that, as shown in Fig. 5B, the series of processes ends.

[0254] In addition, the merging assistance device 32 in this embodiment may be configured to attempt to acquire vehicle information of a merging vehicle using an on-board detection sensor such as the radar described above, and then, if the vehicle information cannot be acquired by the on-board detection sensor, acquire the vehicle information through vehicle-to-vehicle communication.

[0255] The merging assistance system and merging assistance device 32 according to this embodiment may be configured to perform vehicle control and notification control using vehicle information transmitted between the multiple vehicles 3 via the center server 5. In this case, the center server 5 collects information on the vehicle speed and vehicle position transmitted from the second vehicle and transmits it to the first vehicle.

[0256] This makes it possible to control the first vehicle in accordance with the behavior of the second vehicle when merging into the first lane, based on information transmitted from a vehicle 3 that is not equipped with a vehicle-to-vehicle communication device 46.

[0257] As described above, the merging assistance device 32 according to an embodiment of the present disclosure is configured to, when executing control of the first vehicle corresponding to the behavior of the second vehicle when merging into the first lane, notify the driver of the first vehicle of information regarding the control content of the first vehicle before the control is started, during the control, or after the control is completed.

[0258] With this configuration, the driver can understand that the vehicle control is executed in conjunction with the second vehicle merging into the first lane, thereby reducing the driver's anxiety regarding the control.

[0259] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to the examples. It is clear that a person skilled in the art can come up with various modified or amended examples within the scope described in the present disclosure, and it is understood that these also naturally belong to the technical scope of the present disclosure. In addition, the components in the above-mentioned embodiments may be arbitrarily combined within the scope of the present disclosure.

[0260] Although specific examples of the present disclosure have been described in detail above, these are merely examples and do not limit the scope of the claims. The technology described in the claims may include various modifications and alterations of the specific examples exemplified in the present disclosure. [Industrial Applicability]

[0261] An embodiment of the present disclosure is suitable for a merging assistance device, a merging assistance system, and a merging assistance method. [Explanation of symbols]

[0262] 1. Merging Support System 1-1 1st lane 1-2 2nd lane 3. Vehicle 3-1 Car No. 1 3-2 Second car 5. Center Server 30 Onboard equipment 32 Merging support device 31 DCM 32 Merging support device 32A Auxiliary storage device 32B memory device 32C CPU 32D Interface Device 32E Bus Line 33 GPS Module 34 ACC switch 35 Sensors 36 Imaging device 37 Display device 38 CAN 39 Brake lamp control unit 40 Handle control section 41 Turn signal control unit 42 Brake control unit 43 Horn control unit 44 Torque control section 45 User Interface Control Unit 46 Inter-vehicle communication device 51 Communication equipment 52 Information processing equipment 321 Detection unit 322 Control Unit 323 Information Department

Claims

1. a control unit that executes control of the first vehicle in response to a behavior of the second vehicle when the second vehicle merges into the first lane, based on a vehicle speed and a vehicle position of the second vehicle traveling in a second lane that merges into the first lane in which the first vehicle is traveling; A notification unit that notifies a driver of the first vehicle of information regarding the control content of the first vehicle by the control unit; Equipped with The notification unit, when an operation by a driver of the first vehicle intervenes after control of the first vehicle is started, notifies information indicating that the operation has intervened. Merging support device.

2. The merging assistance device according to claim 1 , wherein the notification unit is configured to notify the driver of the first vehicle that an operation is required when the notification unit determines that the operation is required.

3. a control unit that executes control of the first vehicle in response to a behavior of the second vehicle when the second vehicle merges into the first lane, based on a vehicle speed and a vehicle position of the second vehicle traveling in a second lane that merges into the first lane in which the first vehicle is traveling; a notification unit that notifies a driver of the first vehicle of information regarding a control content of the first vehicle by the control unit; The notification unit notifies information regarding a position of the second vehicle when the second vehicle merges into the first lane. Merging support device.

4. The merging assistance device according to claim 3 , wherein the notification unit causes a display device to display a course of the second vehicle until the second vehicle merges into the first lane.

5. The merging assistance device according to claim 3 , wherein the notification unit notifies a position of the second vehicle after the second vehicle has merged into the first lane.

6. The merging assistance device according to claim 3 , wherein the notification unit notifies a speed difference between the second vehicle and the first vehicle after the second vehicle merges into the first lane.

7. 7. The merging assistance device according to claim 1, wherein the control unit causes a turn signal of the first vehicle to flash as control of the first vehicle corresponding to the behavior of the second vehicle when merging into the first lane.

8. 8. The merging assistance device according to claim 1, wherein the control unit turns on the brake lights of the first vehicle as control of the first vehicle corresponding to the behavior of the second vehicle when merging into the first lane.

9. 9. The merging assistance device according to claim 1, wherein the control unit activates a horn of the first vehicle as control of the first vehicle corresponding to the behavior of the second vehicle when merging into the first lane.

10. 10. The merging assistance device according to claim 1, wherein the control unit controls the first vehicle to change lanes in response to a behavior of the second vehicle when merging into the first lane.

11. 11. The merging assistance device according to claim 1, wherein the control unit changes a vehicle speed of the first vehicle as control of the first vehicle corresponding to the behavior of the second vehicle when merging into the first lane.

12. The merging assistance device according to claim 1 , further comprising a detection unit configured to detect a speed and a position of the second vehicle based on vehicle information transmitted by wireless communication from the second vehicle.

13. 13. A merging assistance system comprising: the merging assistance device according to claim 1; and a center server that collects information on the vehicle speed and the vehicle position transmitted from the second vehicle and transmits the information to the first vehicle.

14. Detecting a vehicle speed and a vehicle position of a second vehicle traveling in a second lane merging into the first lane in which the first vehicle is traveling; executing control of the first vehicle corresponding to a behavior of the second vehicle when the second vehicle merges into the first lane, based on a vehicle speed and a vehicle position of the second vehicle; notifying a driver of the first vehicle of information regarding the content of control of the first vehicle; Including, The step of notifying includes, when an operation by a driver of the first vehicle intervenes after the control of the first vehicle is started, notifying information indicating that the operation has intervened. Confluence support method.

15. Detecting a vehicle speed and a vehicle position of a second vehicle traveling in a second lane merging into the first lane in which the first vehicle is traveling; executing control of the first vehicle corresponding to a behavior of the second vehicle when the second vehicle merges into the first lane, based on a vehicle speed and a vehicle position of the second vehicle; notifying a driver of the first vehicle of information regarding the content of control of the first vehicle; Including, The step of notifying includes notifying information regarding a position of the second vehicle when the second vehicle merges into the first lane. Confluence support method.

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