Overtaking control method

Abstract

To provide a passing control method which improves, when an own vehicle passes a preceding vehicle that is slowing down while executing preceding vehicle follow-up control, degree of automatic deceleration of the own vehicle according to deceleration of the preceding vehicle.SOLUTION: A passing control method is performed at the time of executing preceding vehicle follow-up control which decelerates an own vehicle through automatic brake when a preceding vehicle is determined to be slowing down based on peripheral information of the own vehicle detected by a peripheral information detection device. The passing control method suppresses deceleration of the own vehicle (S70), in a condition that the preceding vehicle is determined to be slowing down (S20) and overlap ratio Ro of the own vehicle to the preceding vehicle in a vehicle width direction is determined to be reference value Roc or less (S30), when a driving operation sensor detects an operator performs driving operation to overtake the preceding vehicle (S40) and the own vehicle can overtake the preceding vehicle without having a negative influence to the other vehicles (S50).SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an overtaking control method for vehicles such as automobiles.

Background Art

[0002] As one of the driving support controls for vehicles such as automobiles, overtaking control for assisting the host vehicle in overtaking a preceding vehicle is known. For example, in Patent Document 1 below, when the left turn signal of the preceding vehicle is lit and the overlap amount in the vehicle width direction between the host vehicle and the preceding vehicle becomes small, it is determined that the preceding vehicle will move into a branching lane, and overtaking control for overtaking the preceding vehicle is executed. A driving support control is described.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] 〔Problems to be Solved by the Invention〕 As one of the other driving support controls for vehicles such as automobiles, preceding vehicle following control is known. In preceding vehicle following control, the driving force of the host vehicle is automatically controlled so that the inter-vehicle distance between the host vehicle and the preceding vehicle becomes the target inter-vehicle distance. Therefore, when the preceding vehicle accelerates, the host vehicle also automatically accelerates, and conversely, when the preceding vehicle decelerates, the host vehicle also automatically decelerates.

[0005] Generally, when a vehicle moves into a branching lane, the vehicle decelerates. Therefore, in a situation where the preceding vehicle following control is being executed, when the overtaking control described in Patent Document 1 is executed, the host vehicle automatically decelerates in accordance with the deceleration of the preceding vehicle moving into the branching lane. For this reason, even if the driver attempts to overtake the preceding vehicle without decelerating the host vehicle, since the host vehicle automatically decelerates, the driver may feel a sense of discomfort. The same problem also occurs when the host vehicle attempts to overtake the preceding vehicle in a situation where the preceding vehicle is decelerating and about to stop on the road shoulder.

[0006] A main problem of the present invention is to provide an improved overtaking control method such that when the host vehicle overtakes a preceding vehicle that decelerates during the execution of the preceding vehicle following control, the degree to which the host vehicle is automatically decelerated in accordance with the deceleration of the preceding vehicle is reduced.

[0007] [Means for Solving the Problems and Effects of the Invention] According to the present invention, when it is determined based on the information around the host vehicle (102) detected by the surrounding information detection device (16) that the preceding vehicle is decelerating, during the execution of the preceding vehicle following control for decelerating the host vehicle by automatic braking, an overtaking control method, in a situation where it is determined that the preceding vehicle is decelerating (S20) and it is determined that the overlap ratio (Ro) in the vehicle width direction of the host vehicle with respect to the preceding vehicle is equal to or less than the reference value (Roc) (S30), when it is detected by the driving operation detection device (driving operation sensor 70) that the driver is performing a driving operation in the direction of overtaking the preceding vehicle (S40) and it is determined based on the information around the host vehicle detected by the surrounding information detection device that the host vehicle can overtake the preceding vehicle without causing an adverse effect on the surroundings (S50), the deceleration of the host vehicle by automatic braking Step of suppressing (S70) including, when it is determined that the host vehicle (102) can overtake the preceding vehicle without changing the moving path of other moving objects moving in the current lane or the adjacent lane, without the host vehicle colliding with an obstacle or other moving objects, and without the host vehicle having an adverse impact on the surroundings, the headway control is a headway control that controls the vehicle speed of the host vehicle so that the headway distance (D) between the host vehicle and the preceding vehicle becomes the target headway distance (Dt), and suppresses the deceleration of the host vehicle by changing the target headway distance to be smaller. An overtaking control method is provided.

[0008] According to the above passing control method, when the preceding vehicle is decelerating, the overlap rate in the vehicle width direction of the host vehicle with respect to the preceding vehicle is equal to or less than the reference value, the driver is performing a driving operation in the direction of passing the preceding vehicle, and the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings, By changing the target headway distance of the headway control to be smaller deceleration of the host vehicle by automatic braking is suppressed.

[0009] Therefore, when the host vehicle passes a preceding vehicle that is decelerating to, by changing the target headway distance of the headway control to be smaller compared to the case where deceleration of the host vehicle is not suppressed, the host vehicle is allowed to approach the preceding vehicle, and automatic deceleration of the host vehicle is not started until the headway distance between the host vehicle and the preceding vehicle becomes smaller. the driver can be less likely to feel discomfort due to automatic deceleration of the host vehicle. Also, when it is determined that the host vehicle can overtake the preceding vehicle without changing the moving path of other moving objects moving in the current lane or the adjacent lane, without the host vehicle colliding with an obstacle or other moving objects, and without the host vehicle having an adverse impact on the surroundings, it is determined that the host vehicle can overtake the preceding vehicle without having an adverse impact on the surroundings. Therefore, when the host vehicle does not change the moving path of other moving objects moving in the current lane or the adjacent lane, or when it is determined that the host vehicle can overtake the preceding vehicle without colliding with an obstacle or other moving objects, it is possible to more effectively determine that the host vehicle does not have an adverse impact on the surroundings compared to the case where such determination is made.

[0010] 〔Aspect of the Invention〕 In one aspect of the present invention, when it is determined based on the information around the host vehicle detected by the surrounding information detection device that the host vehicle can pass the preceding vehicle within the lane in which the host vehicle is traveling, it is determined that the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings.

[0011] According to the above passing control method, when it is determined that the host vehicle can pass the preceding vehicle within the lane in which the host vehicle is traveling, it is determined that the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings. Therefore, the host vehicle can pass the preceding vehicle without protruding into the adjacent lane, so the host vehicle can safely pass the preceding vehicle even if there are other vehicles or obstacles in the adjacent lane.

[0012] In another aspect of the present invention, based on the information around the host vehicle detected by the surrounding information detection device, a target trajectory for the host vehicle to pass the preceding vehicle without having an adverse impact on the surroundings is obtained, and the steering assist device assists the driver's steering so that the host vehicle travels along the target trajectory. Note that "without having an adverse impact on the surroundings" means that the host vehicle does not cause a change in the moving path of other vehicles, pedestrians, etc. moving in the current lane or adjacent lane, and does not collide with obstacles, other vehicles, pedestrians, etc.

[0013] According to the above passing control method, the steering assist device assists the driver's steering so that the host vehicle travels along a target trajectory for passing the preceding vehicle without having an adverse impact on the surroundings. Therefore, compared with the case where the steering is not assisted, the driver can drive more easily and safely to pass the preceding vehicle.

[0014] Furthermore, in another aspect of the present invention, when it is determined by the driving operation detection device that the driver is performing a steering operation in the direction of passing the preceding vehicle and / or when the turn signal lever is tilted in the direction corresponding to the direction in which the host vehicle passes the preceding vehicle, it is determined that the driver is performing a driving operation in the direction of passing the preceding vehicle.

[0015] According to the above passing control method, when the driver is performing a steering operation in the direction of passing the preceding vehicle and trying to pass the preceding vehicle and / or when the turn signal lever is tilted in the direction corresponding to the direction in which the host vehicle passes the preceding vehicle, it can be determined that the driver is performing a driving operation in the direction of passing the preceding vehicle. Therefore, compared with the case where it is determined whether a driving operation in the direction of passing the vehicle is being performed based on only one of the steering operation and the tilt of the turn signal lever, it can be determined more reliably and earlier that a driving operation is being performed.

[0018] Furthermore, in another aspect of the present invention, the target inter-vehicle distance is variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the larger the target inter-vehicle distance becomes.

[0019] According to the above aspect, since the target inter-vehicle distance is variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the larger the target inter-vehicle distance becomes, the value by which the target inter-vehicle distance is changed to be smaller can also be variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the larger the value becomes.

[0020] Furthermore, in another aspect of the present invention, the reference value is variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the larger the reference value becomes.

[0021] Generally, it is preferable that a determination as to whether or not overtaking is permitted is made at a stage where the vehicle width direction overlap rate of the host vehicle with respect to the preceding vehicle is larger as the vehicle speed of the host vehicle is higher. According to the overtaking control method, the reference value is variably set according to the vehicle speed of the host vehicle so as to increase as the vehicle speed of the host vehicle increases, and it is possible to determine that the vehicle width direction overlap rate of the host vehicle with respect to the preceding vehicle is equal to or less than the reference value earlier as the vehicle speed of the host vehicle is higher.

[0022] In the above description, in order to facilitate understanding of the present invention, names and / or symbols used in the embodiments corresponding to the embodiments described later are added in parentheses to the configuration of the invention. However, each component of the present invention is not limited to the components of the embodiments corresponding to the names and / or symbols added in parentheses. Other objects, other features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention described with reference to the following drawings.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiment for Carrying Out the Invention

[0024] With reference to the attached drawings below, the overtaking control method according to an embodiment of the present invention will be described in detail.

[0025] <Configuration> As shown in FIG. 1, a vehicle control device 100 that executes an overtaking control method according to an embodiment of the present invention is applied to a vehicle 102 and includes a driving support ECU 10. The vehicle 102 includes a driving ECU 20, a braking ECU 30, an electric power steering ECU 40, a meter ECU 50, and a steering ECU 60. The ECU means an electronic control unit (Electronic Control Unit) having a microcomputer as a main part. In the following description, the vehicle 102 is referred to as the host vehicle 102 as necessary to distinguish it from other vehicles, and the electric power steering is referred to as EPS.

[0026] The microcomputer of each ECU includes a CPU, a ROM, a RAM, a readable and writable non-volatile memory (N / M), an interface (I / F), and the like. The CPU realizes various functions by executing instructions (programs, routines) stored in the ROM. Further, these ECUs are connected to each other so as to be able to exchange data (communicate) via a CAN (Controller Area Network) 104. Therefore, the detection values of sensors (including switches) connected to a specific ECU are also transmitted to other ECUs.

[0027] The driving support ECU 10 is a central control device that performs driving support controls such as following distance control and lane keeping control. In the embodiment, as will be described in detail later, the driving support ECU 10 cooperates with other ECUs to execute the overtaking control method according to the embodiment of the present invention. In the following description, the following distance control is referred to as ACC (Adaptive Cruise Control).

[0028] A camera sensor 12 and a radar sensor 14 are connected to the driving support ECU 10. The camera sensor 12 and the radar sensor 14 each include a plurality of camera devices and a plurality of radar devices. The camera sensor 12 and the radar sensor 14 function as a surrounding information detection device 16 that detects target information around the vehicle 102.

[0029] Each camera device of the camera sensor 12, although not shown in the figure, includes a camera unit that photographs the surroundings of the vehicle 102 and a recognition unit that analyzes the image data obtained by the camera unit to recognize targets such as white lines on the road and other vehicles. The recognition unit supplies information about the recognized targets to the driving support ECU 10 every time a predetermined time elapses. Note that LiDAR (Light Detection And Ranging) may be used instead of the camera sensor 12.

[0030] Each radar device of the radar sensor 14 includes a radar transceiver and a signal processing unit (not shown). The radar transceiver emits radio waves in the millimeter wave band (hereinafter referred to as "millimeter waves") and receives the millimeter waves (i.e., reflected waves) reflected by solid objects (e.g., other vehicles, bicycles, guardrails, etc.) existing within the radiation range. The signal processing unit obtains information representing the distance between the host vehicle and the solid object, the relative speed between the host vehicle and the solid object, the relative position (direction) of the solid object with respect to the host vehicle, etc. every time a predetermined time elapses based on the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, and the time from transmitting the millimeter wave to receiving the reflected wave, and supplies it to the driving support ECU 10.

[0031] Furthermore, a setting operator 18 is connected to the driving assistance ECU 10, and the setting operator 18 is provided at a position operable by the driver. Although not shown in FIG. 1, the setting operator 18 includes an ACC switch and a setter for setting the target vehicle speed Vt and the target inter-vehicle time Tt of ACC described later, and the driving assistance ECU 10 executes ACC when the ACC switch is on.

[0032] A drive ECU 20 is connected to a drive device 22 that accelerates the vehicle 102 by applying a driving force to a drive wheel not shown in FIG. 1. Normally, the drive ECU 20 controls the drive device so that the driving force generated by the drive device 22 changes according to the driving operation by the driver, and when receiving a command signal from the driving assistance ECU 10, controls the drive device 22 based on the command signal.

[0033] Note that the drive device 22 may be any known drive device in the art, such as a combination of an internal combustion engine such as a gasoline engine and a transmission, a so-called hybrid system that is a combination of an internal combustion engine and a motor, a so-called plug-in hybrid system, a combination of a fuel cell and a motor, or a motor.

[0034] A brake ECU 30 is connected to a brake device 32 that decelerates the vehicle 102 by applying a braking force to a wheel not shown in FIG. 1. Normally, the brake ECU 30 controls the brake device so that the braking force generated by the brake device 32 changes according to the braking operation by the driver, and when receiving a command signal from the driving assistance ECU 10, performs automatic braking by controlling the brake device 32 based on the command signal.

[0035] An EPS·ECU 40 is connected to an EPS device 42. Based on the steering torque Ts and vehicle speed V detected by a driving operation sensor 70 and a vehicle state sensor 80, which will be described later, the EPS·ECU 40 controls the EPS device 42 in a manner known in the art, thereby controlling the steering assist torque and reducing the driver's steering burden. Also, the EPS·ECU 40 can steer the steered wheels as necessary by controlling the EPS device 42. Therefore, the EPS·ECU 40 and the EPS device 42 function as a steering device that automatically steers the steered wheels as necessary.

[0036] A meter ECU 50 is connected to a display 52 and turn signal lamps 54R and 54L. The display 52 may be, for example, a head-up display or a multi-information display on which meters and various types of information are displayed, or may be a display of a navigation device.

[0037] A steering ECU 60 is connected to a turn signal lever 62 provided on a steering column (not shown). When the turn signal lever 62 is tilted in the vertical direction corresponding to the right turn direction and the left turn direction, a signal indicating this is supplied to the meter ECU 50, whereby the right and left turn signal lamps 54R and 54L are blinked respectively.

[0038] The driving operation sensor 70 and the vehicle state sensor 80 are connected to a CAN 104. Information (referred to as sensor information) detected by the driving operation sensor 70 and the vehicle state sensor 80 is transmitted to the CAN 104. The sensor information transmitted to the CAN 104 can be appropriately used in each ECU. Note that the sensor information is information of a sensor connected to a specific ECU and may be transmitted from the specific ECU to the CAN 104.

[0039] The driving operation sensor 70 includes a driving operation amount sensor that detects the operation amount of the accelerator pedal, a braking operation amount sensor that detects the master cylinder pressure or the stepping force on the brake pedal, and a brake switch that detects the presence or absence of the operation of the brake pedal. Further, the driving operation sensor 70 includes a steering angle sensor that detects the steering angle θ, a steering torque sensor that detects the steering torque Ts, and a shift position sensor that detects the shift position of the transmission, and the like.

[0040] The vehicle state sensor 80 includes a vehicle speed sensor that detects the vehicle speed V of the vehicle 102, a longitudinal acceleration sensor that detects the longitudinal acceleration of the vehicle, a lateral acceleration sensor that detects the lateral acceleration of the vehicle, and a yaw rate sensor that detects the yaw rate of the vehicle, and the like.

[0041] As is well known, ACC includes two types of controls: constant speed driving control and preceding vehicle following control. The constant speed driving control is a control that adjusts the driving force of the vehicle so that the vehicle speed V of the vehicle 102 matches the target vehicle speed (set speed) Vt without requiring a driving operation by the driver. The preceding vehicle following control is a control that causes the host vehicle to follow the preceding vehicle while maintaining the inter-vehicle distance D between the preceding vehicle (the following target vehicle) and the host vehicle 102 at the target inter-vehicle distance Dt without requiring a driving operation by the driver. The preceding vehicle is a vehicle that is traveling in the front region of the host vehicle 102 and immediately in front of the host vehicle.

[0042] When the ACC switch is set to on by the operation of the setting operator 18 by the driver, the driving support ECU 10 determines whether a preceding vehicle exists based on the target information detected by the surrounding information detection device 16. When the driving support ECU 10 determines that no preceding vehicle exists, it executes constant speed driving control. The driving support ECU 10 controls the driving force by controlling the driving device 22 using the driving ECU 20 so that the vehicle speed V matches the target speed Vt, and controls the braking force by controlling the braking device 32 using the braking ECU 30 as necessary. As described above, the target speed Vt is set by operating the corresponding setter of the setting operator 18.

[0043] On the other hand, when the driving support ECU 10 determines that there is a preceding vehicle, it executes following control for the preceding vehicle. The driving support ECU 10 acquires information on the inter-vehicle distance D between the vehicle 102 and the preceding vehicle from the surrounding information acquisition device, and calculates a target inter-vehicle distance Dt by multiplying the vehicle speed V by the target inter-vehicle time Tt. The driving support ECU 10 controls the driving force by controlling the driving device 22 using the drive ECU 20 so that the inter-vehicle distance D matches the target inter-vehicle distance Dt, and controls the braking force by controlling the braking device 32 using the brake ECU 30 as necessary. As described above, the target inter-vehicle time Tt is set by operating the corresponding setter of the setting operator 18. In the embodiment, the ROM of the driving support ECU 10 stores an ACC program corresponding to the flowchart shown in FIG. 2, and the CPU executes ACC according to the program. Note that the CPU of the driving support ECU 10 executes overtaking control according to an embodiment of the overtaking control method of the present invention as part of ACC. <ACC Routine in Embodiment>

[0044] Next, the ACC routine in the embodiment will be described with reference to the flowchart shown in FIG. 2. The ACC according to the flowchart shown in FIG. 2 is executed by the CPU of the driving support ECU 10 when an ACC switch (not shown in FIG. 1) of the setting operator 18 is on. In the following description, ACC is simply referred to as "control".

[0045] First, in step S10, the CPU determines whether there is a preceding vehicle in front of the lane in which the host vehicle 102 is traveling based on the target information detected by the surrounding information detection device 16. When the CPU makes a negative determination, it advances the control to step S80, and when it makes a positive determination, it advances the control to step S20.

[0046] In step S20, the CPU determines whether the leading vehicle is decelerating based on the change in the inter-vehicle distance D between the host vehicle 102 and the leading vehicle detected by the surrounding information detection device 16 and the vehicle speed V of the host vehicle 102. When the CPU makes a negative determination, it advances the control to step S60, and when it makes a positive determination, it advances the control to step S30.

[0047] In step S30, the CPU calculates the overlap ratio Ro in the vehicle width direction of the host vehicle 102 with respect to the leading vehicle, and determines whether the overlap ratio Ro is less than or equal to the reference value Roc. When the CPU makes a negative determination, it advances the control to step S60, and when it makes a positive determination, it advances the control to step S40. Note that the reference value Roc may be a positive constant, but as shown in FIG. 4, it may be variably set according to the vehicle speed V so that it becomes larger as the vehicle speed V is higher.

[0048] The overlap ratio Ro is calculated as follows. As shown in FIG. 5, when the host vehicle 102 is moved along the lane 106 on which it is traveling to a position where it contacts the leading vehicle 108, the length Lo in the vehicle width direction of the region where the host vehicle and the leading vehicle overlap each other is estimated. Then, the ratio Lo / Lw of the length Lo to the total width Lw (a known value) of the host vehicle 102 is calculated as the overlap ratio Ro.

[0049] As shown in FIG. 5, when the lane 106 is a straight line, the length Lo is estimated as the length in the vehicle width direction of the region where the host vehicle and the leading vehicle overlap each other when the host vehicle 102 is linearly moved forward to a position where it contacts the leading vehicle 108. On the other hand, as shown in FIG. 6, when the lane 106 is curved, the curvature or the radius of curvature of the lane 106 is estimated based on the information detected by the surrounding information detection device 16. Further, when the host vehicle 102 is moved along the lane while curving to a position where it contacts the leading vehicle 108 based on the estimated curvature or radius of curvature, the length Lo is estimated as the length in the vehicle width direction of the region where the host vehicle and the leading vehicle overlap each other.

[0050] In step S40, the CPU determines whether the driver is performing a driving operation in the direction of overtaking the preceding vehicle with the host vehicle 102. When the CPU makes a negative determination, it advances the control to step S60, and when it makes an affirmative determination, it advances the control to step S50. In this case, when it is determined based on the change in the steering angle θ and / or the steering torque Ts that the steering operation of the host vehicle 102 is being performed in the direction of overtaking the preceding vehicle, and / or when the turn signal lever 62 is tilted in the vertical direction corresponding to the direction in which the host vehicle 102 overtakes the preceding vehicle, the CPU makes an affirmative determination.

[0051] In step S50, the CPU determines whether the host vehicle 102 can overtake the preceding vehicle within the current lane in which it is traveling. When the CPU makes a negative determination, it advances the control to step S60, and when it makes an affirmative determination, it advances the control to step S70. As shown in FIG. 7, when it is determined that the host vehicle 102 can move to the front of the preceding vehicle without protruding from the current lane 106 in which it is traveling and without the host vehicle colliding with the preceding vehicle 108, within the current lane in which the host vehicle is traveling it is determined that it is possible to overtake the preceding vehicle well, and when it is determined that the host vehicle can overtake the preceding vehicle without having an adverse impact on the surroundings is good.

[0052] In step S60, the CPU executes the preceding vehicle following control. That is, the CPU calculates the target inter-vehicle distance Dt, which is the product of the target inter-vehicle time Tt and the vehicle speed V, and controls the driving force via the drive ECU 20 and / or the brake ECU 30 so that the inter-vehicle distance D between the vehicle 102 and the preceding vehicle matches the target inter-vehicle distance Dt.

[0053] In step S70, the CPU changes the target inter-vehicle time Tt to a value smaller than the value set by the setting operator 18 to reduce the target inter-vehicle distance Dt, thereby suppressing the deceleration of the host vehicle 102, that is, the decrease in the vehicle speed V. The target inter-vehicle time Tt may be a preset value, and a value smaller than the set value may also be a preset value. Also, when changing the target inter-vehicle time Tt to a small value, the target inter-vehicle time may be gradually changed.

[0054] In step S80, the CPU determines whether or not to perform steering control to assist the host vehicle 102 in overtaking the preceding vehicle by executing step S110 described later. When the CPU makes a negative determination, it advances the control to step S100, and when it makes an affirmative determination, it advances the control to step S90.

[0055] In step S90, the CPU determines whether or not the host vehicle 102 has completed overtaking the preceding vehicle. When the CPU makes a negative determination, it advances the control to step S70, and when it makes an affirmative determination, it advances the control to step S100. Note that when it is determined that the host vehicle 102 has moved ahead of the position of the preceding vehicle at the start of overtaking, it may be determined that overtaking has been completed.

[0056] In step S100, the CPU executes constant-speed running control. That is, the CPU controls the driving force via the drive ECU 20 and / or the brake ECU 30 so that the vehicle speed V becomes the target speed Vt. As described above, the target speed Vt is set by operating the corresponding setter of the setting operator 18.

[0057] In step S110, the CPU performs steering control to assist the host vehicle 102 in overtaking the preceding vehicle. For example, as shown in FIG. 7, the CPU sets a target trajectory 110 for the host vehicle to overtake the preceding vehicle 108 within the current lane 106 in which the host vehicle 102 is traveling, corrects the target trajectory as necessary, calculates a target steering angle θt for the host vehicle to travel along the target trajectory, and outputs a signal indicating the target steering angle θt to the EPS·ECU 40. The EPS·ECU 40 controls the EPS device 42 so that the steering angle θ becomes the target steering angle θt, whereby steering control is performed to assist the host vehicle 102 in overtaking the preceding vehicle, and the host vehicle travels along the target trajectory.

[0058] <Example of overtaking control of the embodiment> Next, the overtaking control of the embodiment will be described for various cases where the presence or absence of a preceding vehicle and the like are different.

[0059] <C1. When there is no preceding vehicle> When there is no preceding vehicle in front of the host vehicle 102, negative determinations are made in steps S10 and S80. Therefore, since constant-speed travel control is executed in step S100, the driving force is controlled so that the vehicle speed V becomes the target speed Vt. Accordingly, the host vehicle 102 travels at a constant speed at the vehicle speed of the target speed Vt.

[0060] <C2. When there is a preceding vehicle, but the preceding vehicle does not decelerate> When there is a preceding vehicle in front of the host vehicle 102, but the preceding vehicle does not decelerate, affirmative and negative determinations are made in steps S10 and S20, respectively. Therefore, since preceding-vehicle following control is executed in step S80, the target inter-vehicle distance Dt, which is the product of the target inter-vehicle time Tt and the vehicle speed V, is calculated, and the driving force is controlled so that the inter-vehicle distance D between the vehicle 102 and the preceding vehicle becomes the target inter-vehicle distance Dt. Accordingly, the host vehicle 102 travels following the preceding vehicle so that the inter-vehicle distance D becomes the target inter-vehicle distance Dt.

[0061] <C3. When the preceding vehicle is decelerating, but other deceleration suppression requirements are not satisfied> Affirmative determinations are made in steps S10 and S20, but a negative determination is made in any of steps S30 to S50. Therefore, similar to the case of C2 above, preceding-vehicle following control is executed in step S80. Note that the case where other deceleration suppression requirements are not satisfied is any of the following cases. A1. When the overlap ratio Ro in the vehicle width direction of the host vehicle 102 with respect to the preceding vehicle exceeds the reference value Roc A2. When no driving operation is performed by the driver in the direction in which the host vehicle 102 overtakes the preceding vehicle A3. When it is impossible for the host vehicle to overtake the preceding vehicle within the current lane in which the host vehicle 102 is traveling

[0062] <C4. When the preceding vehicle is decelerating and other deceleration suppression requirements are satisfied> Affirmative determinations are made in steps S10 to S50. Therefore, in step S70,by changing the target headway distance Dt of the headway control to be smaller By suppressing the deceleration of the host vehicle 102, a decrease in the vehicle speed V is suppressed. Also, in step S110, steering control is performed to assist the host vehicle 102 in overtaking the preceding vehicle, and the host vehicle travels along the target trajectory, so that the host vehicle overtakes the preceding vehicle within the current lane.

[0063] As can be understood from the above description, when there is a preceding vehicle in front of the host vehicle 102, the preceding vehicle is decelerating, the overlap ratio Ro in the vehicle width direction of the host vehicle 102 with respect to the preceding vehicle is less than or equal to the reference value Roc, and the driver has performed a driving operation in the direction of overtaking the preceding vehicle by the host vehicle 102, and it is possible for the host vehicle to overtake the preceding vehicle without colliding with the preceding vehicle within the current lane in which the host vehicle 102 is traveling, by changing the target headway distance Dt of the headway control to be smaller the deceleration of the host vehicle 102 is suppressed, and steering control is performed to assist the host vehicle 102 in overtaking the preceding vehicle.

[0064] [Modification Example] <ACC Routine in the Modification Example> FIG. 3 shows the ACC routine in the modification example. In FIG. 3, the same step numbers as those of the steps shown in FIG. 2 are assigned to the same steps as those shown in FIG. 2.

[0065] As can be understood from the comparison between FIG. 3 and FIG. 2, steps S10 to S40 and steps S60 to S110 are executed in the same manner as steps S10 to S40 and steps S60 to S110 in the first embodiment, respectively. Therefore, the description of these steps is omitted.

[0066] In the modification example, in step S50, the CPU determines whether the host vehicle 102 can overtake the preceding vehicle without having an adverse effect on the surroundings. When the CPU makes a negative determination, the control proceeds to step S60, and when the CPU makes an affirmative determination, the control proceeds to step S70.

[0067] In this case, when the host vehicle 102 does not cause the moving routes of other vehicles, pedestrians, etc. moving in the current lane or the adjacent lane to change, or collide with obstacles, other vehicles, pedestrians, etc., it may be determined that the host vehicle can overtake the preceding vehicle without adversely affecting the surroundings. For example, as shown in FIG. 8, in order for the host vehicle 102 to overtake the preceding vehicle 108, the host vehicle must at least partially protrude into the adjacent lane 112 (including the oncoming lane). However, when there are no other vehicles moving in the adjacent lane and no obstacles exist, it may be determined that the host vehicle can overtake the preceding vehicle without adversely affecting the surroundings. The presence or absence of other vehicles, etc. in the adjacent lane may be determined based on the information around the host vehicle 102 detected by the surrounding information detection device 16.

[0068] As can be understood from the above description, according to the embodiment and the modification, when the preceding vehicle 108 is decelerating (S20), the overlap ratio Ro in the vehicle width direction of the host vehicle 102 with respect to the preceding vehicle is equal to or less than the reference value Roc (S30), the driver is performing a driving operation in the direction of overtaking the preceding vehicle (S40), and when the host vehicle can overtake the preceding vehicle without adversely affecting the surroundings (S50), by changing the target headway distance Dt of the headway control to be smaller deceleration of the host vehicle by automatic braking is suppressed (S70).

[0069] Therefore, when the host vehicle 102 overtakes the preceding vehicle 108 that is decelerating to, by changing the target headway distance of the headway control to be smaller , as compared with the case where deceleration of the host vehicle is not suppressed, the host vehicle is allowed to approach the preceding vehicle, and automatic deceleration of the host vehicle is not started until the headway distance between the host vehicle and the preceding vehicle becomes smaller. the driver can be less likely to feel discomfort due to the automatic deceleration of the host vehicle. In addition, when it is determined that the host vehicle 102 can overtake the preceding vehicle without changing the moving route of other moving objects moving in the current lane or the adjacent lane and without colliding with obstacles or other moving objects, it is determined that the host vehicle can overtake the preceding vehicle without adversely affecting the surroundings. Therefore, when the host vehicle does not change the moving route of other moving objects moving in the current lane or the adjacent lane, or when it is determined that the host vehicle can overtake the preceding vehicle without colliding with obstacles or other moving objects, it is possible to more effectively determine that the host vehicle does not adversely affect the surroundings as compared with the case where such determination is made.

[0070] In particular, according to the embodiment, when it is determined that the host vehicle 102 can overtake the preceding vehicle 108 within the lane 106 in which the host vehicle is traveling Also (S50), it is determined that the preceding vehicle can be overtaken without adversely affecting the surroundings. Therefore, since the host vehicle can overtake the preceding vehicle without protruding into the adjacent lane 112, the preceding vehicle can be safely overtaken even if there are other vehicles or obstacles in the adjacent lane.

[0071] Conversely, according to the modification, if the host vehicle 102 does not have an adverse impact on the surroundings, it can overtake the preceding vehicle even if it protrudes into the adjacent lane 112. Therefore, even when the width of the lane is relatively small or the width of the preceding vehicle is relatively large, the host vehicle can overtake the preceding vehicle.

[0072] Also, according to the embodiment and the modification, the steering by the driver is assisted by the EPS device 42 as a steering assist device so that the host vehicle 102 travels along the target trajectory 110 for overtaking the preceding vehicle 108 without having an adverse impact on the surroundings. Therefore, compared with the case where the steering is not assisted, the driver can drive to easily and safely overtake the preceding vehicle.

[0073] Furthermore, according to the embodiment and the modification, when the driver performs a steering operation in the direction of overtaking the preceding vehicle and / or when the turn signal lever 62 is tilted in the direction corresponding to the direction in which the host vehicle overtakes the preceding vehicle, it is determined that the driver is performing a driving operation in the direction of overtaking the preceding vehicle. Therefore, compared with the case where it is determined whether or not a driving operation in the direction of overtaking the vehicle is being performed based only on one of the steering operation and the tilting of the turn signal lever, it is possible to surely and early determine that a driving operation is being performed.

[0075] Furthermore, according to the embodiment and the modification, the reference value Roc may be variably set according to the vehicle speed of the host vehicle 102 so that it increases as the vehicle speed V of the host vehicle 102 increases. According to this variable setting, it is possible to determine that the overlap ratio Ro in the vehicle width direction of the host vehicle with respect to the preceding vehicle is less than or equal to the reference value Roc earlier as the vehicle speed of the host vehicle is higher.

[0076] Although the present invention has been described in detail with respect to specific embodiments above, it is obvious to those skilled in the art that the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention.

[0077] For example, in the above-described embodiments and modifications, when the preceding vehicle 108 is decelerating and other deceleration suppression requirements in steps S30 to S50 are satisfied, the deceleration of the host vehicle 102 is suppressed (S70), and steering control is performed to assist the host vehicle 102 in overtaking the preceding vehicle (S110). However, the steering control for assisting the host vehicle in overtaking the preceding vehicle may be omitted.

[0078] Also, in the above-described embodiments and modifications, the steering control for assisting the host vehicle 102 in overtaking the preceding vehicle is performed, for example, by setting a target trajectory 110 for the host vehicle 102 to overtake the preceding vehicle 108 within the current lane 106 in which the host vehicle 102 is traveling, calculating a target steering angle θt for the host vehicle to travel along the target trajectory, and controlling the steering angle θ to become the target steering angle θt. However, the overtaking assist steering control may be performed by controlling the steering assist torque so that the steering angle θ is likely to become the target steering angle θt.

[0079] Also, in the above-described embodiments and modifications, the reference value Roc is variably set according to the vehicle speed of the host vehicle 102 so that it becomes larger as the vehicle speed V of the host vehicle 102 is higher. However, the reference value Roc may be a constant value regardless of the vehicle speed V of the host vehicle 102.

Explanation of Reference Numerals

[0080] 10... Driving support ECU, 12... Camera sensor, 14... Radar sensor, 16... Surrounding information detection device, 20... Drive ECU, 22... Drive device, 30... Brake ECU, 32... Brake device, 40... EPS·ECU, 42... EPS device, 50... Meter ECU, 60... Steering ECU, 70... Driving operation sensor, 80... Vehicle state sensor, 100... Vehicle control device, 102... Vehicle (host vehicle), 108... Preceding vehicle

Claims

1. When it is determined that the preceding vehicle is decelerating based on the information around the host vehicle detected by the surrounding information detection device, a passing control method performed during the execution of the preceding vehicle following control that decelerates the host vehicle by automatic braking, in a situation where it is determined that the preceding vehicle is decelerating and it is determined that the overlap rate in the vehicle width direction of the host vehicle with respect to the preceding vehicle is equal to or less than a reference value, when it is detected by the driving operation detection device that the driver is performing a driving operation in the direction of passing the preceding vehicle and it is determined based on the information around the host vehicle detected by the surrounding information detection device that the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings, the method includes a step of suppressing the deceleration of the host vehicle by the automatic braking, when it is determined that the host vehicle can pass the preceding vehicle without changing the moving path of other moving bodies moving in the current lane or the adjacent lane and without colliding with obstacles or other moving vehicles, it is determined that the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings, the preceding vehicle following control is an inter-vehicle distance control that controls the vehicle speed of the host vehicle so that the inter-vehicle distance between the host vehicle and the preceding vehicle becomes a target inter-vehicle distance, and suppresses the deceleration of the host vehicle by changing the target inter-vehicle distance to be smaller, Passing control method.

2. The passing control method according to claim 1, wherein when it is determined based on the information around the host vehicle detected by the surrounding information detection device that the host vehicle can pass the preceding vehicle within the lane in which the host vehicle is traveling, it is also determined that the host vehicle can pass the preceding vehicle without having an adverse impact on the surroundings.

3. The passing control method according to claim 1 or 2, wherein based on the information around the host vehicle detected by the surrounding information detection device, a target trajectory for the host vehicle to pass the preceding vehicle without having an adverse impact on the surroundings is obtained, and the steering assist device assists the driver's steering so that the host vehicle travels along the target trajectory.

4. In the overtaking control method according to any one of claims 1 to 3, when it is determined by the driving operation detection device that the driver is performing a steering operation in the direction of overtaking the preceding vehicle and / or when the turn signal lever is tilted in the direction corresponding to the direction in which the host vehicle overtakes the preceding vehicle, it is determined that the driver is performing a driving operation in the direction of overtaking the preceding vehicle. Overtaking control method.

5. In the overtaking control method according to claim 1, the target inter-vehicle distance is variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the greater the target inter-vehicle distance. Overtaking control method.

6. In the overtaking control method according to any one of claims 1 to 5, the reference value is variably set according to the vehicle speed of the host vehicle so that the higher the vehicle speed of the host vehicle, the greater the reference value. Overtaking control method.

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