Vehicle control device

Abstract

Provided is a vehicle control device in which, by using a target inter-vehicle distance corresponding to a forward vehicle relative to the travel lane of an ego-vehicle, it is possible to travel safely by maintaining an inter-vehicle distance at which a feeling of fear in a user is mitigated. This vehicle control device 60 can perform vehicle control while mitigating a feeling of fear in a user by: calculating a travel lane area (A) of an ego-vehicle in an area (travel lane area (A)) of a lane traveled by the ego-vehicle as detected by a sensor, the travel lane area (A) reflecting areas (preceding vehicle blocked area (B) and viewing angle blocked area (C)) blocked by a vehicle (preceding vehicle) present ahead of the ego-vehicle and by the vehicle speed of the ego-vehicle; and, if the calculated travel lane area (A) of the ego-vehicle is a threshold value or lower, performing vehicle control so as to adjust the inter-vehicle distance between the ego-vehicle and a forward vehicle.

Description

Technical Field

[0001] The present invention relates to a vehicle control device that adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle during driving support when the user feels a sense of fear in a scene regarding the target inter-vehicle distance.

Background Art

[0002] Conventionally, during driving support, when driving behind a preceding vehicle (lead vehicle) (following the lead vehicle in automatic driving), even if the preceding vehicle suddenly brakes for some reason, a vehicle control device is known that follows the preceding vehicle while maintaining a sufficient inter-vehicle distance so as to be able to stop without colliding with the preceding vehicle.

[0003] In addition, a technique is widely used in which an inter-vehicle distance corresponding to the size of the preceding vehicle is calculated, and when the inter-vehicle distance becomes shorter than a threshold value considering the user's sense of fear, a warning is given to ensure the inter-vehicle distance (Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, since Patent Document 1 issues a warning regarding the inter-vehicle distance between the host vehicle and the preceding vehicle based on the blocking ratio of the preceding vehicle with respect to the set range, there is a possibility of issuing an incorrect warning depending on the blocking ratio of the vehicle other than the driving lane of the host vehicle. In addition, Patent Document 1 assumes use during manual driving and in urban areas, and use during driving support and on highways has not been assumed or considered.

[0006] Therefore, the present invention has been made to solve the above problems, and an object thereof is to provide a vehicle travel control device (vehicle control device) having a driving support function, which can ensure a vehicle distance that reduces the sense of fear given to the user and travel safely by using a target vehicle distance corresponding to a preceding vehicle with respect to the travel lane of the host vehicle.

Means for Solving the Problems

[0007] In order to achieve the above object, the vehicle control device of the present invention is a vehicle control device that controls the driving and / or braking of the host vehicle to perform following automatic driving of a preceding vehicle. The vehicle control device includes a road surface detection unit that detects the travel lane area of the lane in which the host vehicle travels, an object detection unit that detects an object existing in the traveling direction of the host vehicle, and a road surface update unit that updates the travel lane area based on the travel lane area of the host vehicle detected by the road surface detection unit and the cross-sectional area of the preceding vehicle blocking the view given to the user detected by the object detection unit, and a target vehicle distance adjustment unit that adjusts the target vehicle distance between the host vehicle and the preceding vehicle from the travel lane area updated by the road surface update unit.

Effects of the Invention

[0008] According to the present invention, when there is a preceding vehicle with respect to the travel lane of the host vehicle, vehicle control (controlling the driving and / or braking of the host vehicle to perform following automatic driving of the preceding vehicle) can be performed using an appropriate target vehicle distance in consideration of the narrowness of the viewing angle blocked by the area blocked by the preceding vehicle (preceding vehicle blocking cross-sectional area). As a result, vehicle control is possible while reducing the sense of fear given to the user.

[0009] Problems, configurations, and effects other than those described above will be clarified by the description of the following embodiments.

Brief Description of the Drawings

[0010]

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Mode for Carrying Out the Invention

[0011] In the following embodiments, when necessary for convenience, they will be described by being divided into a plurality of sections or embodiments. However, unless otherwise specified, they are not unrelated to each other, and one is related to a part or all of the other as a modification example, details, supplementary explanation, etc.

[0012] Hereinafter, embodiments of the vehicle control device of the present invention will be described with reference to the drawings.

[0013] Figure 1 is a configuration diagram of a vehicle according to this embodiment. The illustrated vehicle (own vehicle) 100 is a rear-wheel drive vehicle with a general configuration including, as a driving power source, for example, an in-cylinder injection gasoline engine (hereinafter simply referred to as an engine) 11, an automatic transmission 12 that can be engaged with and disengaged from the engine 11, a propeller shaft 13, a differential gear 14, a drive shaft 15, four wheels 16, and a brake device 20 including a wheel speed sensor 18, and an electric power steering 21.

[0014] In the vehicle 100, devices, actuators, and equipment including a vehicle control device 60 and various sensors 17 described later can exchange signals and data through an in-vehicle LAN or CAN communication. The vehicle control device 60 obtains information outside the own vehicle 100 from various sensors 17 described later, and transmits command values for realizing control such as automatic driving and driving support to the engine 11, the brake device 20 including the wheel speed sensor 18, the electric power steering 21, and the automatic transmission 12. The wheel speed sensor 18 generates a pulse waveform in response to the rotation of the wheel 16 and transmits it to the vehicle control device 60.

[0015] Mid-range distance measuring sensors 22 are arranged on the left and right in front of and behind the vehicle 100. Also, a long-range distance measuring sensor 25 is arranged in front of the vehicle 100. The mid-range distance measuring sensors 22 and the long-range distance measuring sensor 25 constitute the various sensors 17 described above. These sensors detect the road environment such as objects and white lines around the own vehicle and supply it to the vehicle control device 60. The mounting positions of these various sensors and the number of various sensors are not limited to the positions shown in FIG. 1.

[0016] Note that the illustrated vehicle 100 is an example of a vehicle to which this embodiment is applicable, and this embodiment does not limit the configuration of applicable vehicles. For example, a vehicle employing a continuously variable transmission (CVT) instead of the automatic transmission 12 may be used. Also, a vehicle using a motor instead of the engine 11 as a driving power source, or a vehicle using an engine and a motor as driving power sources may be used. Further, instead of a rear-wheel drive vehicle, a front-wheel drive vehicle or a four-wheel drive vehicle may be used.

[0017] Figure 2 is a functional block diagram of a vehicle control system to which the present embodiment is applied. The vehicle control system shown in Figure 2 is mounted on a vehicle 100 and controls the driving and / or braking of the vehicle 100 to realize following automatic driving of a preceding vehicle. It is composed of a mid-distance ranging sensor 22, a long-distance ranging sensor 25, a wheel sensor 28, an input switch section 29, various sensors / actuators ECU 40 of the vehicle, a warning device 41, and a vehicle control device 60 that connects these components.

[0018] The mid-distance ranging sensor 22 can be composed of, for example, a millimeter-wave radar. The mid-distance ranging sensor 22 is used to detect the distance to an object by transmitting a high-frequency wave called millimeter wave toward the surroundings of the host vehicle and receiving the reflected wave. The ranging data from the mid-distance ranging sensor 22 is input to the vehicle control device 60.

[0019] The long-distance ranging sensor 25 can be composed of, for example, a stereo camera. The long-distance ranging sensor 25 detects feature points and objects existing in the traveling direction in front of the host vehicle, and is used to detect the distance and speed between the host vehicle and the object from the distinction between the host vehicle's traveling lane and other lanes adjacent to the host vehicle's traveling lane, and the difference in object information detected by the left and right cameras. Also, the long-distance ranging sensor 25 is not limited to a stereo camera and can also be composed of, for example, LiDER (Light Detection and Ranging). The ranging data from the long-distance ranging sensor 25 is input to the vehicle control device 60. In the present embodiment, the traveling lane area is calculated from the image data obtained from cameras based on feature points (described later).

[0020] The feature points existing in the traveling direction indicate, for example, white lines painted on the road surface. Note that in the present embodiment, the type and color of the white lines are not limited and are in line with the actual situation of national laws and regulations.

[0021] The wheel sensor 28 is attached to each wheel 16 of the host vehicle 100, and includes a wheel speed sensor 18 that detects the rotational speed of the wheel 16, and a controller (not shown) that integrates the detection value detected by the wheel speed sensor 18 to generate a vehicle speed signal. The vehicle speed signal data from the wheel sensor 28 is input to the vehicle control device 60.

[0022] The input switch unit 29 is, for example, a dedicated mechanical switch provided around the driver's seat. Also, the input switch unit 29 may be a GUI (Graphical User Interface) switch or the like. The input switch unit 29 receives, by user operation, an instruction to start or stop a system that automatically changes the target inter-vehicle distance according to the sense of fear in this implementation outline, and an instruction to start or stop cruise control by controlling the vehicle at a set target vehicle speed.

[0023] The various sensor / actuator ECU 40 may be any well-known one, and for example, indicates mechanical elements and signal conversion devices such as an accelerator pedal that operates driving force, a brake pedal that operates braking force, a parking brake, a steering that operates the traveling direction of the vehicle 100, and a shift lever that operates the traveling direction of the vehicle 100.

[0024] The warning device 41 notifies the user (occupant) of the state and change of the target inter-vehicle distance of the host vehicle 100 determined by the sense of fear described later, and the cancellation of vehicle control (in other words, the stop of some or all functions of the vehicle driving control). For example, using a liquid crystal display as a display and a speaker as an audio output device, it notifies the state and change of the target inter-vehicle distance, and the start, release, and stop of vehicle control.

[0025] Based on the information input from the medium-range distance measuring sensor 22, the long-range distance measuring sensor 25, the wheel sensor 28, and the input switch unit 29, the vehicle control device 60 outputs control instructions (command values) to the various sensor / actuator ECU 40 and the warning device 41.

[0026] The vehicle control device 60 includes a forward object calculation unit 61, a forward image calculation unit 62, a viewing angle calculation unit 63, an inter-vehicle distance mode determination unit 64, and a target inter-vehicle distance calculation unit 65.

[0027] The forward object calculation unit 61 calculates the inter-vehicle distance between the host vehicle and the target object from the detection information of the mid-distance ranging sensor 22, and outputs the calculation result to the target inter-vehicle distance calculation unit 65.

[0028] In this embodiment, the forward object calculation unit 61 includes an object detection unit 81 that detects an object existing in the traveling direction (forward) of the host vehicle from the detection information of the mid-distance ranging sensor 22, and calculates (detects) the inter-vehicle distance between the host vehicle and the object. Further, the object detection unit 81 calculates, for example, the contour of the object and calculates the area surrounded by the contour, thereby calculating the leading vehicle blocking cross-sectional area that the object (especially the leading vehicle) gives to the user (in other words, blocks the user's field of view or viewing angle) (details will be described later). The calculation data by the object detection unit 81 is input to the target inter-vehicle distance calculation unit 65.

[0029] Also, the input information of the forward object calculation unit 61 does not have to be limited to the mid-distance ranging sensor 22. For example, a long-distance ranging sensor 25, or a combination of the mid-distance ranging sensor 22 and the long-distance ranging sensor 25 may be used.

[0030] The forward image calculation unit 62 calculates the recognition of the driving lane in front of the host vehicle and the size of the target object from the detection information of the long-distance ranging sensor 25, and outputs the calculation result to the target inter-vehicle distance calculation unit 65.

[0031] In this embodiment, the forward image calculation unit 62 includes a road surface detection unit 82 that recognizes the driving lane in the traveling direction of the host vehicle from the detection information of the long-distance ranging sensor 25, and detects the driving lane area that is the size of the lane in which the host vehicle travels. In this embodiment, the driving lane area is calculated from the image data acquired from cameras based on feature points (details will be described later). The calculation data by the road surface detection unit 82 is input to the target inter-vehicle distance calculation unit 65.

[0032] Further, the input information of the front image calculation unit 62 does not have to be limited to the long-distance distance measurement sensor 25. For example, a medium-distance distance measurement sensor 22, or a combination of the medium-distance distance measurement sensor 22 and the long-distance distance measurement sensor 25 may be used.

[0033] The viewing angle calculation unit 63 calculates viewing angle information from the detection information of the wheel sensor 28 (that is, the vehicle speed of the host vehicle 100), and outputs the calculation result to the target inter-vehicle distance calculation unit 65.

[0034] The above-described viewing angle information indicates a region representing the influence of the viewing angle given to the user (field of view or viewing angle), and indicates a region that the user cannot visually recognize depending on the vehicle speed. As the vehicle speed increases, the viewing angle becomes narrower, so the region that the user cannot visually recognize becomes larger. In this embodiment, this region is referred to as a viewing angle cut-off area set from the vehicle speed of the host vehicle 100.

[0035] The inter-vehicle distance mode determination unit 64 determines, based on the information of the input switch unit 29, the activation and deactivation of a system that automatically changes the target inter-vehicle distance according to the sense of fear in the present embodiment, and outputs the determination result to the target inter-vehicle distance calculation unit 65.

[0036] The target inter-vehicle distance calculation unit 65 calculates the target inter-vehicle distance from the information of the front object calculation unit 61 (object detection unit 81), the front image calculation unit 62 (road surface detection unit 82), the viewing angle calculation unit 63, and the inter-vehicle distance mode determination unit 64, calculates a target value for controlling the various sensor / actuator ECUs 40, and outputs a control instruction (command value). Further, the target inter-vehicle distance calculation unit 65 outputs a control instruction (command value) to the warning device 41 based on the calculation result of the target inter-vehicle distance and the like.

[0037] In this embodiment, the target inter-vehicle distance calculation unit 65 includes a road surface update unit 84, a target inter-vehicle distance adjustment unit 85, a notification control unit 86, an abnormality detection unit 87, and a stop control unit 88.

[0038] The road surface updating unit 84 updates the running lane area based on the calculation information of the front object calculation unit 61 (object detection unit 81 thereof) and the front image calculation unit 62 (road surface detection unit 82 thereof), that is, based on the running lane area calculated (detected) by the road surface detection unit 82 and the leading vehicle occlusion area calculated (detected) by the object detection unit 81. That is, the road surface updating unit 84 updates, in the image data acquired from the cameras, the portion obtained by removing the area surrounded by the contour of the detected object from the area of the lane in which the host vehicle travels as the running lane area. Further, the road surface updating unit 84 updates the running lane area by reflecting the field of view occlusion area calculated (detected) by the field of view calculation unit 63 in the running lane area based on the calculation information of the field of view calculation unit 63. Thereby, the running lane area serving as a determination index (control index) for the sense of fear given by the object (especially the leading vehicle) to the user is calculated (details will be described later). The road surface updating unit 84 outputs the updated running lane area to the target inter-vehicle distance adjusting unit 85.

[0039] The target inter-vehicle distance adjusting unit 85 adjusts the target inter-vehicle distance between the host vehicle and the leading vehicle from the running lane area updated by the road surface updating unit 84. For example, when the running lane area is equal to or less than the threshold value, the target inter-vehicle distance adjusting unit 85 sets the target inter-vehicle distance between the host vehicle and the leading vehicle to the maximum target inter-vehicle distance set in advance by the vehicle control system. Note that the set value when the running lane area is equal to or less than the threshold value is not limited to the maximum target inter-vehicle distance, and may be extended from the default value of the target inter-vehicle distance set in advance by the vehicle control system as long as it can be extended. Further, when the running lane area is greater than the threshold value (in other words, when the target inter-vehicle distance is not adjusted from the running lane area), the target inter-vehicle distance adjusting unit 85 sets the target inter-vehicle distance between the host vehicle and the leading vehicle to the default value.

[0040] Here, as the default value, a value set in advance by the vehicle control system (a system that automatically changes the target inter-vehicle distance) or a value arbitrarily set by the user can be used.

[0041] The target inter-vehicle distance adjusting unit 85 calculates a target value for controlling the various sensor / actuator ECUs 40 in order to ensure the inter-vehicle distance between the host vehicle and the leading vehicle from the set target inter-vehicle distance, and outputs a control instruction (command value).

[0042] The notification control unit 86 outputs a control instruction (command value) for notifying the user of various information to the warning device 41. The various information includes, for example, the state and change of the target inter-vehicle distance from the target inter-vehicle distance adjustment unit 85, the object information from the front object calculation unit 61 (object detection unit 81), the traveling environment information and surrounding information of the host vehicle from the front image calculation unit 62 (road surface detection unit 82), the information from the inter-vehicle distance mode determination unit 64, the information from the abnormality detection unit 87 and the stop control unit 88 described later, and the like.

[0043] The abnormality detection unit 87 detects abnormalities in the above-described respective functional blocks (61(81), 62(82), 63, 64, 84, 85), and outputs the detection results to the notification control unit 86 and the stop control unit 88.

[0044] When detecting the detection information of the abnormality detection unit 87 (that is, when the abnormality detection unit 87 detects an abnormality), the stop control unit 88 calculates a target value for controlling the various sensor / actuator ECUs 40 in order to stop part or all of the functions of the vehicle traveling control, and outputs a control instruction (command value).

[0045] When the abnormality detection unit 87 detects an abnormality, or when the stop control unit 88 stops part or all of the functions of the vehicle traveling control, the above-described notification control unit 86 outputs a control instruction (command value) for notifying the user to the warning device 41.

[0046] FIG. 3 is a bird's-eye view showing an example of the arrangement and detection range (also referred to as a recognition area) of the mid-range distance measuring sensors 22 (22A to 22D) mounted on the front and rear portions of the host vehicle and the long-range distance measuring sensor 25 mounted on the front portion of the host vehicle.

[0047] As shown in FIG. 3, the mid-range distance measuring sensors 22A and 22B are arranged at the front portion of the host vehicle 100, and the mid-range distance measuring sensors 22C and 22D are arranged at the rear portion of the host vehicle 100. The fan-shaped areas indicated by the dotted lines in FIG. 3 show an example of the detection range of each of the mid-range distance measuring sensors 22A to 22D.

[0048] As shown in FIG. 3, a long-distance ranging sensor 25 is arranged at the front part of the host vehicle 100. The fan shape indicated by the dashed line in FIG. 3 shows an example of the detection range of the long-distance ranging sensor 25.

[0049] FIGS. 4 to 9 are diagrams for explaining the degree of fear given to the user according to the size of the object 101 and the inter-vehicle distance between the host vehicle 100 and the object 101. In this embodiment, the object 101 is a vehicle (preceding vehicle) traveling in front of the host vehicle 100. Also, the user is the driver and the passengers operating the host vehicle 100 (in other words, the occupants of the host vehicle 100).

[0050] FIGS. 4 to 6 show driving scenes of the object 101 in a normal vehicle.

[0051] In the driving scene of FIG. 4, the object 101 exists far from the host vehicle, the range that the user can visually recognize the front and the surroundings is large, and the range that is blocked by the object 101 and cannot be visually recognized is small. Similarly, as the driving scene changes to FIGS. 5 and 6, the object 101 approaches the host vehicle, but in any driving scene, the range that the user can visually recognize is large.

[0052] That is, when the object 101 is a normal vehicle or a two-wheeled vehicle, etc., the user can check the front and the surroundings in front of the object 101. Therefore, the user can drive while predicting the driving situation while visually grasping the conditions of the front and the surroundings. Thus, in the driving scenes of FIGS. 4 to 6, the fear given to the user is small.

[0053] FIGS. 7 to 9 show driving scenes of the object 101 in a large vehicle.

[0054] In the driving scene of FIG. 7, the object 101 exists far from the host vehicle, the range that the user can visually recognize the front and the surroundings is large, and the range that is blocked by the object 101 and cannot be visually recognized is small. Similarly, in the driving scene of FIG. 8, the object 101 approaches the host vehicle, but the range that the user can visually recognize is large.

[0055] However, in the driving scene of Fig. 9, the object 101 is closer to the host vehicle than in the driving scene of Fig. 8. The range visible to the user is small, and the range visible by the object 101 is small.

[0056] That is, when the object 101 is a large vehicle such as a bus or a truck and the distance between the host vehicle and the object 101 is close, it becomes difficult for the user to check the front and the surroundings ahead of the object 101. Therefore, it is difficult for the user to grasp the conditions of the front and the surroundings visually, and the user drives in a state where it is difficult to predict the driving situation. Thus, in the driving scenes of Figs. 7 and 8, the sense of fear given to the user is small, but in the driving scene of Fig. 9, the sense of fear given to the user is large.

[0057] In addition, in Figs. 4 to 9 (Figs. 4 and 7, Figs. 5 and 8, Figs. 6 and 9), the inter-vehicle distance between the object 101 and the host vehicle is the same. Therefore, even with the same inter-vehicle distance, a driving scene in which it is difficult to predict the driving situation occurs depending on the size of the object 101.

[0058] In addition, depending on the vehicle speed of the host vehicle, there is a concern about cases such as being unable to respond to sudden changes in the driving situation, such as sudden braking of the vehicle ahead of the object 101, i.e., the leading vehicle, and colliding with the object 101.

[0059] Therefore, it is desirable to use an appropriate target inter-vehicle distance according to the driving scenes of Figs. 4 to 9. Based on such a principle, this embodiment ensures an appropriate target inter-vehicle distance from the leading vehicle according to the sense of fear given to the driver by the occlusion of the leading vehicle's driving lane, and reduces the driver's sense of fear. Hereinafter, an embodiment including the control method in the above-described driving scene will be described in detail.

[0060] Figures 10 to 12 are explanatory diagrams of a scene in which the target inter-vehicle distance of the host vehicle is adjusted according to the size of the driving lane area (hereinafter referred to as the driving lane area (A)) of the lane in which the host vehicle painted with horizontal stripes is traveling, the area (hereinafter referred to as the preceding vehicle blocking area (B)) where the user's field of vision or viewing angle is blocked by the object 101 painted with diagonal stripes, and the area (hereinafter referred to as the viewing angle blocking area (C)) where the user's field of vision or viewing angle is blocked by the viewing angle calculated from the vehicle speed of the host vehicle painted with checkered patterns, as an example of a driving scene related to the vehicle control system of this embodiment.

[0061] The driving lane area (A) and the preceding vehicle blocking area (B) can be obtained by the road surface detection unit 82 of the front image calculation unit 62 (and the object detection unit 81 of the front object calculation unit 61) of the vehicle control device 60 from the information detected by the medium-distance ranging sensor 22 such as a millimeter-wave radar and the long-distance ranging sensor 25 such as a stereo camera provided in the host vehicle.

[0062] The viewing angle blocking area (C) can be obtained by the viewing angle calculation unit 63 of the vehicle control device 60 from the information detected by the wheel sensor 28 provided in the host vehicle.

[0063] The driving lane area (A) can be calculated from the area surrounded by the feature points detected in the traveling direction of the host vehicle (on the image data). The preceding vehicle blocking area (B) can be calculated from the area surrounded by the contour of the object 101. The viewing angle blocking area (C) can be calculated based on the blocking rate by the viewing angle set from the vehicle speed of the host vehicle. As is generally known, since the human field of vision is recognized as being narrowed by the moving speed of oneself, the viewing angle blocking area (C) is calculated so as to become wider (narrower as the vehicle speed decreases) (stepwise or continuously) as the vehicle speed increases as described above, in accordance with the human recognition characteristics.

[0064] Then, the driving lane area (A) for making a determination according to the driving scene can be obtained by the target inter-vehicle distance calculation unit 65 (road surface update unit 84) of the vehicle control device 60 from the aforementioned driving lane area (A), the preceding vehicle occlusion area (B), and the field of view occlusion area (C).

[0065] Each driving scene will be described in detail below.

[0066] Figs. 10 to 12 are examples of imaging processing to which the vehicle control system of the present embodiment is applied in the driving scenes of Figs. 7 to 9. Also, in common to each driving scene, the host vehicle has a high vehicle speed and the object 101 is a large vehicle in Figs. 10 to 12.

[0067] First, Fig. 10 will be described. From Fig. 10, in the relationship among the driving lane area (A), the preceding vehicle occlusion area (B), and the field of view occlusion area (C), since the user can visually grasp the states in the front and around from the size of the driving lane area (A), it can be determined that the sense of horror is small.

[0068] Next, Fig. 11 will be described. From Fig. 11, in the relationship among the driving lane area (A), the preceding vehicle occlusion area (B), and the field of view occlusion area (C), although the driving lane area (A) in Fig. 11 is smaller than that in Fig. 10 from the size of the driving lane area (A), since the user can visually grasp the states in the front and around, it can be determined that the sense of horror is small.

[0069] Next, Fig. 12 will be described. From Fig. 12, in the relationship among the driving lane area (A), the preceding vehicle occlusion area (B), and the field of view occlusion area (C), since the driving lane area (A) in Fig. 12 is smaller than that in Fig. 11 from the size of the driving lane area (A) and it is difficult for the user to visually grasp the states in the front and around, it can be determined that the sense of horror is large.

[0070] As described above, in FIGS. 10 and 11, since the running lane area (A) is large, it is determined that the sense of fear is small, and the target inter-vehicle distance uses the default value preset by the vehicle control system of this embodiment. The target inter-vehicle distance mentioned here may be a distance indicated in length units, or may be an inter-vehicle time which is the time required for the host vehicle to pass the position where the preceding vehicle has passed. In any case, this embodiment can be applied.

[0071] In FIG. 12, since the running lane area (A) is small, it is determined that the sense of fear is large, and the target inter-vehicle distance uses the maximum target inter-vehicle distance preset by the vehicle control system of this embodiment.

[0072] In this way, from the size of the running lane area (A) blocked by (reflecting) the preceding vehicle cross-sectional area (B) and the visual field angle cross-sectional area (C), the sense of fear given to the user is calculated, and the target inter-vehicle distance is changed according to the sense of fear (changed between the default value and the maximum target inter-vehicle distance), so that it is possible to control the vehicle at an inter-vehicle distance suitable for each driving scene.

[0073] As described above, the driving scene where the host vehicle 100 is traveling at a high speed and the object 101 is a large vehicle has been described.

[0074] Next, the driving scene where the host vehicle 100 is traveling at a low speed or the object 101 is an ordinary vehicle will be described.

[0075] First, FIG. 13 will be described. FIG. 13 is an example of imaging processing to which the vehicle control system of this embodiment is applied in the driving scene of FIG. 9. Further, in FIG. 13, the vehicle speed of the host vehicle is low and the object 101 is a large vehicle.

[0076] From FIG. 13, in the relationship of the running lane area (A), the preceding vehicle cross-sectional area (B), and the visual field angle cross-sectional area (C), since the host vehicle is traveling at a low speed, the visual field angle becomes wider, so the size of the visual field angle cross-sectional area (C) is smaller than that in FIG. 12 (narrower in width). Therefore, from the size of the running lane area (A), the user can visually grasp the situation ahead and around, so it can be determined that the sense of fear is small.

[0077] Next, FIG. 14 will be described. FIG. 14 is an example of imaging processing to which the vehicle control system of this embodiment is applied in the driving scene of FIG. 6. Further, in FIG. 14, the vehicle speed of the host vehicle is high, and the object 101 is an ordinary vehicle.

[0078] From FIG. 14, in the relationship among the driving lane area (A), the leading vehicle blocking area (B), and the viewing angle blocking area (C), since the object 101 is an ordinary vehicle, the leading vehicle blocking area (B) is smaller than that of the large vehicle in FIG. 12. Therefore, from the size of the driving lane area (A), the user can visually grasp the situation in the front and around, so it can be determined that the sense of fear is small.

[0079] As described above, in FIGS. 13 and 14, since the area blocked by the viewing angle blocking area (C) and the leading vehicle blocking area (B) is small and the driving lane area (A) is large, it is determined that the sense of fear is small, and the target inter-vehicle distance uses the default value preset by the vehicle control system of this embodiment.

[0080] Thus, when the vehicle speed of the host vehicle 100 is low or the object 101 is an ordinary vehicle, in other words, in case of traffic jam or when the leading vehicle is an ordinary vehicle or a two-wheeled vehicle, the user can visually grasp the situation in the front and around, so it can be determined that the sense of fear given to the user is small.

[0081] Therefore, by calculating the sense of fear according to the size of the object 101 and the vehicle speed of the host vehicle 100, it is possible to perform vehicle control without inadvertently changing the target inter-vehicle distance.

[0082] Next, the processing outline of this embodiment will be described. FIG. 15 is a flowchart of the processing executed by the vehicle control system of this embodiment (particularly, the target inter-vehicle distance calculation unit 65 of the vehicle control device 60).

[0083] In step S101, based on the information from the inter-vehicle distance mode determination unit 64, the operating state of the inter-vehicle distance automatic type ACC, which is the vehicle control system of this embodiment, is determined. In this step, by operating the input switch unit 29 by the user, the inter-vehicle distance automatic type ACC can be started or released. If the inter-vehicle distance automatic type ACC is operating (YES), proceed to step S102. If the inter-vehicle distance automatic type ACC is not operating (NO), end the process.

[0084] In step S102, the default value of the target inter-vehicle distance in the inter-vehicle distance automatic type ACC is obtained. In this step, the default value indicates the target inter-vehicle distance used in a scene with less sense of fear.

[0085] In step S103, the running lane area (A) is obtained from the information of the front image calculation unit 62 (road surface detection unit 82). In this step, as described above, as a detection method of the running lane area (A), it is possible to perform recognition and calculation by utilizing a stereo camera used in the long-distance distance measurement sensor 25 and the like.

[0086] In step S104, the visual field angle cut-off area (C) is obtained from the information of the visual field angle calculation unit 63. In this step, as described above, as a calculation method of the visual field angle cut-off area (C), it is possible to perform calculation by utilizing the wheel speed obtained by the wheel sensor 28 and the like.

[0087] In step S105, based on the information of the front object calculation unit 61 (object detection unit 81), it is determined whether there is an object 101 in front of the host vehicle 100. In this step, as described above, as a detection method of the object 101, it is possible to perform recognition by utilizing a stereo camera used in the long-distance distance measurement sensor 25, a millimeter wave radar used in the medium-distance distance measurement sensor 22, and the like.

[0088] If the object 101 exists (YES), proceed to step S106. If the object 101 does not exist (NO), proceed to step S110.

[0089] In step S106, the leading vehicle occlusion area (B) of the target object 101 is obtained from the information of the forward object calculation unit 61 (the target object detection unit 81). In this step, as described above, as a calculation method of the leading vehicle occlusion area (B), it is possible to recognize and calculate by utilizing a millimeter wave radar or the like used in the mid-distance ranging sensor 22.

[0090] In step S107, a driving lane area (A) obtained by reflecting the field of view angle occlusion area (C) obtained in step S104 and the leading vehicle occlusion area (B) obtained in step S106 with respect to the driving lane area (A) obtained in step S103 is calculated (updated).

[0091] In step S108, it is determined whether the driving lane area (A) calculated (updated) in step S107 is equal to or less than a threshold value set in the inter-vehicle distance automatic type ACC. In this step, the threshold value is the size of the driving lane area (A) set based on the sense of fear given to the user. If the driving lane area (A) is equal to or less than the threshold value (YES), the process proceeds to step S109. If the driving lane area (A) is greater than the threshold value (NO), the process proceeds to step S110.

[0092] In step S109, the target inter-vehicle distance of the inter-vehicle distance automatic type ACC is changed to the maximum target inter-vehicle distance. When changing the target inter-vehicle distance, a warning device 41 such as a liquid crystal display and a speaker is used to notify the user of the change in the target inter-vehicle distance. After this step, the process returns to step S101.

[0093] In step S110, the target inter-vehicle distance of the inter-vehicle distance automatic type ACC is changed to the default value. That is, when the target inter-vehicle distance is not adjusted based on the driving lane area (A), the default value is used as the target inter-vehicle distance of the inter-vehicle distance automatic type ACC. When changing the target inter-vehicle distance, a warning device 41 such as a liquid crystal display and a speaker is used to notify the user of the change in the target inter-vehicle distance. After this step, the process returns to step S101.

[0094] Up to step S107 in FIG. 15, it is executed by the road surface renewal unit 84, and steps S108 to S110 in FIG. 15 are executed by the target inter-vehicle distance adjustment unit 85 and the notification control unit 86.

[0095] According to the present embodiment described above, by using the inter-vehicle distance automatic type ACC which is the vehicle control system of the present embodiment, the sense of fear given to the user is calculated from the size of the driving lane area (A) blocked by (reflecting) the leading vehicle cross-sectional area (B) and the field of view angle cross-sectional area (C), and the target inter-vehicle distance is changed (changed between the default value and the maximum target inter-vehicle distance) according to the sense of fear, so that it is possible to control the vehicle at an inter-vehicle distance suitable for each driving scene.

[0096] The driving lane area (A) calculated (updated) in the aforementioned step S107 can be calculated, for example, in a three-dimensional map shown in FIG. 16.

[0097] The three-dimensional map in FIG. 16 is based on a right-handed three-dimensional coordinate system, where the X-axis represents the size of the leading vehicle cross-sectional area (B), the Y-axis represents the size of the field of view angle cross-sectional area (C), and the Z-axis represents the size of the driving lane area (A). The above three elements increase in the area of the object in the positive direction indicated by the arrow. Hereinafter, the changes in FIG. 16 in each driving scene will be described.

[0098] Note that for the driving lane area (A) in FIG. 16, the positive direction is the threshold or more and the negative direction is the threshold or less with respect to the driving lane area (A) indicated by the Z-axis.

[0099] In the driving lane area (A) of FIG. 16, DA in the upper row indicates a state where the leading vehicle cross-sectional area (B) is large but the field of view angle cross-sectional area (C) is extremely small, or a state where the leading vehicle cross-sectional area (B) is extremely small but the field of view angle cross-sectional area (C) is large. That is, the size of the object 101 is an ordinary vehicle to a large vehicle and exists in front of the driving lane of the host vehicle 100, but the host vehicle 100 is in a stopped state, or the host vehicle 100 is traveling in a low to high speed range but the object 101 does not exist.

[0100] In the above driving scenario, since the size of the driving lane area (A) calculated by reflecting the leading vehicle occlusion area (B) and the visual angle occlusion area (C) is larger than the threshold value, the sense of fear given to the user is small.

[0101] In the driving lane area (A) of FIG. 16, the middle section DB indicates a state where the leading vehicle occlusion area (B) is large but the visual angle occlusion area (C) is small, or the leading vehicle occlusion area (B) is small but the visual angle occlusion area (C) is large. That is, the size of the object 101 is a large vehicle and it exists in front of the driving lane of the host vehicle 100, but the host vehicle 100 is driving in the low-speed to medium-speed range, or the host vehicle 100 is driving in the high-speed range, but the size of the object 101 is a normal vehicle and it exists in front of the driving lane of the host vehicle 100.

[0102] In the above driving scenario, since the size of the driving lane area (A) calculated by reflecting the leading vehicle occlusion area (B) and the visual angle occlusion area (C) is larger than the threshold value, the sense of fear given to the user is small.

[0103] In the driving lane area (A) of FIG. 16, the lower section DC indicates a state where the leading vehicle occlusion area (B) is large and the visual angle occlusion area (C) is large. That is, the size of the object 101 is a large vehicle and it exists in front of the driving lane of the host vehicle 100, and the host vehicle 100 is driving in the high-speed range.

[0104] In the above driving scenario, since the size of the driving lane area (A) calculated by reflecting the leading vehicle occlusion area (B) and the visual angle occlusion area (C) is equal to or less than the threshold value, the sense of fear given to the user is large.

[0105] Therefore, from the size of the driving lane area (A) that reflects the leading vehicle occlusion area (B) and the visual angle occlusion area (C) that the user cannot visually recognize, when it is larger than the threshold value, it is judged that the sense of fear given to the user is small, and when it is equal to or less than the threshold value, the sense of fear given to the user is large, and vehicle control can be performed using the inter-vehicle distance along with the user's feeling.

[0106] Also, when the size of the driving lane area (A) is equal to or less than the threshold value, control is implemented to extend the inter-vehicle distance so that the size of the driving lane area (A) becomes larger than the threshold value.

[0107] Note that the method for calculating the sense of fear according to this embodiment is not limited to the 3D map and the presentation method.

[0108] For example, when the calculated value LL is equal to or greater than the threshold value, the target inter-vehicle distance may be changed using the following calculation formula (1). Calculation formula (1): Calculated value LL = leading vehicle occlusion area (B) ÷ {driving lane area (A) - field of view occlusion area (C) + leading vehicle occlusion area (B)}

[0109] The above calculation formula (1) is a formula for calculating the ratio of the leading vehicle occlusion area (B) to the driving lane area (A) that reflects the field of view occlusion area (C). The larger the calculated value LL, the larger the ratio of the leading vehicle occlusion area (B), that is, the smaller the driving lane area (A). The smaller the calculated value LL, the smaller the ratio of the leading vehicle occlusion area (B), that is, the larger the driving lane area (A).

[0110] When the calculated value LL is equal to or greater than the threshold value, the target inter-vehicle distance is adjusted so that the leading vehicle occlusion area (B) becomes smaller, that is, by extending the inter-vehicle distance between the object 101 and the host vehicle 100, it is possible to control to follow the leading vehicle at an inter-vehicle distance that reduces the sense of fear given to the user.

[0111] In addition to using the numerical values preset in the vehicle control system, the user may arbitrarily change the numerical values for the 3D map in FIG. 16. Regarding the method set by the user, for example, a 3D map of the target vehicle speed is displayed on a liquid crystal display mounted in the vehicle, and the input switch unit 29 is used to change the numerical value of the target inter-vehicle distance corresponding to the size of the driving lane area (A) for calculating the sense of fear or the default value. Also, a plurality of 3D maps may be managed, and for each user, the numerical value of the target inter-vehicle distance corresponding to the size of the driving lane area (A) for calculating the sense of fear or the default value may be registered in the vehicle control system of this embodiment.

[0112] As described above, since the numerical value of the target inter-vehicle distance and the default value can be arbitrarily set, numerical values that conform to the feelings of each user can be used.

[0113] In addition, in general, a preceding vehicle following driving device allows a driver to set a desired inter-vehicle distance in multiple steps. However, in this embodiment, if the default value of the target inter-vehicle distance is applied only in the extending direction, it will not result in an inter-vehicle distance that is closer than intended by the driver. Therefore, not only in the embodiment according to FIG. 16, but also in the extending direction, it is better to make adjustments.

[0114] Also, when the user arbitrarily changes the numerical value, as described above, the default value of the target inter-vehicle distance can only be changed in the extending direction.

[0115] <Modification Example> In the above-described embodiment, since there are several modification examples, the modification examples will be described below.

[0116] ≪Modification Example 1≫ In the above-described embodiment, in the target inter-vehicle distance adjustment unit 85, the driver calculates the sense of fear from the magnitude of the area obtained by reflecting the cross-sectional area (B) of the preceding vehicle and the cross-sectional area (C) of the field of view angle that the user cannot visually recognize in the cross-sectional area (A) of the driving lane that the user can visually recognize, and controls the vehicle using the target inter-vehicle distance that conforms to the feelings of the user. However, as shown in FIG. 17, in the case of a vehicle such as a small truck, a minivan, or a passenger car with a high vehicle height such as an SUV, where the vehicle width is small and the vehicle height is high, since the cross-sectional area (A) of the driving lane is larger than the threshold value as shown in FIG. 14 above, it is calculated that the sense of fear given to the user is small, and the default value is used for the target inter-vehicle distance.

[0117] In the above Modification Example 1, since it is difficult for the user to visually recognize ahead of the object 101, there is a possibility that the user may feel a large sense of fear. Therefore, there may be a difference between the sense of fear calculated by the vehicle control system and the sense of fear actually felt by the user.

[0118] Therefore, in addition to the size of the driving lane area (A) visible to the user, by considering the visual information in front of the object 101, it is possible to further improve the accuracy of the sense of fear.

[0119] Therefore, in the first modified embodiment, as shown in FIG. 18, a weight portion (hereinafter referred to as the fear correction portion RA) for correcting the sense of fear, such as the region RA existing in the upper center of the driving lane of the host vehicle, is provided in advance by the vehicle control system. The fear correction portion RA can be realized, for example, by setting a region based on the tips of the white lines on both sides in the driving lane of the host vehicle.

[0120] FIG. 19 shows an example in which the fear correction portion RA of FIG. 18 is reflected with respect to FIG. 17. From FIG. 19, since the object 101 has a high vehicle height, there is a preceding vehicle occlusion area (B) in the fear correction portion RA. Therefore, even when the driving lane area (A) is larger than the threshold value, if there is a preceding vehicle occlusion area (B) in the fear correction portion RA, the sense of fear given to the user is corrected (calculated as large), and the target inter-vehicle distance uses the maximum target inter-vehicle distance (not the default value).

[0121] Also, as shown in FIG. 20, when the object 101 has a large vehicle width and a low vehicle height, such as a sports car, since the driving lane area (A) is below the threshold value as shown in FIG. 12 above, the sense of fear given to the user is calculated as large, and the target inter-vehicle distance uses the maximum target inter-vehicle distance.

[0122] For the above driving scene, for the user, the view ahead of the object 101 is easy, and there is also a possibility that the sense of fear is felt as small.

[0123] Therefore, by using the above-described fear correction portion RA, even when the driving lane area (A) is below the threshold value, if there is no preceding vehicle occlusion area (B) in the fear correction portion RA, the sense of fear given to the user is corrected (calculated as small), and the target inter-vehicle distance uses the default value (not the maximum target inter-vehicle distance).

[0124] As described above, in a driving scene where the calculated driving lane area (A) is less than or greater than a threshold value, by using the fear correction location RA set in advance by the vehicle control system, when the driving lane area (A) is large as shown in Fig. 19, that is, even when the fear level calculated by the vehicle control system is low, if the view ahead of the lane in which the host vehicle is traveling is blocked by an object 101 such as a vehicle with a large vehicle height and there is a possibility that the fear level is high, the target inter-vehicle distance can be changed to the maximum target inter-vehicle distance, thereby reducing the fear level given to the user.

[0125] Also, when the driving lane area (A) is small as shown in Fig. 20, that is, even when the fear level calculated by the vehicle control system is high, if the view ahead of the lane in which the host vehicle is traveling is clear due to an object 101 such as a vehicle with a small vehicle height and there is a possibility that the fear level is low, setting the target inter-vehicle distance to the default value can eliminate the unnecessary adjustment (extension) of the target inter-vehicle distance.

[0126] From the above, it is possible to improve the accuracy of the fear level by using the fear correction location RA set in advance by the vehicle control system, and the vehicle can be controlled with the same feeling of fear as that given to the user.

[0127] Note that the method for setting the area of the fear correction location RA is not limited to the stereo camera etc. described in this embodiment. For example, when an object 101 exists within the area preset in the host vehicle control system by using a millimeter-wave radar such as the mid-distance ranging sensor 22 or a LiDAR such as the long-distance ranging sensor 25, the target inter-vehicle distance may be changed to the maximum target inter-vehicle distance.

[0128] <<Modified Embodiment 2>> In the above-described embodiment, in the target inter-vehicle distance adjustment unit 85, the fear level is calculated from the size of the area that reflects the oncoming vehicle occlusion area (B) and the field of view occlusion area (C), which are not visible to the user, in the driving lane area (A) visible to the user, and the vehicle is controlled using the target inter-vehicle distance along with the user's feeling. However, as shown in FIG. 21, when the object 101 starts to change lanes from an adjacent lane to the vicinity of the lane in which the host vehicle is traveling, the driving lane area (A) gradually decreases due to the oncoming vehicle occlusion area (B). That is, immediately after the object 101 starts to change lanes, since the driving lane area (A) is larger than the threshold value, it is calculated that the fear level given to the user is small, and the default value is used for the target inter-vehicle distance.

[0129] In the above-described modified embodiment 2, for the user, since the object 101 starts to change lanes near the driving lane of the host vehicle, there is a possibility that the user may feel a high level of fear.

[0130] Also, when the object 101 finishes changing lanes from an adjacent lane to the vicinity of the lane in which the host vehicle is traveling, the driving lane area (A) becomes equal to or less than the threshold value due to the oncoming vehicle occlusion area (B), and it is calculated that the fear level given to the user is high, and the maximum target inter-vehicle distance is used for the target inter-vehicle distance.

[0131] In the above-described modified embodiment 2, for the user, since the target inter-vehicle distance is changed to the maximum target inter-vehicle distance near the area where the object 101 finishes changing lanes near the driving lane of the host vehicle, there is a possibility that the responsiveness may be poor and the convenience may be lacking.

[0132] Therefore, there may be a difference between the fear level calculated by the vehicle control system and the fear level actually felt by the user, and it is desirable to change the target inter-vehicle distance to the maximum target inter-vehicle distance immediately after the object 101 starts to change lanes near the driving lane of the host vehicle.

[0133] Therefore, in addition to the size of the driving lane area (A) visible to the user, by considering vehicle behaviors such as the lane change of the object 101, it is possible to further improve the accuracy of the fear level.

[0134] Therefore, in Modification Example 2, as shown in FIG. 22, a weighting portion (hereinafter referred to as the fear correction portion RB) for correcting fear, such as the region RB existing in the lower part of the driving lane of the host vehicle, is provided in advance in the vehicle control system. The fear correction portion RB can be realized, for example, by setting a region based on the vicinity of the white lines on both sides in the driving lane of the host vehicle.

[0135] FIGS. 23 to 25 show examples in which the fear correction portion RB in FIG. 22 is reflected in a driving scene where the object 101 traveling in the adjacent lane changes lanes to the driving lane of the host vehicle.

[0136] First, from FIG. 23, the object 101 is traveling in the adjacent lane and has not entered the driving lane of the host vehicle. Therefore, since the object 101 does not exist in the fear correction portion RB, the default value is used for the target inter-vehicle distance.

[0137] Next, from FIG. 24, the object 101 is changing lanes from the adjacent lane to the driving lane of the host vehicle and has entered the driving lane of the host vehicle. Therefore, since the object 101 exists in the fear correction portion RB, the maximum target inter-vehicle distance (rather than the default value) is used for the target inter-vehicle distance.

[0138] Next, from FIG. 25, the object 101 has completed the lane change from the adjacent lane to the driving lane of the host vehicle and is traveling in front of the driving lane of the host vehicle. Therefore, since the object 101 exists in the fear correction portion RB, the maximum target inter-vehicle distance is used for the target inter-vehicle distance.

[0139] As described above, by using the fear correction location RB set in advance in the vehicle control system, even when the calculated driving lane area (A) is larger than the threshold value for the object 101 to change lanes into the driving lane of the host vehicle, if the object 101 exists in the fear correction location RB set in advance in the vehicle control system, the target inter-vehicle distance can be changed to the maximum target inter-vehicle distance. That is, the target inter-vehicle distance can be changed with good responsiveness to the lane change of the object 101. Therefore, when the lane change of the object 101 is detected, the vehicle can be automatically controlled in the same way as the user's manual driving, such as reducing the vehicle speed and increasing the inter-vehicle distance.

[0140] From the above, it is possible to improve the accuracy of the sense of fear by the fear correction location RB set in advance in the vehicle control system, and the vehicle can be controlled with the same sense of fear given to the user.

[0141] Note that the method for setting the area of the fear correction location RB is not limited to the description content of this embodiment. For example, when the object 101 exists within the distance preset in the vehicle control system using a millimeter-wave radar such as the mid-distance ranging sensor 22 or a LiDAR such as the long-distance ranging sensor 25, the target inter-vehicle distance may be changed to the maximum target inter-vehicle distance.

[0142] Also, in this Modification Example 2, the example of the object 101 to change lanes is described as a large vehicle, but it is not limited to large vehicles, and ordinary vehicles and two-wheel vehicles etc. are also targets. That is, when the object 101 exists in the fear correction location RB, regardless of the size of the leading vehicle occlusion area (B), it is considered that the sense of fear given to the user is large, and it is desirable to use the maximum target inter-vehicle distance as the target inter-vehicle distance.

[0143] Also, the sizes of the areas of the fear correction location RA and the fear correction location RB described in Modification Examples 1 and 2, and the numerical values of the weighting for changing the target inter-vehicle distance are not limited to the methods described in this Modification Example.

[0144] In addition, the fear correction methods described in Modification Examples 1 and 2 are not limited to the fear correction areas RA and the fear correction area RB. Examples are described below.

[0145] Regarding fear correction, when the inter-vehicle distance between the objects 101 is equal to or less than the threshold value, the fear may be corrected on the three-dimensional map in FIG. 16 or the like, and the target inter-vehicle distance may be changed based on the corrected fear and the calculated driving lane area (A).

[0146] The inter-vehicle distance between the objects 101 being equal to or less than the threshold value means, for example, when there are a plurality of objects 101 (detected), the inter-vehicle distance between the leading vehicle and the vehicle ahead of the leading vehicle is short. In the above-described driving scene, for the user, when the leading vehicle seems to be provoking the vehicle ahead of the leading vehicle, the target inter-vehicle distance between the host vehicle 100 and the object 101 may be preferably greater, and an appropriate inter-vehicle distance can be ensured according to the fear given to the user.

[0147] Regarding fear correction, when the behavior (indicator) of the object 101 is equal to or greater than the threshold value, the fear may be corrected on the three-dimensional map in FIG. 16 or the like, and the target inter-vehicle distance may be changed based on the corrected fear and the calculated driving lane area (A).

[0148] The behavior of the object 101 being equal to or greater than the threshold value means, for example, when vehicle behaviors such as the swaying of the object 101 and extremely accelerating and decelerating driving are detected. In the above-described driving scene, for the user, when the object 101 exhibits suspicious behavior, the target inter-vehicle distance between the host vehicle 100 and the object 101 may be preferably greater, and an appropriate inter-vehicle distance can be ensured according to the fear given to the user.

[0149] Regarding fear correction, when the user state (indicator) is equal to or greater than the threshold value, the fear may be corrected on the three-dimensional map in FIG. 16 or the like, and the target inter-vehicle distance may be changed based on the corrected fear and the calculated driving lane area (A). The user state can be detected by a driver state detection unit (not shown), which is a known configuration mounted on the host vehicle 100 and detects the state of the user.

[0150] The user state being equal to or greater than the threshold value means, for example, a state of inattentiveness ahead such as when the user is operating a terminal such as looking away or using a mobile phone, or a state of arousal such as when the user is dozing off or in a fatigued state due to long - term driving, where the arousal state is significantly reduced. In the above - mentioned driving scene, due to the user's distracted state, it may be desirable that the target inter - vehicle distance between the host vehicle 100 and the object 101 is greater, and an appropriate inter - vehicle distance can be ensured according to the sense of terror given to the user.

[0151] Regarding terror - sense correction, when the recognition rate of feature points (for example, detected by the road - surface detection unit 82) existing in the traveling direction of the host vehicle is below the threshold value, correct the sense of terror in a 3D map such as that in FIG. 16, etc., and based on the corrected sense of terror and the calculated driving - lane area (A), the target inter - vehicle distance may be changed.

[0152] The case where the recognition rate of feature points existing in the traveling direction of the host vehicle is below the threshold value means, for example, in weather such as rain, snow, or fog, or due to road - surface shapes such as sharp curves or gradients, as well as direct sunlight on the road surface or sensors and changes in brightness, etc., where the recognition rate of feature points decreases or they cannot be recognized. In the above - mentioned driving scene, when the visibility ahead and around is difficult due to fluctuations in the driving environment, it may be desirable that the target inter - vehicle distance between the host vehicle 100 and the object 101 is greater, and an appropriate inter - vehicle distance can be ensured according to the sense of terror given to the user.

[0153] Also, in this embodiment, the driving - lane area (A) is calculated from the white line recognized based on feature points (on the image data) existing in the traveling direction of the host vehicle detected by a long - distance ranging sensor 25 such as a stereo camera provided in the host vehicle 100. However, since a driving road surface without a white line or a driving environment where it is difficult to detect the white line is assumed, there is also a possibility that the driving - lane area (A) cannot always be calculated from the white - line information.

[0154] Therefore, when the running lane area (A) cannot be calculated from the white line information, as in the case of the lane LA shown in FIG. 26, by using the auxiliary line preset in the traveling direction of the host vehicle in the host vehicle control system, even when the white line information cannot be obtained, the running lane area (A) can be calculated.

[0155] Also, in this embodiment, via the notification control unit 86, numerical values of the target inter-vehicle distance, changes in the target inter-vehicle distance, or information such as the type of the object 101 or the surrounding driving environment of the host vehicle 100 such as feature points and weather can be notified to the user using a warning device 41 such as a liquid crystal display and a speaker. As described above, the user can confirm the numerical value of the target inter-vehicle distance by the host vehicle control system, information on changes in the target inter-vehicle distance, information on the surrounding driving environment, etc.

[0156] Also, in this embodiment, via the abnormality detection unit 87 and the stop control unit 88, from information on failures and abnormalities of the functions and components constituting this embodiment, (partial or total) function stop of the host vehicle control system can be implemented. Depending on the situation of the above factors, by stopping (partial or total) functions of the host vehicle control system, it can operate in a situation where the effects of the host vehicle control system can be exerted. Also, when there is a possibility that the effects of the host vehicle control system cannot be exerted, by stopping the functions, it is possible to reduce the operation rates of malfunction and non-operation.

[0157] Also, in this embodiment, via the notification control unit 86, the abnormality detection unit 87, and the stop control unit 88, information on failures and abnormalities of the functions and components constituting this embodiment and information on function stop of the host vehicle control system can be notified to the user using a warning device 41 such as a liquid crystal display and a speaker. As described above, the user can confirm information that the host vehicle control system has stopped functioning due to some factor.

[0158] As described above, in the vehicle control device 60 of the present embodiment, as a driving assistance, in a vehicle control device that controls the driving and / or braking of the host vehicle to perform following automatic driving of the preceding vehicle, a road surface detection unit 82 that detects the running lane area (A) of the lane in which the host vehicle travels, an object detection unit 81 that detects an object existing in the traveling direction of the host vehicle (and calculates the preceding vehicle occlusion area (B)), and a road surface update unit 84 that updates the running lane area (A) based on the running lane area (A) of the host vehicle detected by the road surface detection unit 82 and the preceding vehicle occlusion area (B) given to the user by the preceding vehicle detected by the object detection unit 81, and a target inter-vehicle distance adjustment unit 85 that adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle from the running lane area (A) updated by the road surface update unit 84, which is characterized by comprising these components.

[0159] Furthermore, it is provided with a viewing angle calculation unit 63 that calculates a viewing angle occlusion area (C) representing the influence of the viewing angle given to the user from the vehicle speed of the host vehicle, and the road surface update unit 84 is characterized by reflecting the viewing angle occlusion area (C) in the running lane area (A).

[0160] That is, the vehicle control device 60 of the present embodiment calculates the running lane area (A) of the host vehicle that reflects the area (preceding vehicle occlusion area (B) and viewing angle occlusion area (C)) blocked by the vehicle (preceding vehicle) existing in front of the host vehicle and the vehicle speed of the host vehicle in the area (running lane area (A)) of the lane in which the host vehicle travels detected by the sensor. And when the calculated running lane area (A) of the host vehicle is below the threshold value, vehicle control (controls the driving and / or braking of the host vehicle to perform following automatic driving of the preceding vehicle) is performed to adjust the target inter-vehicle distance between the host vehicle and the vehicle in front.

[0161] According to the present embodiment, when there is a vehicle in front with respect to the running lane of the host vehicle, in consideration of the narrowness of the viewing angle blocked by the area (preceding vehicle occlusion area (B)) blocked by the vehicle in front, vehicle control (controls the driving and / or braking of the host vehicle to perform following automatic driving of the preceding vehicle) can be performed using an appropriate target inter-vehicle distance. As a result, vehicle control is possible while reducing the sense of fear given to the user.

[0162] Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments in any way, and can be implemented in various modifications without departing from the gist of the present invention.

[0163] Furthermore, the present invention is not limited to the above-described examples, and includes various modification examples. For example, the above-described examples have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described.

[0164] In addition, each of the above-described configurations, functions, processing units, processing means, etc. may be realized in hardware by designing a part or all of them, for example, by using an integrated circuit. Also, each of the above-described configurations, functions, etc. may be realized in software by a processor interpreting and executing a program for realizing each function. Information such as a program, table, file, etc. for realizing each function can be placed in a memory, a storage device such as a hard disk, SSD (Solid State Drive), or a recording medium such as an IC card, SD card, DVD.

[0165] Also, control lines and information lines show those considered necessary for explanation, and not necessarily all control lines and information lines are shown on the product. In practice, it may be considered that almost all configurations are interconnected.

Explanation of Reference Numerals

[0166] 11 Engine 12 Automatic Transmission 13 Propeller Shaft 14 Differential Gear 15 Drive Shaft 16 Wheel 17 Various Sensors 18 Wheel Speed Sensor 20 Brake Device 21 Electric Power Steering 22(22A~22D) Medium Range Distance Measuring Sensor 25 Long Range Distance Measuring Sensor 28 Wheel sensor 29 Input switch section 40 Various sensor / actuator ECU 41 Warning device 60 Vehicle control device 61 Forward object calculation section 62 Forward image calculation section 63 Field of view angle calculation section 64 Inter-vehicle distance mode determination section 65 Target inter-vehicle distance calculation section 81 Object detection section 82 Road surface detection section 84 Road surface update section 85 Target inter-vehicle distance adjustment section 86 Notification control section 87 Abnormality detection section 88 Stop control section 100 Own vehicle 101 Object (preceding vehicle) (A) Travel lane area (B) Preceding vehicle occlusion area (C) Field of view angle occlusion area RA Fear correction location RB Fear correction location LA Auxiliary line preset in the vehicle control system

Claims

1. In a vehicle control device that controls the driving and / or braking of a host vehicle to perform following automatic driving of a preceding vehicle, a road surface detection unit that detects the area of the driving lane on which the host vehicle is traveling; an object detection unit that detects an object existing in the traveling direction of the host vehicle; a road surface update unit that updates the driving lane area based on the driving lane area of the host vehicle detected by the road surface detection unit and the cross-sectional area of the preceding vehicle given to the user detected by the object detection unit; a target inter-vehicle distance adjustment unit that adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle from the driving lane area updated by the road surface update unit, characterized in that the vehicle control device comprises the target inter-vehicle distance adjustment unit.

2. In the vehicle control device according to claim 1, comprising a viewing angle calculation unit that calculates a viewing angle cross-sectional area representing the influence of the viewing angle given to the user from the vehicle speed of the host vehicle, wherein the road surface update unit reflects the viewing angle cross-sectional area in the driving lane area, characterized in that the vehicle control device comprises the road surface update unit.

3. In the vehicle control device according to claim 1, wherein the road surface detection unit calculates the driving lane area based on a feature point existing in the traveling direction of the host vehicle or an auxiliary line preset in the traveling direction of the host vehicle, characterized in that the vehicle control device comprises the road surface detection unit.

4. In the vehicle control device according to claim 1, wherein the object detection unit detects the contour of the object and calculates the cross-sectional area of the preceding vehicle based on the area surrounded by the contour, characterized in that the vehicle control device comprises the object detection unit.

5. In the vehicle control device according to claim 1, wherein when there are a plurality of the objects and the inter-vehicle distance between the objects is equal to or less than a threshold value, the target inter-vehicle distance adjustment unit adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle, characterized in that the vehicle control device comprises the target inter-vehicle distance adjustment unit.

6. In the vehicle control device according to claim 1, wherein when the behavior of the object is equal to or greater than a threshold value, the target inter-vehicle distance adjustment unit adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle, characterized in that the vehicle control device comprises the target inter-vehicle distance adjustment unit.

7. In the vehicle control device according to claim 1, comprising a driver state detection unit that detects the state of the user, wherein when the state of the user detected by the driver state detection unit is equal to or greater than a threshold value, the target inter-vehicle distance adjustment unit adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle, characterized in that the vehicle control device comprises the target inter-vehicle distance adjustment unit.

8. In the vehicle control device according to claim 1, When the recognition rate of the feature points existing in the traveling direction of the host vehicle detected by the road surface detection unit is equal to or lower than a threshold value, the target inter-vehicle distance adjustment unit adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle. A vehicle control device characterized by this.

9. In the vehicle control device according to Claim 1, When the object exists at a fear correction location set in advance in the vehicle control system, the target inter-vehicle distance adjustment unit adjusts the target inter-vehicle distance between the host vehicle and the preceding vehicle. A vehicle control device characterized by this.

10. In the vehicle control device according to Claim 1, When the target inter-vehicle distance is not adjusted from the traveling lane area, the target inter-vehicle distance adjustment unit uses a default value as the target inter-vehicle distance. A vehicle control device characterized by this.

11. In the vehicle control device according to Claim 10, As the default value, the target inter-vehicle distance adjustment unit uses a value set in advance in the vehicle control system or a value arbitrarily set by the user. A vehicle control device characterized by this.

12. In the vehicle control device according to Claim 1, A vehicle control device comprising a notification control unit that notifies the user of the state and change of the target inter-vehicle distance, or information on the object, or traveling environment information and surrounding information of the host vehicle.

13. In the vehicle control device according to Claim 1, An abnormality detection unit that detects an abnormality in the road surface detection unit, or the object detection unit, or the road surface update unit, or the target inter-vehicle distance adjustment unit; A stop control unit that stops some or all of the functions of the vehicle driving control when the abnormality detection unit detects an abnormality. A vehicle control device characterized by this.

14. In the vehicle control device according to Claim 1, An abnormality detection unit that detects an abnormality in the road surface detection unit, or the object detection unit, or the road surface update unit, or the target inter-vehicle distance adjustment unit; A stop control unit that stops some or all of the functions of the vehicle driving control when the abnormality detection unit detects an abnormality; A notification control unit that notifies the user when the abnormality detection unit detects an abnormality or when the stop control unit stops some or all of the functions of the vehicle driving control. A vehicle control device characterized by this.

15. In the vehicle control device according to Claim 1, When the area of the driving lane is less than or equal to a threshold value, the target inter-vehicle distance adjustment unit sets the target inter-vehicle distance between the host vehicle and the preceding vehicle to the maximum target inter-vehicle distance set in advance by the vehicle control system. When the area of the driving lane is greater than the threshold value, the target inter-vehicle distance adjustment unit sets the target inter-vehicle distance between the host vehicle and the preceding vehicle to a default value set in advance by the vehicle control system. A vehicle control device characterized by this.

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