Vehicle control device, vehicle control method, and vehicle control computer program

Abstract

To provide a vehicle control device capable of appropriately adjusting a relative positional relationship between an own vehicle and another vehicle traveling in an adjacent lane merging with a lane in which the own vehicle is traveling.SOLUTION: A vehicle control device includes: a merging section detection unit 31 for detecting a merging section where an adjacent lane adjacent to an own lane in which an own vehicle 10 is traveling merges with the own lane in front of the own vehicle 10; an other vehicle detection unit 32 for detecting one or more other vehicles traveling in the adjacent lane; a determination unit 33 that determines, for at least any of the detected other vehicles, whether or not to cause the other vehicle to precede the own vehicle 10 when the other vehicle makes a lane change to the own lane in the merging section; and a vehicle control unit 34 for controlling acceleration or deceleration of the own vehicle 10 so that a rear end of the own vehicle 10 is positioned in front of a front end of a second other vehicle following a first other vehicle determined to precede the own vehicle 10 among the detected other vehicles.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a computer program for vehicle control. [Background technology]

[0002] In automated driving of vehicles or driving assistance for vehicle drivers, technology has been proposed that adjusts the distance between vehicles in anticipation of another vehicle cutting in from an adjacent lane into the lane in which the vehicle is traveling (see Patent Documents 1 and 2).

[0003] The driving support device disclosed in Patent Document 1, when detecting a merging or lane decrease ahead of the vehicle, judges whether the lane in which the vehicle is traveling is an adjacent lane to the merging lane or an adjacent lane to the decreasing lane. Then, this driving support device increases the originally set inter-vehicle distance only when the lane in which the vehicle is traveling is such an adjacent lane and a vehicle slower than the vehicle is detected ahead of the vehicle on the merging lane or the decreasing lane at a position equal to or greater than a predetermined inter-vehicle distance, or when a vehicle faster than the vehicle is detected between a position equal to or less than the predetermined inter-vehicle distance and a position running parallel to the vehicle.

[0004] The inter-vehicle distance control device disclosed in Patent Document 2 judges whether or not the vehicle is at a merging point when another vehicle, which is a lateral vehicle, is detected to the side of the vehicle. If the vehicle is at a merging point, the vehicle distance control device issues a yielding control instruction, and adjusts the inter-vehicle distance to be longer until the vehicle has cut in. If another vehicle, which is a lateral vehicle, is detected repeatedly attempting to cut in front of the vehicle, the vehicle distance control device adjusts the inter-vehicle distance to be shorter. On the other hand, if another vehicle, which is a lateral vehicle, which is continuously attempting to cut in front of the vehicle is not detected, the vehicle distance control device adjusts the inter-vehicle distance to be restored. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2017-87923 A [Patent Document 2] JP 2013-177054 A Summary of the Invention [Problem to be solved by the invention]

[0006] When there are a plurality of other vehicles traveling in adjacent lanes merging into the own lane, the own vehicle may be controlled to give way to a first other vehicle traveling ahead of the first other vehicle, resulting in the own vehicle and the second other vehicle following the first other vehicle running side by side. In such a case, the own vehicle may obstruct the second other vehicle from changing lanes into the own lane, or may mislead the driver of the second other vehicle into thinking that the own vehicle has also given way to the second other vehicle. In particular, if the driver of the second other vehicle misunderstands that the own vehicle has given way, the second other vehicle may try to cut in front of the own vehicle, which may cause a danger. Furthermore, it is not preferable from the viewpoint of collision avoidance for the own vehicle to detect the second other vehicle trying to cut in and reduce the inter-vehicle distance after the second other vehicle tries to cut in front of the own vehicle, as in the technology disclosed in Patent Document 2.

[0007] Therefore, an object of the present invention is to provide a vehicle control device that can appropriately adjust the relative positional relationship between the host vehicle and another vehicle traveling in an adjacent lane that merges into the lane in which the host vehicle is traveling. [Means for solving the problem]

[0008] According to one embodiment, a vehicle control device is provided. The vehicle control device includes a merging section detection unit that detects a merging section in front of a host vehicle where an adjacent lane adjacent to a host vehicle lane in which the host vehicle is traveling merges into the host vehicle lane, and a merging section detection unit that detects a merging section in front of the host vehicle where an adjacent lane adjacent to a host vehicle lane in which the host vehicle is traveling merges into the host vehicle lane. 2 units A vehicle detection unit for detecting the above-mentioned other vehicles, 2 or more a determination unit that determines whether or not at least one of the other vehicles is to be allowed to precede the own vehicle when the other vehicle changes lanes into the own vehicle lane in a merging section; 2 or moreThe vehicle control unit controls the acceleration or deceleration of the host vehicle so that the rear end of the host vehicle is positioned ahead of the front end of a second other vehicle that follows a first other vehicle that has been determined to be allowed to precede the host vehicle. The vehicle control unit sets a target acceleration of the host vehicle so that, when the distance between the first other vehicle and the second other vehicle is shorter than the overall length of the host vehicle, the front end of the host vehicle is positioned between the rear end of the first other vehicle and the front end of the second other vehicle.

[0009] In this vehicle control device, the vehicle control unit If the distance between the first vehicle and the second vehicle is longer than the overall length of the vehicle, It is preferable to control the acceleration or deceleration of the host vehicle so that the distance between the host vehicle and the first other vehicle is shorter than the distance between the host vehicle and the second other vehicle.

[0010] Alternatively, the vehicle control unit If the distance between the first vehicle and the second vehicle is longer than the overall length of the vehicle, It is preferable to control the acceleration or deceleration of the host vehicle depending on the distance between the first other vehicle and the second other vehicle so that the ratio of the distance between the host vehicle and the first other vehicle to the distance between the host vehicle and the second other vehicle is constant.

[0011] According to another embodiment, a vehicle control method is provided, the vehicle control method includes detecting a merging section in front of a host vehicle where an adjacent lane adjacent to a host vehicle lane in which the host vehicle is traveling merges into the host vehicle lane, and controlling the host vehicle to travel in the adjacent lane. 2 units More than one vehicle was detected. 2 or more With respect to at least one of the other vehicles, when the other vehicle changes lanes into the own vehicle's lane in a merging section, it is determined whether or not the other vehicle is allowed to precede the own vehicle. 2 or more This includes controlling the acceleration or deceleration of the host vehicle so that the rear end of the host vehicle is positioned ahead of the front end of a second other vehicle that follows a first other vehicle that has been determined to be allowed to precede the host vehicle. Controlling the acceleration or deceleration of the host vehicle includes setting a target acceleration of the host vehicle so that, when the distance between the first other vehicle and the second other vehicle is shorter than the overall length of the host vehicle, the front end of the host vehicle is positioned between the rear end of the first other vehicle and the front end of the second other vehicle.

[0012] According to yet another embodiment, a vehicle control computer program is provided, the vehicle control computer program being configured to detect a merging section in front of a host vehicle where an adjacent lane adjacent to a host vehicle lane in which the host vehicle is traveling merges into the host vehicle lane, and to detect a merging section in which the host vehicle is traveling in the adjacent lane. 2 units End of Detect other vehicles and 2 or moreWith respect to at least one of the other vehicles, when the other vehicle changes lanes into the own vehicle's lane in a merging section, it is determined whether or not the other vehicle is allowed to precede the own vehicle. 2 or more The control includes instructions to cause a processor mounted on the host vehicle to control the acceleration or deceleration of the host vehicle so that the rear end of the host vehicle is positioned ahead of the front end of a second other vehicle that follows a first other vehicle that has been determined to be allowed to precede the host vehicle. Controlling the acceleration or deceleration of the host vehicle includes setting a target acceleration of the host vehicle so that, when the distance between the first other vehicle and the second other vehicle is shorter than the overall length of the host vehicle, the front end of the host vehicle is positioned between the rear end of the first other vehicle and the front end of the second other vehicle. Effect of the Invention

[0013] The vehicle control device according to the present disclosure has the effect of being able to appropriately adjust the relative positional relationship between the host vehicle and another vehicle traveling in an adjacent lane merging into the lane in which the host vehicle is traveling. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram of a vehicle control system in which a vehicle control device is implemented. [Diagram 2] 1 is a hardware configuration diagram of an electronic control device that is an embodiment of a vehicle control device. [Diagram 3] FIG. 2 is a functional block diagram of a processor of an electronic control unit related to vehicle control processing. [Figure 4] 1A and 1B are diagrams each illustrating an outline of a vehicle control process according to the present embodiment. [Diagram 5] 4 is an operation flowchart of a vehicle control process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] Hereinafter, a vehicle control device, a vehicle control method executed on the vehicle control device, and a computer program for vehicle control will be described with reference to the drawings. The vehicle control device adjusts the relative positional relationship between the host vehicle and other vehicles traveling in adjacent lanes in a merging section where an adjacent lane adjacent to the host vehicle travels merges into the host vehicle. Specifically, the vehicle control device determines whether or not to allow one or more other vehicles traveling in the merging section to precede the host vehicle. The vehicle control device controls the acceleration or deceleration of the host vehicle so that the rear end of the host vehicle is positioned in front of the front end of a second other vehicle following a first other vehicle that is located at the rearmost position among the other vehicles determined to be preceded by the host vehicle. In this way, the vehicle control device prevents the host vehicle from interfering with a lane change to the host vehicle's lane by other vehicles traveling in the merging section that the host vehicle does not intend to give way to the other vehicle, and prevents the driver of the other vehicle from mistakingly thinking that the other vehicle has given way to the other vehicle.

[0016] FIG. 1 is a schematic diagram of a vehicle control system in which a vehicle control device is implemented. FIG. 2 is a hardware configuration diagram of an electronic control device, which is an embodiment of a vehicle control device. In this embodiment, a vehicle control system 1 that is mounted on a vehicle 10, which is an example of a vehicle itself, and controls the vehicle 10 includes a camera 2, a GPS receiver 3, a storage device 4, and an electronic control unit (ECU) 5, which is an example of a vehicle control device. The camera 2, the GPS receiver 3, the storage device 4, and the ECU 5 are communicatively connected via an in-vehicle network that complies with a standard such as a controller area network. The vehicle control system 1 may further include a distance measuring sensor (not shown), such as a LiDAR or a radar, that measures the distance from the vehicle 10 to an object present around the vehicle 10. The vehicle control system 1 may further include a wireless communication terminal (not shown) for communicating with other devices. The vehicle control system 1 may further include a navigation device (not shown) for setting a planned driving route for the vehicle 10.

[0017] The camera 2 is an example of a sensor that detects the surroundings of the vehicle 10, and has a two-dimensional detector configured with an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector. The camera 2 is attached, for example, in the passenger compartment of the vehicle 10 so as to face the front of the vehicle 10. The camera 2 photographs the area in front of the vehicle 10 at a predetermined photographing period (for example, 1 / 30 to 1 / 10 seconds) and generates an image of the area in front of the vehicle 10. The image obtained by the camera 2 is an example of a sensor signal. Note that the vehicle 10 may be provided with a plurality of cameras with different photographing directions or focal lengths. For example, the vehicle 10 may be provided with a camera for photographing the area in front of the vehicle 10 and a camera for photographing the rear of the vehicle 10. It is preferable that each camera 2 (and a distance measuring sensor) is provided on the vehicle 10 so that the entire surroundings of the vehicle 10 can be detected by one or more cameras 2, or one or more cameras 2 and a distance measuring sensor.

[0018] Every time the camera 2 generates an image, it outputs the generated image to the ECU 5 via the in-vehicle network.

[0019] The GPS receiver 3 receives GPS signals from GPS satellites at predetermined intervals and measures the own position of the vehicle 10 based on the received GPS signals. Then, the GPS receiver 3 outputs positioning information representing the positioning result of the own position of the vehicle 10 based on the GPS signals to the ECU 5 via the in-vehicle network at predetermined intervals. Note that the vehicle 10 may have a receiver that receives positioning signals from satellites of other satellite positioning systems and measures the own position of the vehicle 10, instead of the GPS receiver.

[0020] The storage device 4 is an example of a storage unit, and includes, for example, a hard disk device, a non-volatile semiconductor memory, or an optical recording medium and an access device therefor. The storage device 4 stores a high-precision map. The high-precision map is an example of map information. The high-precision map includes information representing a merging section included in a predetermined area shown on the high-precision map. Furthermore, the high-precision map includes information representing the number of lanes in each road section, the width of the lanes, and features present in or around each road section. The features shown on the high-precision map include road markings such as lane markings, various road signs, and structures such as curbs, guardrails, and poles.

[0021] Furthermore, the storage device 4 may have a processor for executing an update process of the high-precision map, and a process related to a read request of the high-precision map from the ECU 5. The storage device 4 may transmit a request to acquire a high-precision map together with the current position of the vehicle 10 to a map server via a wireless communication terminal (not shown), for example, every time the vehicle 10 moves a predetermined distance. The storage device 4 may also receive a high-precision map of a predetermined area around the current position of the vehicle 10 from the map server via the wireless communication terminal. When the storage device 4 receives a read request of the high-precision map from the ECU 5, the storage device 4 extracts an area that includes the current position of the vehicle 10 and is relatively narrower than the above-mentioned predetermined area from the stored high-precision map, and outputs the area to the ECU 5 via the in-vehicle network.

[0022] The ECU 5 performs automatic driving control of the vehicle 10, or performs driving assistance for the driver of the vehicle 10. In particular, the ECU 5 controls the acceleration or deceleration of the vehicle 10 so as to automatically adjust the relative positional relationship between the vehicle 10 and other vehicles traveling around the vehicle 10 when the vehicle 10 travels through a merging section.

[0023] 2, the ECU 5 has a communication interface 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 may each be configured as a separate circuit, or may be integrated into a single integrated circuit.

[0024] The communication interface 21 has an interface circuit for connecting the ECU 5 to an in-vehicle network. Every time the communication interface 21 receives an image from the camera 2, it passes the received image to the processor 23. Every time the communication interface 21 receives positioning information from the GPS receiver 3, it passes the positioning information to the processor 23. Furthermore, the communication interface 21 passes a high-precision map read from the storage device 4 to the processor 23. Furthermore, the communication interface 21 passes various information received by a wireless communication terminal (not shown) from other devices and a distance measurement signal received from a distance measurement sensor (not shown) to the processor 23.

[0025] The memory 22 is another example of a storage unit, and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores various data used in the vehicle control process executed by the processor 23. For example, the memory 22 stores parameters such as the focal length, shooting direction, and mounting position of the camera 2, and various parameters for identifying a classifier used to detect objects around the vehicle 10. The memory 22 also stores positioning information, images of the surroundings of the vehicle 10, ranging signals, and high-precision maps. The memory 22 also temporarily stores various data generated during the vehicle control process.

[0026] The processor 23 has one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further have other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. The processor 23 executes vehicle control processing for the vehicle 10 at predetermined intervals.

[0027] 3 is a functional block diagram of the processor 23 related to the vehicle control process. The processor 23 has a merging section detection unit 31, another vehicle detection unit 32, a determination unit 33, and a vehicle control unit 34. Each of these units in the processor 23 is, for example, a functional module realized by a computer program running on the processor 23. Alternatively, each of these units in the processor 23 may be a dedicated arithmetic circuit provided in the processor 23.

[0028] The merging section detection unit 31 detects a merging section ahead of the vehicle 10 where an adjacent lane adjacent to the own lane in which the vehicle 10 is traveling merges into the own lane. Such a merging section can be, for example, a section where the main lane of a motor vehicle expressway is the own lane and a lane (hereinafter simply referred to as a merging lane) merging into the main lane from an interchange or the like merges with the main lane, that is, a section where lane change from the merging lane to the main lane is possible. Alternatively, the merging section can be a section at a predetermined distance (for example, several tens of meters to several hundreds of meters) before a terminal point where the vehicle cannot travel on the adjacent lane adjacent to the own lane in a road section where the number of lanes is reduced due to lane restrictions due to construction or the like or the road structure. In this case, the adjacent lane where the vehicle cannot travel at the terminal point becomes the merging lane that merges into the own lane.

[0029] The merging section detection unit 31 first detects the lane in which the vehicle 10 is traveling. For example, the merging section detection unit 31 refers to the current position of the vehicle 10 represented by the latest positioning information and the high-precision map, and detects the lane including the current position of the vehicle 10 as the own lane among the lanes of each road section represented on the high-precision map. Alternatively, the merging section detection unit 31 may detect the own lane by comparing the latest image obtained by the camera 2 with the high-precision map. In this case, the merging section detection unit 31 detects each feature existing around the vehicle 10 from the image, and projects each detected feature on the high-precision map by assuming the position and attitude of the vehicle 10. Then, the merging section detection unit 31 calculates the degree of match between each feature detected from the image and the corresponding feature represented on the high-precision map (for example, the sum of squares of the distance between each detected feature and the corresponding feature on the high-precision map, or the reciprocal thereof). The merging section detection unit 31 specifies the position and attitude of the vehicle 10 when each detected feature best matches the corresponding feature shown on the high-precision map while varying the assumed position and attitude of the vehicle 10. The merging section detection unit 31 then estimates the position and attitude of the vehicle 10 when each detected feature best matches the corresponding feature shown on the high-precision map as the current position and attitude of the vehicle 10. The merging section detection unit 31 then refers to the high-precision map and specifies the lane that includes the current position of the vehicle 10 as the lane in which the vehicle 10 is traveling.

[0030] In order to detect features shown in the image, the merging section detection unit 31 inputs the image to a classifier that has been trained in advance to detect features. As such a classifier, the merging section detection unit 31 may use a deep neural network (DNN) having a convolutional neural network (CNN) type architecture, such as a Single Shot MultiBox Detector (SSD) or Faster R-CNN. Alternatively, the merging section detection unit 31 may use a DNN having a self attention network (SAN) type architecture, such as a Vision Transformer, as such a classifier. Such a classifier is trained in advance according to a predetermined learning method, such as an error backpropagation method, using a large number of teacher images showing features to be detected.

[0031] When the own lane is identified, the merging section detection unit 31 refers to the current position of the vehicle 10 represented by the latest positioning information and the high-precision map to determine whether or not there is an adjacent lane merging into the own lane in a section up to a predetermined distance from the current position of the vehicle 10 along the traveling direction of the vehicle 10. If such an adjacent lane exists, the merging section detection unit 31 detects the section where it is possible to change lanes from the adjacent lane to the own lane as a merging section.

[0032] Alternatively, the merging section detection unit 31 determines whether or not there is a section in which lane regulation is implemented in which driving in an adjacent lane is prohibited in a section from the current position of the vehicle 10 to a predetermined distance ahead, based on traffic information received via a wireless communication terminal (not shown). If such lane regulation is indicated, the merging section detection unit 31 detects a section of a predetermined distance ahead of the vehicle 10, the end point of which is the point where the lane regulation is implemented, as a merging section. Alternatively, the merging section detection unit 31 may detect, from an image obtained by the camera 2, a sign indicating that driving in a lane adjacent to the own lane is restricted, or a sign indicating that an adjacent lane adjacent to the own lane merges into the own lane. When such a sign is detected, the merging section detection unit 31 may detect a section of a predetermined distance ahead of the vehicle 10, the end point of which is the lane regulation indicated by the sign, as a merging section. Similarly, when such a sign is detected, the merging section detection unit 31 may detect, as a merging section, a section indicated by the sign in which lane changing from an adjacent lane to the own lane is possible. The merging section detection unit 31 can detect the signboard or sign by inputting the image to a classifier that has been trained in advance to detect such a signboard or sign. The merging section detection unit 31 can use, as such a classifier, a classifier similar to the classifier for feature detection described in relation to the own vehicle lane detection. Alternatively, the classifier for feature detection used for the own vehicle lane detection may be trained in advance to also detect the signboard or signboard.

[0033] The merging section detection unit 31 notifies the other vehicle detection unit 32, the determination unit 33, and the vehicle control unit 34 of information indicating the position and length of the detected merging section.

[0034] The other vehicle detection unit 32 detects one or more other vehicles traveling in an adjacent lane adjacent to the own lane in the merging section. The other vehicle detection unit 32 may further detect other vehicles traveling in a predetermined section on the adjacent lane before the merging section. The predetermined section may be, for example, a section having a length of about several tens of meters and ending at the start point of the merging section.

[0035] The other vehicle detection unit 32 detects other vehicles by inputting, for example, an image generated by the camera 2 when the merging section and the predetermined section are included in the shooting range to a classifier that has been trained in advance to detect other vehicles. The other vehicle detection unit 32 may use, as such a classifier, a classifier similar to the classifier for detecting features described in relation to the vehicle lane detection. In addition, when the vehicle 10 is equipped with multiple cameras 2, the other vehicle detection unit 32 may identify the camera 2 whose shooting range includes the merging section and the predetermined section based on the detected merging section and the current position of the vehicle 10. Then, the other vehicle detection unit 32 may detect other vehicles traveling in the merging section or the predetermined section from the image generated by the identified camera 2. Furthermore, the position on the image corresponds one-to-one to the direction as seen from the camera 2. Therefore, when the direction corresponding to the reference point in the area in which the other vehicle detected on the image is represented is included in the range of the merging section or the predetermined section as seen from the current position of the vehicle 10, the other vehicle detection unit 32 may determine that the other vehicle is traveling in the merging section or the predetermined section.

[0036] Furthermore, when one or more distance measurement sensors (not shown) are mounted on the vehicle 10, the other vehicle detection unit 32 may detect other vehicles based on distance measurement signals generated by the distance measurement sensors whose measurement range includes the merging section and the predetermined section. In this case, the other vehicle detection unit 32 may detect other vehicles by inputting the distance measurement signals to a classifier that has been trained in advance to detect other vehicles from the distance measurement signals. The other vehicle detection unit 32 may use a DNN having a CNN-type or SAN-type architecture as such a classifier, as in the case of detecting other vehicles from an image.

[0037] Furthermore, the other vehicle detection unit 32 may detect another vehicle traveling in front of the vehicle 10 on the own lane as a preceding vehicle by inputting an image generated by the camera 2 capturing an image of the area in front of the vehicle 10 or a distance measurement signal generated by a distance measurement sensor to the above-mentioned identifier. In this case, the other vehicle detection unit 32 may determine the other vehicle as a preceding vehicle when the position of the other vehicle detected on the image or on the distance measurement signal is included in a predetermined range corresponding to the front of the vehicle 10. Alternatively, the other vehicle detection unit 32 may further detect lane markings from the image, and detect an area between the lane markings closest to the vehicle 10 on each of the left and right sides of the vehicle 10 among the detected lane markings as the own lane. The other vehicle detection unit 32 may determine the other vehicle as a preceding vehicle when the lower end of the area in which the other vehicle is represented on the image overlaps with the area in which the own lane is represented on the image by a predetermined amount or more.

[0038] Every time another vehicle is detected, the other vehicle detection unit 32 notifies the determination unit 33 and the vehicle control unit 34 of the position on the image or distance measurement signal at which the detected other vehicle is represented. Similarly, every time a preceding vehicle is detected, the other vehicle detection unit 32 notifies the determination unit 33 and the vehicle control unit 34 of the position on the image or distance measurement signal at which the detected preceding vehicle is represented.

[0039] When vehicle 10 reaches a predetermined position on the near side of the merging section, determination unit 33 determines whether or not to allow the detected other vehicle to precede vehicle 10 when changing lanes into the vehicle's own lane in the merging section. The predetermined position can be, for example, a position a predetermined distance away from the start or end position of the merging section on the near side, i.e., toward the current position of vehicle 10. When the predetermined position is set based on the end position of the merging section, it is preferable that this predetermined distance be set to be longer than the merging section.

[0040] The determination unit 33 determines whether or not to allow the other vehicle to go ahead of the vehicle 10 based on the relative speed and relative positional relationship between the other vehicle and the vehicle 10. Specifically, (i) if the other vehicle is ahead of the vehicle 10 by the time the other vehicle reaches the reference position and is faster than the vehicle 10, the determination unit 33 determines that the other vehicle will go ahead of the vehicle 10. That is, the determination unit 33 determines that the other vehicle will yield to the other vehicle. Conversely, (ii) if the vehicle 10 is ahead of the other vehicle at the reference position and is faster than the other vehicle, the determination unit 33 determines that the vehicle 10 will be allowed to go ahead. That is, the determination unit 33 determines that the other vehicle will not yield to the other vehicle. The reference position can be, for example, a position that is closer to the end position of the merging section by the minimum distance required for the other vehicle to change lanes from an adjacent lane to the vehicle's own lane, or by adding a predetermined offset distance to that minimum distance.

[0041] If neither (i) nor (ii) above is true (for example, if another vehicle is ahead of vehicle 10 at the reference position and vehicle 10 is faster than the other vehicle), the judgment unit 33 judges to execute status quo control for the vehicle speed of vehicle 10.

[0042] The determination unit 33 refers to the current vehicle speed and acceleration of the vehicle 10 and the other vehicle, the relative distance between the vehicle 10 and the other vehicle in the traveling direction of the vehicle 10, and the current position of the vehicle 10. Based on the information referred to, the determination unit 33 estimates the speed of the vehicle 10 and the other vehicle and the relative distance between the vehicle 10 and the other vehicle at each time until the other vehicle and the vehicle 10 reach the reference position. Note that the acceleration referred to here includes deceleration. That is, if the acceleration is a negative value, the vehicle 10 or the other vehicle decelerates, and if the acceleration is a positive value, the vehicle 10 or the other vehicle accelerates. Furthermore, the determination unit 33 predicts the positions of the vehicle 10 and the other vehicle at each time until the other vehicle and the vehicle 10 reach the reference position. If the other vehicle is ahead of the vehicle 10 by a predetermined length or more at any time and is faster than the vehicle 10, the determination unit 33 determines that the condition (i) is satisfied. The predetermined length is set to, for example, about 0 to 10 or so meters.

[0043] The determination unit 33 may use the latest speed measured by a vehicle speed sensor (not shown) of the vehicle 10 as the current vehicle speed of the vehicle 10. Similarly, the determination unit 33 may use the latest acceleration measured by an acceleration sensor (not shown) of the vehicle as the current acceleration of the vehicle 10. The determination unit 33 may estimate the speed of the vehicle 10 at each time and predict the position of the vehicle 10 at each time, assuming that the vehicle speed of the vehicle 10 changes due to uniform acceleration motion. Similarly, the determination unit 33 may estimate the speed of the other vehicle at each time and predict the position of the other vehicle at each time, assuming that the vehicle speed of the other vehicle changes due to uniform acceleration motion. The determination unit 33 may estimate the position of the other vehicle at the time of generation of each image or each distance measurement signal in which the other vehicle is detected, obtained within a certain period of time, to estimate the current vehicle speed of the other vehicle. Here, the position of the bottom end of the other vehicle on the image corresponds one-to-one to the direction to the position where the other vehicle is in contact with the road surface as seen from the camera 2. Therefore, the determination unit 33 can estimate the distance and direction from the vehicle 10 to the other vehicle based on the position of the bottom end of the area in which the other vehicle is displayed on the image and the parameters of the camera 2 such as the installation height and focal length of the camera 2. Furthermore, when the other vehicle is detected from the distance measurement signal, the determination unit 33 can estimate the distance and direction from the vehicle 10 to the other vehicle based on the direction and distance in which the other vehicle is displayed in the distance measurement signal. The determination unit 33 can estimate the position of the other vehicle at the time of generation of each image or each distance measurement signal based on the position of the vehicle 10 at the time of generation of each image or each distance measurement signal during the most recent fixed period and the direction and distance to the other vehicle as seen from the vehicle 10. The determination unit 33 can estimate the current vehicle speed of the other vehicle by approximating the change in the estimated position of the other vehicle at the time of generation of each image or each distance measurement signal during the most recent fixed period, assuming that the other vehicle is moving with a constant acceleration. The determination unit 33 then determines the acceleration obtained by the approximation as the acceleration of the other vehicle. In addition, when the other vehicle merges into the own lane, it is estimated that the speed of the other vehicle is approximately equal to the speed of the vehicle 10. Therefore, the determination unit 33 may obtain the acceleration of the other vehicle by assuming that the speed when the other vehicle reaches the reference position is equal to the speed of the vehicle 10 at that time and that the other vehicle moves with a constant acceleration.Furthermore, the determination unit 33 may determine the relative distance between the vehicle 10 and the other vehicle in the traveling direction of the vehicle 10, based on the direction and distance to the other vehicle estimated based on the latest image or distance measurement signal in which the other vehicle is detected. Furthermore, the determination unit 33 sets the position of the vehicle 10 represented by the latest positioning information obtained by the GPS receiver 3 as the current position of the vehicle 10. Alternatively, the determination unit 33 may determine the current position of the vehicle 10 based on matching the image with a high-precision map, as described in the merging section detection unit 31. Alternatively, the determination unit 33 may obtain the current position of the vehicle 10 from the merging section detection unit 31 when the merging section detection unit 31 determines the current position of the vehicle 10.

[0044] In addition, the judgment unit 33 judges that the condition (ii) is satisfied if, at the predicted time when the other vehicle or vehicle 10 reaches the reference position, vehicle 10 is ahead of the other vehicle and the estimated speed of vehicle 10 is faster than the estimated speed of the other vehicle.

[0045] Furthermore, when multiple other vehicles traveling in a merging section or a predetermined section are detected in any of the images, the determination unit 33 applies a tracking process such as the KLT method to other vehicle regions in which other vehicles are represented in a series of images in time series obtained by the camera 2. As a result, the determination unit 33 tracks each other vehicle, thereby associating other vehicle regions in which the same other vehicle is represented in a series of images. For this reason, the determination unit 33 extracts multiple feature points from the other vehicle region by applying a feature point extraction filter such as SIFT or Harris operator to the other vehicle region of interest in the image of interest. Then, the determination unit 33 may calculate the optical flow by specifying, for each of the multiple feature points, a corresponding point in the other vehicle region in an image obtained earlier than the image of interest or an image obtained after the image of interest according to the tracking method applied. Alternatively, the determination unit 33 may apply another tracking method applied to tracking a moving object detected from an image to the other vehicle region in the series of images in time series, thereby associating other vehicle regions in which the same other vehicle is represented. The determination unit 33 may track each other vehicle by applying the same tracking process even when multiple other vehicles are detected from the distance measurement signal. The determination unit 33 may determine whether or not to yield to each other vehicle by determining whether or not the above conditions (i) and (ii) are satisfied for each other vehicle traveling in the merging section. Then, when the determination unit 33 determines that any one of the other vehicles will not yield to the other vehicle, it also determines that each of the other vehicles following the other vehicle will not yield to the other vehicle.

[0046] The determination unit 33 notifies the vehicle control unit 34 of the predicted position and estimated speed at each time of the other vehicle (first other vehicle) traveling at the rearmost among the other vehicles traveling in the merging section or the predetermined section and determined to give way. Furthermore, the determination unit 33 notifies the vehicle control unit 34 of the predicted position and estimated speed at each time of the second other vehicle following the first other vehicle among the other vehicles traveling in the merging section or the predetermined section. Furthermore, when the first other vehicle has not been detected and there is an other vehicle that does not satisfy either of the above conditions (i) or (ii), the determination unit 33 notifies the vehicle control unit 34 of the presence of such another vehicle.

[0047] The vehicle control unit 34 controls the acceleration or deceleration of the vehicle 10. In this embodiment, the vehicle control unit 34 sets a target acceleration or deceleration so that a space is created in front of the vehicle 10 for a first other vehicle determined to yield to enter the vehicle's own lane. Furthermore, the vehicle control unit 34 sets a target acceleration or deceleration so that the rear end of the vehicle 10 is positioned ahead of the front end of a second other vehicle following the first other vehicle. Note that, hereinafter, the acceleration and deceleration are collectively referred to as acceleration, similar to the acceleration in the determination unit 33.

[0048] Therefore, the vehicle control unit 34 refers to the remaining distance from the current position of the vehicle 10 to the reference position, the speed of the vehicle 10, and the predicted position of the first other vehicle at each time. Then, the vehicle control unit 34 determines the upper limit value of the target acceleration of the vehicle 10 so that a space is provided in front of the vehicle 10 that allows the first other vehicle to enter before the first other vehicle reaches the reference position. Furthermore, the vehicle control unit 34 refers to the remaining distance from the current position of the vehicle 10 to the reference position, the speed of the vehicle 10, and the predicted position of the second other vehicle at each time. Then, the vehicle control unit 34 determines the lower limit value of the target acceleration of the vehicle 10 such that the rear end of the vehicle 10 is located below the front end of the second other vehicle before the first other vehicle reaches the reference position. Note that, when the absolute value of the upper limit value of the target acceleration exceeds a predetermined limit value, the vehicle control unit 34 may set the upper limit value so that the absolute value of the upper limit value of the target acceleration is equal to or less than the predetermined limit value. Similarly, when the absolute value of the lower limit of the target acceleration exceeds a predetermined limit, the vehicle control unit 34 may set the lower limit so that the absolute value of the lower limit of the target acceleration is equal to or less than the predetermined limit. Then, the vehicle control unit 34 sets the target acceleration of the vehicle 10 so that the target acceleration is equal to or less than the upper limit of the target acceleration and equal to or more than the lower limit. More specifically, the vehicle control unit 34 may set the target acceleration of the vehicle 10 so that the distance between the rear end of the first other vehicle and the front end of the vehicle 10 (i.e., the distance between the first other vehicle and the host vehicle) becomes narrower than the distance between the front end of the second other vehicle and the rear end of the vehicle 10 (i.e., the distance between the host vehicle and the second other vehicle) until the first other vehicle reaches the reference position. Alternatively, the vehicle control unit 34 may set the target acceleration of the vehicle 10 so that the distance between the rear end of the first other vehicle and the front end of the vehicle 10 becomes equal to the distance between the front end of the second other vehicle and the rear end of the vehicle 10 until the first other vehicle reaches the reference position.

[0049] Furthermore, when the first other vehicle is not detected and the determination unit 33 notifies the other vehicle that does not satisfy either of the conditions (i) or (ii) above is present, the vehicle control unit 34 controls the acceleration of the vehicle 10 so that the other vehicle can independently determine the merging position. For example, the vehicle control unit 34 sets the target acceleration of the vehicle 10 so that the speed of the vehicle 10 is kept as constant as possible while keeping the inter-vehicle distance between the vehicle 10 and the preceding vehicle at a predetermined distance or more at or below the set vehicle speed. Therefore, when the preceding vehicle decelerates and the inter-vehicle distance between the preceding vehicle and the vehicle 10 is about to fall below the predetermined distance, the vehicle control unit 34 sets the target acceleration so as to decelerate the vehicle 10. Conversely, when the preceding vehicle accelerates and the inter-vehicle distance between the preceding vehicle and the vehicle 10 increases, the target acceleration may be set so as to keep the speed of the vehicle 10 constant at or below the set vehicle speed.

[0050] The vehicle control unit 34 sets the accelerator opening so that the actual acceleration of the vehicle 10 becomes the target acceleration. The vehicle control unit 34 then calculates the fuel injection amount according to the set accelerator opening, and outputs a control signal corresponding to the fuel injection amount to a fuel injection device of the engine of the vehicle 10. Alternatively, the vehicle control unit 34 calculates the amount of power supplied to the motor according to the set accelerator opening, and controls a drive circuit of the motor so that the amount of power is supplied to the motor. Furthermore, the vehicle control unit 34 sets the amount of braking as necessary, and outputs a control signal corresponding to the set amount of braking to the brakes of the vehicle 10.

[0051] 4(a) and 4(b) are diagrams each illustrating an outline of the vehicle control process according to the present embodiment. In both of Fig. 4(a) and Fig. 4(b), a first other vehicle 410 and a second other vehicle 420 following the first other vehicle 410 are traveling in a merging section 402 where an adjacent lane 401 merges with a vehicle's own lane 400. In this example, it is determined that the first other vehicle 410 is allowed to precede the vehicle 10, and that the second other vehicle 420 is not allowed to precede the vehicle 10.

[0052] 4(a), the target acceleration of the vehicle 10 is set so that the distance d1 between the front end of the vehicle 10 and the rear end of the first other vehicle 410 becomes shorter than the distance d2 between the rear end of the vehicle 10 and the front end of the second other vehicle 420 by the time the first other vehicle 410 reaches the reference position rp. In this case, the distance d1 may be set to a constant distance regardless of the distance between the first other vehicle 410 and the second other vehicle 420.

[0053] In the example shown in FIG. 4(b), the target acceleration of the vehicle 10 is set so that the distance d1 between the front end of the vehicle 10 and the rear end of the first vehicle 410 and the distance d2 between the rear end of the vehicle 10 and the front end of the second vehicle 420 become equal by the time the first vehicle 410 reaches the reference position rp. In both of the examples shown in FIG. 4(a) and FIG. 4(b), the second vehicle 420 cannot get ahead of the vehicle 10, so that the driver of the second vehicle 420 is prevented from mistakingly thinking that the second vehicle 420 has been given way. Furthermore, since the vehicle 10 is located ahead of the front end of the second vehicle 420, the vehicle 10 does not obstruct the second vehicle 420 from changing lanes into the own lane 400.

[0054] 5 is an operational flowchart of the vehicle control process executed by the processor 23. The processor 23 may execute the vehicle control process in accordance with the following operational flowchart at predetermined intervals.

[0055] The merging section detection unit 31 of the processor 23 detects a merging section in front of the vehicle 10 along the traveling direction of the vehicle 10 where an adjacent lane adjacent to the own lane merges into the own lane (step S101). In addition, the other vehicle detection unit 32 of the processor 23 detects one or more other vehicles traveling in the adjacent lane adjacent to the own lane in the merging section or a predetermined section before that section (step S102).

[0056] Furthermore, the determination unit 33 of the processor 23 determines, for each of the one or more detected other vehicles, whether or not to allow the other vehicle to precede the vehicle 10 when the other vehicle changes lanes into the vehicle's own lane in the merging section (step S103).

[0057] The vehicle control unit 34 of the processor 23 sets an upper limit value of the target acceleration of the vehicle 10 so that a space is provided in front of the vehicle 10 for the first vehicle traveling furthest behind among the other vehicles determined to be allowed to proceed ahead into the vehicle's own lane (step S104). The vehicle control unit 34 sets the target acceleration of the vehicle 10 to be equal to or less than the upper limit value of the target acceleration so that the rear end of the vehicle 10 is positioned ahead of the front end of the second vehicle following the first other vehicle (step S105). Then, the vehicle control unit 34 controls the acceleration of the vehicle 10 so that the vehicle 10 accelerates or decelerates according to the set target acceleration (step S106). Then, the processor 23 ends the vehicle control process.

[0058] As described above, the vehicle control device controls the acceleration or deceleration of the host vehicle so that the rear end of the host vehicle is positioned ahead of the front end of the second other vehicle following the first other vehicle that is to be made to precede the host vehicle among other vehicles traveling in the merging section. This allows the vehicle control device to appropriately adjust the relative positional relationship between the host vehicle and other vehicles traveling in adjacent lanes that merge into the lane in which the host vehicle is traveling. As a result, the vehicle control device can prevent the host vehicle from interfering with the lane change of other vehicles traveling in the merging section into the host vehicle's lane without the host vehicle's intention to give way, and can prevent the driver of the other vehicle from mistakingly believing that the host vehicle has given way to the other vehicle.

[0059] According to a modified example, the vehicle control unit 34 may adjust the relative positional relationship between the first and second other vehicles and the vehicle 10 according to the interval between the first and second other vehicles. For example, the vehicle control unit 34 may set the target acceleration according to the interval between the first and second other vehicles so that the ratio between the interval between the rear end of the vehicle 10 and the front end of the second other vehicle and the interval between the front end of the vehicle 10 and the rear end of the first other vehicle is constant until the first other vehicle reaches the reference position. In this case, it is preferable that the vehicle control unit 34 sets the ratio so that the interval between the rear end of the vehicle 10 and the front end of the second other vehicle is longer than the interval between the front end of the vehicle 10 and the rear end of the first other vehicle. Note that the vehicle control unit 34 may obtain the interval between the first and second other vehicles based on the predicted position of the first other vehicle and the predicted position of the second other vehicle when the determination unit 33 determines that the first other vehicle is to be ahead of the vehicle 10. By setting the target acceleration in this manner, the vehicle control unit 34 can adjust the relative position of the vehicle 10 according to the distance between the first other vehicle and the second other vehicle so as not to obstruct the second other vehicle from changing lanes into the vehicle's own lane while maintaining a space allowing the first other vehicle to enter.

[0060] In addition, when the merging section is congested, the interval between the first other vehicle and the second other vehicle may be shorter than the overall length of the vehicle 10. In such a case, when a space is provided in front of the vehicle 10 for the first other vehicle to enter the vehicle's own lane, the front end of the second other vehicle may be located ahead of the rear end of the vehicle 10. Therefore, in the above embodiment or modification, the vehicle control unit 34 may set the target acceleration so that the front end of the vehicle 10 is located between the rear end of the first other vehicle and the front end of the second other vehicle when the interval between the first other vehicle and the second other vehicle is shorter than the overall length of the vehicle 10. Even in this case, the vehicle control device can prevent the driver of the second other vehicle from misunderstanding that the vehicle has been given the right of way. The vehicle control unit 34 can obtain the interval between the first other vehicle and the second other vehicle based on the predicted positions of the first other vehicle and the second other vehicle at each time.

[0061] In addition, a computer program for realizing the functions of the processor 23 of the ECU 5 according to the above embodiment or modified example may be provided in a form recorded on a computer-readable portable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0062] As described above, those skilled in the art can make various modifications to the embodiments within the scope of the present invention. [Explanation of symbols]

[0063] 1 Vehicle Control System 10 Vehicles 2 Camera 3 GPS receiver 4. Storage Devices 5 Electronic Control Unit (ECU) 21 Communication Interface 22 Memory 23 Processors 31 Merging section detection unit 32 Other vehicle detection unit 33 Judgment section 34 Vehicle control unit

Claims

1. a merging section detection unit that detects a merging section in front of the host vehicle where an adjacent lane adjacent to the host lane in which the host vehicle is traveling merges into the host lane; an other vehicle detection unit that detects two or more other vehicles traveling in the adjacent lane; a determination unit that determines, for at least one of the two or more detected other vehicles, whether or not to allow the other vehicle to precede the host vehicle when the other vehicle changes lanes into the host vehicle lane in the merging section; a vehicle control unit that controls an acceleration or deceleration of the host vehicle so that a rear end of the host vehicle is positioned ahead of a front end of a second other vehicle that follows a first other vehicle determined to be allowed to precede the host vehicle among the two or more other vehicles detected; having the vehicle control unit sets a target acceleration of the host vehicle such that a front end of the host vehicle is positioned between a rear end of the first other vehicle and a front end of the second other vehicle when a distance between the first other vehicle and the second other vehicle is shorter than a total length of the host vehicle. Vehicle control device.

2. 2. The vehicle control device according to claim 1, wherein when the distance between the first other vehicle and the second other vehicle is longer than the overall length of the host vehicle, the vehicle control unit controls the acceleration or deceleration of the host vehicle so that the distance between the host vehicle and the first other vehicle becomes shorter than the distance between the host vehicle and the second other vehicle.

3. 3. The vehicle control device according to claim 1 or 2, wherein when the distance between the first other vehicle and the second other vehicle is longer than the overall length of the host vehicle, the vehicle control unit controls the acceleration or deceleration of the host vehicle in accordance with the distance between the first other vehicle and the second other vehicle so that the ratio between the distance between the host vehicle and the first other vehicle and the distance between the host vehicle and the second other vehicle is constant.

4. A merging section is detected in front of the host vehicle where an adjacent lane adjacent to the host lane in which the host vehicle is traveling merges into the host lane; Detecting two or more other vehicles traveling in the adjacent lane; determining whether or not to allow at least one of the two or more detected other vehicles to precede the own vehicle when the other vehicle changes lanes into the own vehicle lane in the merging section; controlling an acceleration or deceleration of the host vehicle so that a rear end of the host vehicle is positioned ahead of a front end of a second other vehicle following a first other vehicle determined to be allowed to precede the host vehicle among the two or more other vehicles detected; Including, A vehicle control method in which controlling the acceleration or deceleration of the host vehicle includes setting a target acceleration of the host vehicle so that, when the distance between the first other vehicle and the second other vehicle is shorter than the total length of the host vehicle, the front end of the host vehicle is positioned between the rear end of the first other vehicle and the front end of the second other vehicle.

5. A merging section is detected in front of the host vehicle where an adjacent lane adjacent to the host lane in which the host vehicle is traveling merges into the host lane; Detecting two or more other vehicles traveling in the adjacent lane; determining whether or not to allow at least one of the two or more detected other vehicles to precede the own vehicle when the other vehicle changes lanes into the own vehicle lane in the merging section; controlling an acceleration or deceleration of the host vehicle so that a rear end of the host vehicle is positioned ahead of a front end of a second other vehicle following a first other vehicle determined to be allowed to precede the host vehicle among the two or more other vehicles detected; and causing a processor mounted on the vehicle to execute the above steps, A computer program for vehicle control, in which controlling the acceleration or deceleration of the host vehicle includes setting a target acceleration of the host vehicle so that, when the distance between the first other vehicle and the second other vehicle is shorter than the overall length of the host vehicle, the front end of the host vehicle is positioned between the rear end of the first other vehicle and the front end of the second other vehicle.

Images