Vehicle control device and vehicle control method

Abstract

To provide a vehicle control device and a vehicle control method that are capable of improving ride quality as a vehicle approaches a deceleration point by appropriately managing acceleration and deceleration operations when the deceleration point lies ahead of the vehicle after transitioning from a main traffic lane to a diversion lane.SOLUTION: When a diversion lane is present before a deceleration point, a vehicle control device sets a target speed of an own vehicle based on: a speed command value as the own vehicle approaches an initiation point to transition to the diversion lane; and the speed command value, a travel speed of the own vehicle at the initiation point to transit to the diversion lane, a remaining distance from the initiation point to transit to the diversion lane to a deceleration point, and a speed at the deceleration point as the own vehicle nears the initiation point to transition to the diversion lane.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present application relates to a vehicle control device and a vehicle control method. [Background technology]

[0002] Conventionally, vehicle control devices have been put into practical use that perform control to maintain a distance between the host vehicle and another vehicle when there is another vehicle ahead of the host vehicle, and that perform constant speed travel in accordance with a set speed command value when there is no other vehicle ahead of the host vehicle. Furthermore, a technique for performing deceleration control at points where deceleration is required, such as at interchanges on expressways, is also known.

[0003] In the technology of Patent Document 1, when the vehicle approaches a deceleration node and the direction of the turn signal is the same as the direction of the deceleration node, the control of the inter-vehicle distance is suspended. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3714014 Summary of the Invention [Problem to be solved by the invention]

[0005] In a conventional vehicle control system, when a vehicle is following another vehicle traveling at a speed lower than the speed command value on a main lane and the vehicle shifts to a diverging lane, the other vehicle is no longer a target for tracking and the vehicle accelerates to the speed command value. However, if a deceleration point exists ahead of the diverging lane, the vehicle may decelerate immediately after accelerating, depending on the conditions, resulting in a poor ride. On the other hand, if the vehicle does not accelerate after shifting to the diverging lane, if the distance to the deceleration point on the diverging lane is long or if the vehicle's traveling speed before the shift is low, the vehicle takes a long time to reach the deceleration point, resulting in a poor ride.

[0006] Therefore, the present application aims to provide a vehicle control device and a vehicle control method that can appropriately accelerate and decelerate when there is a deceleration point ahead after transitioning from a main lane to a diverging lane, thereby improving the ride comfort during the journey up to the deceleration point. [Means for solving the problem]

[0007] The vehicle control device according to the present application comprises: an information acquisition unit that acquires a driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected according to the traveling speed of the other vehicle. death, The target driving state setting unit calculates the predicted driving time from the start point of the transition operation to the diverging lane to the start point of the deceleration, assuming that the vehicle will travel in accordance with the speed command value, and if the predicted driving time is less than a judgment time, sets the smaller of the vehicle's current driving speed and the speed command value as the target speed from the start point of the transition operation to the diverging lane to the start point of the deceleration.

[0008] A vehicle control method according to the present application is a vehicle control method that causes a processing device to execute the following steps: an information acquisition step of acquiring a driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle; a target driving route setting step of setting a target driving route of the host vehicle; a deceleration point setting step of setting a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and setting a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting step of setting a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target travel route; a target running state setting step for setting a target speed; a vehicle control step of controlling the host vehicle based on the target speed; Equipped with In the deceleration start point setting step, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, the deceleration start point is set before a start point of a transition operation from the main line to the diverging lane, In the target driving state setting step, when the diverging lane exists before the deceleration point, a target speed of the host vehicle is set before a start point of a transition operation to the diverging lane based on a speed command value, and the target speed is set ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected according to the traveling speed of the other vehicle. death, In the target driving state setting step, the predicted driving time from the start point of the transition operation to the diverging lane to the start point of the deceleration, assuming that the vehicle will travel in accordance with the speed command value, is calculated, and if the predicted driving time is less than a judgment time, the smaller of the vehicle's current driving speed and the speed command value is set as the target speed from the start point of the transition operation to the diverging lane to the start point of the deceleration. [Effects of the Invention]

[0009] According to the vehicle control device and vehicle control method of the present application, even if the vehicle is following another vehicle on the main line at a traveling speed lower than the speed command value and only the vehicle moves into a diverging lane, the target speed is set based on the speed command value, the traveling speed of the vehicle at the start point of the transition operation to the diverging lane, the remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed.Therefore, acceleration and deceleration can be performed appropriately according to the state of the diverging lane and the state of the vehicle, thereby improving the ride comfort up to the deceleration point. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic block diagram of a vehicle control device and a vehicle control system according to a first embodiment. [Figure 2] 1 is a schematic hardware configuration diagram of a vehicle control device according to a first embodiment. [Figure 3] 4 is a flowchart for explaining a schematic process of the vehicle control device according to the first embodiment. [Figure 4] FIG. 4 is a diagram for explaining setting of a target speed when a predicted running time is equal to or longer than a determination time according to the first embodiment. [Figure 5] FIG. 4 is a diagram illustrating setting of a target speed when a predicted running time is less than a determination time according to the first embodiment. [Figure 6] FIG. 10 is a diagram illustrating setting of a target speed when the predicted running time is less than the determination time according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] 1. First Embodiment A vehicle control device 50 according to the first embodiment will be described with reference to the drawings. In this embodiment, the vehicle control device 50 is provided in the subject vehicle.

[0012] As shown in FIG. 1, the vehicle is equipped with a surroundings monitoring device 31, a position detection device 32, a vehicle state detection device 33, a map information database 34, a wireless communication device 35, a vehicle control device 50, a drive control device 36, a power plant 8, an electric steering device 7, an electric braking device 9, and a human interface device 37.

[0013] The periphery monitoring device 31 is a device such as a camera or radar that monitors the periphery of the vehicle. The radar may be a millimeter wave radar, a laser radar, an ultrasonic radar, etc. The wireless communication device 35 performs wireless communication with a base station using a cellular wireless communication standard such as 4G or 5G.

[0014] The position detection device 32 is a device that detects the current position (latitude, longitude, altitude) of the vehicle, and uses a GPS antenna or the like that receives signals output from artificial satellites such as the Global Navigation Satellite System (GNSS). Note that various methods may be used to detect the current position of the vehicle, such as a method using the lane number of the vehicle, a map matching method, a dead reckoning method, or a method using detected information around the vehicle.

[0015] The map information database 34 stores road information such as road shapes (for example, the number of lanes, the position of each lane, the shape of each lane, the type of each lane, the road type, and speed limits), road signs (speed limit signs and associated speed limits, stop signs, and the like), toll gates (the entrance positions of toll gates, the speed at which toll gates are passed, and the like), and traffic lights. The map information database 34 is mainly composed of a storage device. The map information database 34 may be provided in a server outside the vehicle connected to a network, and the vehicle control device 50 may obtain necessary road information from the server outside the vehicle via the wireless communication device 35.

[0016] The drive control device 36 includes a power control device, a brake control device, an automatic steering control device, a light control device, etc. The power control device controls the output of a power machine 8 such as an internal combustion engine or a motor. The brake control device controls the braking operation of an electric brake device 9. The automatic steering control device controls the electric steering device 7. The light control device controls turn signals, hazard lights, etc.

[0017] The vehicle state detection device 33 is a detection device that detects the state of the host vehicle, which is the driving state and running state of the host vehicle. In this embodiment, the vehicle state detection device 33 detects the speed, acceleration, yaw rate, steering angle, lateral acceleration, etc. of the host vehicle as the running state of the host vehicle. For example, the vehicle state detection device 33 may be provided with a speed sensor, an acceleration sensor, an angular velocity sensor, a steering angle sensor, etc. that detect the rotational speed of the wheels.

[0018] The driving state of the vehicle is detected by detecting acceleration / deceleration operations, steering angle operations, and lane change operations by the driver. For example, the vehicle state detection device 33 is provided with an accelerator position sensor, a brake position sensor, a steering angle sensor (handle angle sensor), a steering torque sensor, a turn signal position switch, and the like.

[0019] The human interface device 37 is a device that receives input from the driver through a speaker, a display screen, an input device, etc., and transmits information to the driver.

[0020] 1-1. Vehicle control device 50 The vehicle control device 50 includes processing units such as an information acquisition unit 51, a target driving route setting unit 52, a deceleration point setting unit 53, a deceleration start point setting unit 54, a target driving state setting unit 55, and a vehicle control unit 56. Each process of the vehicle control device 50 is realized by a processing circuit included in the vehicle control device 50. Specifically, as shown in Fig. 2, the vehicle control device 50 includes an arithmetic processing device 90 such as a CPU (Central Processing Unit), a storage device 91, an input / output device 92 that inputs and outputs external signals to the arithmetic processing device 90, and the like.

[0021] The arithmetic processing device 90 may be an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) chip, various logic circuits, various signal processing circuits, etc. Furthermore, the arithmetic processing device 90 may be a plurality of the same or different types, and each process may be shared and executed. The storage device 91 may be a variety of storage devices, such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a hard disk, etc.

[0022] The input / output device 92 is equipped with a communication device, an A / D converter, an input / output port, a drive circuit, etc. The input / output device 92 is connected to the surroundings monitoring device 31, the position detection device 32, the vehicle state detection device 33, the map information database 34, the wireless communication device 35, the drive control device 36, the human interface device 37, etc., and communicates with these devices.

[0023] The processing of each of the processing units 51 to 56 included in the vehicle control device 50 is realized by the arithmetic processing unit 90 executing software (programs) stored in the storage device 91 and cooperating with other hardware of the vehicle control device 50, such as the storage device 91 and the input / output device 92. The determination time t th The setting data is stored in a storage device 91 such as an EEPROM.

[0024] Each process of the vehicle control device 50 will be described in detail below with reference to the flowchart in Fig. 3. The process of the flowchart in Fig. 3 is executed, for example, at each predetermined calculation cycle. Note that unnecessary steps at the time of execution are skipped as appropriate.

[0025] 1-1-1. Information acquisition section 51 In step S01 of FIG. 3, the information acquisition unit 51 acquires the driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle.

[0026] The information acquisition unit 51 acquires the running state of the host vehicle. In this embodiment, the information acquisition unit 51 acquires the position, moving direction, speed, acceleration, etc. of the host vehicle based on the position information of the host vehicle acquired from the position detection device 32 and the host vehicle state acquired from the vehicle state detection device 33.

[0027] The information acquisition unit 51 acquires road information around the vehicle from the map information database 34 based on the vehicle's position information acquired from the position detection device 32. The acquired road information includes road shape (e.g., the number of lanes, the position of each lane, the shape of each lane, the type of each lane, the road type, the speed limit, etc.), road signs (speed limit signs and their associated speed limits, stop signs, etc.), toll gate information (the location of the toll gate entrance, the speed at which the toll gate is passed, etc.), traffic lights, and other road information. The shape of each lane includes the center position, lane width, lane curvature, etc. Lane shapes are set at each point along the longitudinal direction of the lane. Lane types include main lanes, diverging lanes diverging from the main lane, etc. The lane shape also includes the start position of the diverging lane, the end position of the diverging lane, and the length of the diverging lane. Note that the diverging lane may include a deceleration lane for gradually slowing down vehicles after diverging.

[0028] The information acquisition unit 51 also detects the shape and type of road dividing lines, etc., based on detection information of white lines, road shoulders, etc., acquired from the periphery monitoring device 31, and determines the shape and position of each lane, the number of lanes, and the type of each lane, etc., based on the detected shape and type of road dividing lines, etc. The shape of each lane includes the center position of the lane, lane width, lane curvature, etc. The type of each lane includes a main lane, a diverging lane, etc.

[0029] Furthermore, the information acquisition unit 51 acquires information on road signs, traffic lights, and toll gates based on the detection information acquired from the periphery monitoring device 31. The information acquisition unit 51 may acquire the current status of traffic lights and the like from an external device via wireless communication.

[0030] The information acquisition unit 51 acquires information about other vehicles around the vehicle. In this embodiment, the information acquisition unit 51 acquires the position, movement direction, speed, acceleration, etc. of the other vehicles based on the detection information acquired from the periphery monitoring device 31 and the position information of the vehicle acquired from the position detection device 32. In addition to other vehicles, the information acquisition unit 51 also acquires information about obstacles, pedestrians, traffic regulations such as lane restrictions, etc.

[0031] The information acquisition unit 51 may acquire, via communication from outside the vehicle, information on the driving conditions of other vehicles (such as the positions, moving directions, and speeds of other vehicles), road information (such as lane information) and traffic information (such as obstacles and congestion levels) around the vehicle. For example, the information acquisition unit 51 may acquire, via wireless communication or the like, information on the driving conditions of other vehicles, as well as information on the roads and traffic around the vehicle, from other vehicles or a server to which other vehicles have uploaded information. The information acquisition unit 51 may also acquire, via wireless communication or the like, information on the driving conditions of other vehicles, as well as information on the roads and traffic in a monitoring area, from roadside devices such as cameras that monitor road conditions, etc.

[0032] The information acquisition unit 51 acquires lane information corresponding to the lane in which the host vehicle is traveling, based on the position of the host vehicle. The information acquisition unit 51 also acquires lane information corresponding to the lane in which each other vehicle is traveling, based on the position of each other vehicle. The acquired lane information includes the shape, position, and type of the lane, as well as lane information of surrounding lanes.

[0033] 1-1-2. Target driving route setting unit 52 In step S02 of Fig. 3, the target driving route setting unit 52 sets a target driving route for the vehicle. For example, the target driving route setting unit 52 sets a target driving route from the current position of the vehicle to a target point using road information. Various well-known methods are used to set the target driving route, and therefore a description thereof will be omitted. In the target driving route, a target lane in which the vehicle will travel and a lane change position are set. For example, when moving from a main lane to a diverging lane, the range of travel on the main lane, the position at which the lane will change from the main lane to the diverging lane, and the range of travel on the diverging lane are set.

[0034] 1-1-3.Deceleration point setting section 53 In step S03 of FIG. 3, the deceleration point setting unit 53 sets a deceleration point on the target driving route at which the speed at which the vehicle should travel is slower than the current driving speed v0 of the vehicle, based on the driving state of the vehicle, the target driving route, and road information, and sets a deceleration point speed v2 that is the speed at which the vehicle should travel at the deceleration point.

[0035] A deceleration point is a point where the speed at which the vehicle should travel changes. The deceleration point setting unit 53 sets deceleration points based on at least one of a speed limit change point, a road type change point, and a speed change point due to a change in road curvature.

[0036] For example, the deceleration point setting unit 53 sets the start position of a lane section on the target driving route that has a speed limit lower than the speed limit of the lane currently being driven on as a deceleration point, and sets the deceleration point speed v2 based on the reduced speed limit.

[0037] In addition, the deceleration point setting unit 53 sets the start position of a road type on the target driving route that has a speed limit lower than the speed limit of the road type of the lane currently being driven on as a deceleration point, and sets the deceleration point speed v2 based on the reduced speed limit.

[0038] The deceleration point setting unit 53 also sets the start position of a curve section on the target driving route as a deceleration point, and sets a deceleration point speed v2 based on the speed limit due to the road curvature of the curve section. For example, the speed limit due to the road curvature is calculated by √(lateral acceleration limit value / curvature). The speed command value v set Alternatively, if the current traveling speed v0 of the vehicle is lower than the speed limit determined by the road curvature, the deceleration point and the deceleration point speed v2 do not need to be set. The limit value of the lateral acceleration is set in advance, taking into consideration the ride comfort and vehicle performance.

[0039] Furthermore, if there is a toll gate on the target driving route where deceleration is required, the deceleration point setting unit 53 sets the entrance to the toll gate as a deceleration point, and sets the passing speed through the toll gate as the deceleration point speed v2. Toll gates where deceleration is required include toll gates where tolls are paid automatically without stopping via wireless communication with on-board equipment (for example, an Electronic Toll Collection System (ETC)), and if a passing speed through the toll gate is specified, that passing speed (for example, 20 km / h) is set as the deceleration point speed v2. Toll gates where deceleration is required include toll gates where the vehicle must stop to pay the toll at a payment machine or in person, or to receive a pass, and if stopping is specified, the deceleration point speed v2 is set to 0 km / h. Toll gates may include not only road toll gates, but also various other toll gates such as parking lot toll gates and facility toll gates.

[0040] In addition, if the deceleration point setting unit 53 detects a stop sign or a red light on the target driving route, it sets the position just before the stop line or the stopping position of the preceding vehicle as the deceleration point, and sets the deceleration point speed v2 to 0 km / h.

[0041] Furthermore, when the deceleration point setting unit 53 detects a stopped vehicle ahead of the vehicle on the target driving route, it sets a position in front of the stopped vehicle (for example, a position 5 m ahead of the stopped vehicle) as a deceleration point, and sets the deceleration point speed v2 to 0 km / h. Any position where there is an obstacle, pedestrian, or the like other than the vehicle ahead and it is necessary to slow down or stop may be set as a deceleration point.

[0042] When multiple deceleration points are set on the target driving route, the deceleration point setting unit 53 sets the deceleration point closest to the vehicle as the final deceleration point. When no deceleration point is set on the target driving route, the deceleration point setting unit 53 determines that there is no deceleration point, and no deceleration is performed.

[0043] 1-1-4. Deceleration start point setting section 54 In step S04 of FIG. 3, the deceleration start point setting unit 54 sets a deceleration start point, which is a point where the deceleration of the host vehicle starts, between the current position of the host vehicle and the deceleration point on the target driving route.

[0044] As shown in Figure 4, when there is a diverging lane that diverges from the main line just before the deceleration point on the target driving route, the deceleration start point setting unit 54 sets the deceleration start point before the start point of transition operation from the main line to the diverging lane.

[0045] For example, the deceleration start point setting unit 54 sets the speed command value v set The deceleration distance d required to decelerate from the deceleration point speed v2 decel Calculate the deceleration distance d decel As shown in the following equation, the deceleration start point setting unit 54 sets the deceleration start point at a position just before the speed command value v set , deceleration point speed v2, feasible deceleration a decel Based on this, the deceleration distance d decel Calculate the feasible deceleration a decel is set in advance taking into consideration vehicle performance and ride comfort. setThe upper limit of the speed is limited by the speed limit of the diverging lane plus a predetermined margin, taking into account the speed limit of the diverging lane, sensor error, etc.

number

[0046] In the present application, deceleration means negative acceleration and is a negative value.

[0047] deceleration distance d decel may be decreased so that the deceleration initiation point falls within the merging lane.

[0048] 1-1-5. Target driving state setting unit 55 In step S05 of Fig. 3, the target running state setting unit 55 sets a target speed. When a diverging lane exists before the deceleration point, the target running state setting unit 55 sets a speed command value v set Based on this, the target speed of the vehicle is v obj Furthermore, when there is another vehicle within the determination range ahead of the host vehicle, the target traveling state setting unit 55 sets the target speed v obj Correct the following.

[0049] For example, when another vehicle is present within the determination range ahead of the host vehicle, the target traveling state setting unit 55 sets a speed according to the traveling speed of the other vehicle as the target speed v obj When there is no other vehicle within the determination range ahead of the host vehicle, the target traveling state setting unit 55 sets the speed command value v set is the target speed v obj Set as.

[0050] As shown in Figs. 4 and 5, the traveling speed of the other vehicle ahead of the host vehicle is determined by the speed command value v set If the vehicle speed is lower than the speed command value v setTherefore, when only the own vehicle changes lanes into the merging lane, the other vehicles that were following it will no longer exist, so in the normal method, the current running speed v0 is changed to the speed command value v set After accelerating to the deceleration point speed v2, the vehicle will decelerate to the deceleration point speed v2. Depending on the conditions, the vehicle may decelerate immediately after accelerating, which will result in a poor ride. On the other hand, if the vehicle does not accelerate after moving to the diverging lane, the remaining distance l of the diverging lane to the deceleration point will be fr If v0 is long or the running speed v0 before the transition is low, the running time to the deceleration point becomes long, and the ride quality deteriorates.

[0051] Therefore, when a diverging lane exists before the deceleration point, the target running state setting unit 55 sets the speed command value v set , the current traveling speed v0 of the vehicle (in this example, the traveling speed v0 at the start point of the transition driving), and the remaining distance l from the start point of the transition driving to the deceleration point. fr , and the deceleration point speed v2, the target speed v obj In this case, when another vehicle is present in the merging lane within the determination range ahead of the host vehicle, the target traveling state setting unit 55 sets the target speed v obj Correct the following.

[0052] On the main line, the speed command value v set Even if the vehicle moves into the merging lane while following another vehicle traveling at a slower speed, the speed command value v set , the current driving speed of the vehicle v0, and the remaining distance l from the start point of the transition operation to the deceleration point. fr , and the deceleration point speed v2, the target speed v obj Since the above setting is made, it is possible to prevent the vehicle from decelerating immediately after acceleration, to prevent the driving time to the deceleration point from becoming too long, and to appropriately accelerate and decelerate in accordance with the state of the diverging lane and the state of the vehicle itself, thereby improving the ride comfort during driving to the deceleration point.

[0053] The target speed v at each point from the start point of the transition to the diverging lane to the deceleration point objThe setting process is performed when transition operation to the diverging lane is initiated, but may also be performed continuously after transition operation to the diverging lane has begun in order to reflect the current state.

[0054] <Speed ​​command value v set Settings > Speed ​​command value v set is a speed command value set by the driver or the automatic driving function. For example, the target driving state setting unit 55 sets the speed command value v set Alternatively, during the execution of the automatic driving, the target driving state setting unit 55 increases or decreases the speed command value v set Set.

[0055] <Setting the starting point of the transition operation> When a lane change is required to transition from the main lane to the diverging lane, the target driving state setting unit 55 sets the point after the vehicle has reached the start point of the diverging lane and at which the driver's operation of the turn signal is detected as the start point of the transition operation to the diverging lane.

[0056] In addition, the target driving state setting unit 55 may prompt the driver to operate the turn signal using the display screen and speaker when the vehicle reaches the start point of the diverging lane or when the vehicle reaches a point a predetermined distance before the start point of the diverging lane.

[0057] On the other hand, when a lane change is not required to transition from the main lane to the diverging lane, the target driving state setting unit 55 sets the start point of the diverging lane as the start point of transition operation to the diverging lane.

[0058] < Estimated travel time t const Calculation of> The target running state setting unit 55 sets the speed command value v set The expected travel time t from the start point of the transition to the merging lane to the start point of deceleration, assuming that the vehicle is traveling according to the const Calculate the following.

[0059] In this embodiment, the expected running time t const is the ratio of the current running speed v0 to the speed command value v set This does not include the acceleration time required to reach the expected travel time t const This makes it possible to more directly evaluate the time from acceleration to deceleration, and to determine whether or not the ride comfort will be deteriorated by short-term acceleration and deceleration.

[0060] The target running state setting unit 55 sets the speed command value v set , the current running speed v0 of the vehicle (in this example, the running speed v0 at the start point of the transition driving), and the feasible acceleration a accel Based on this, the speed command value v set Acceleration distance d to reach accel In this embodiment, the following equation is used: where the realizable acceleration a accel is a positive acceleration and is set in advance taking into consideration vehicle performance and ride comfort.

number

[0061] Condition 1) of equation (2) is, for example, when the vehicle is following another vehicle that is moving at a slower speed while traveling on the main line, and the running speed v0 of the vehicle at the start point of the transition operation is less than the speed command value v set Condition 2) of equation (2) is satisfied when the speed command value v set This applies if the driver is driving in accordance with the following.

[0062] The target driving state setting unit 55 calculates the remaining distance l from the start point of the transition driving to the deceleration point. fr , acceleration distance d accel , and deceleration distance d decel Based on this, the speed command value v set Distance traveled by d const In this embodiment, the following formula is used: where max(A, B) is a function that outputs the larger of A and B.

number

[0063] Then, the target running state setting unit 55 calculates the speed command value v set Distance traveled by d const , and the speed command value v set Based on this, the expected travel time t const In this embodiment, the following equation is used:

number

[0064] <Target speed v until deceleration starts obj Settings > As shown in FIG. 4, the target running state setting unit 55 sets the expected running time t const However, the judgment time t th If it is greater than this, the speed command value v set is the target speed v from the start point of the transition to the merging lane to the start point of deceleration. obj Set as.

[0065] According to this configuration, when the remaining distance to the deceleration start point is long and the estimated travel time t const is the judgment time t th If the speed is greater than or equal to the speed command value v set Even if the vehicle is accelerated to a speed and then decelerated, the ride comfort is not significantly worsened by the acceleration and deceleration, and the ride comfort is improved by shortening the time until the deceleration starts.

[0066] As shown in FIG. 5, the target running state setting unit 55 sets the expected running time t const However, the judgment time t th If the speed command value is less than the current running speed v0 of the vehicle (in this example, the running speed v0 at the start point of the transition operation), set The smaller of these two is the target speed v from the start point of the transition to the merging lane to the start point of deceleration. obj In this embodiment, the following formula is used: where min(A, B) is a function that outputs the smaller of A and B.

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[0067] The remaining distance to the deceleration start point is short, and the estimated travel time t const is the judgment time t th If the speed is less than the specified value, the vehicle speed is controlled by the speed command value v set The vehicle must be accelerated to the speed command value v0 and then immediately decelerated, and the ride quality deteriorates due to the short-term acceleration and deceleration. set The smaller of these is the target speed v obj and the speed command value v set Since the vehicle is not accelerated to the maximum extent, it is possible to prevent the ride quality from being deteriorated due to short-term acceleration and deceleration.

[0068] In addition, the expected running time t const is the ratio of the current running speed v0 to the speed command value v set In this case, the determination time t th is set taking into consideration that acceleration time is included.

[0069] <Target speed v until deceleration point obj Settings > The target running state setting unit 55 sets the target speed v from the deceleration start point to the deceleration point. obj From the deceleration point speed v2, the target speed v obj For example, the speed may be decelerated at a predetermined deceleration rate.

[0070] <Target speed ahead of deceleration point v obj Settings > The target running state setting unit 55 sets the target speed ahead of the deceleration point based on the speed limit of the road ahead of the deceleration point, the speed command value v set , and the speed limit due to the curvature of the road ahead of the deceleration point, whichever is smaller.

[0071] As described above, the target driving state setting unit 55 sets the target speed v obj It is also possible to set a target acceleration, a target jerk, etc. for each point ahead of the start point of the transition drive. The target driving state setting unit 55 may also change the target driving state in accordance with the surrounding conditions detected by the surroundings monitoring device 31 or the like.

[0072] On the other hand, when the deceleration point, the deceleration point speed v2, and the deceleration start point are not set, or when the deceleration point, the deceleration point speed v2, and the deceleration start point are set but the transition operation to the diverging lane has not started, the target running state setting unit 55 sets the speed command value v set Based on this, the target speed of the vehicle is v obj Set.

[0073] In either case, when another vehicle is present within the determination range ahead of the host vehicle, the target traveling state setting unit 55 sets the target speed v obj Correct the following.

[0074] If the driver operates the turn signal to transition from the main lane to the diverging lane and then turns off the turn signal before the transition to the diverging lane is completed, the target driving state setting unit 55 determines whether to continue or stop the transition to the diverging lane and deceleration based on the degree of completion of the transition to the diverging lane, and if it is determined to stop, sets the target speed v obj Stop the setting.

[0075] For example, the target driving state setting unit 55 determines to continue the transition and deceleration if the lateral entry width of the vehicle into the merging lane is equal to or greater than the judgment width, and determines to stop the transition and deceleration if the entry width is less than the judgment width.

[0076] When it is determined that the transition and deceleration are to be stopped, the target running state setting unit 55 sets the speed command value v set Based on the target speed v obj and set the speed for running on the main line.

[0077] The target driving state setting unit 55 may calculate a target steering angle for driving within a lane or for changing lanes.

[0078] 1-1-6. Vehicle control unit 56 In step S06 of FIG. 3, the vehicle control unit 56 calculates the target speed v obj The host vehicle is controlled based on the above.

[0079] In this embodiment, the vehicle control unit 56 determines whether the traveling speed of the host vehicle is equal to or exceeds the target speed v obj For example, the vehicle control unit 56 controls the vehicle so that the traveling speed of the vehicle follows the target speed v obj The control unit 10 calculates a command value for the output of the power machine 8 and a command value for the braking force of the electric brake device 9 so as to follow the above, and transmits each command value to the power control device and the brake control device.

[0080] The power control device controls the output of a power machine 8 such as an internal combustion engine or a motor according to an output command value. The brake control device controls the braking operation of an electric brake device 9 according to a braking force command value.

[0081] The vehicle control unit 56 may transmit the target steering angle and the operation command value of the turn signal to the automatic steering control device and the light control device. The automatic steering control device controls the electric steering device 7 in accordance with the target steering angle. The light control device controls the turn signal in accordance with the operation command for the turn signal.

[0082] Note that various vehicle control methods may be used, and various types of vehicle control such as automatic driving and cruise control may be performed as vehicle control.

[0083] On the other hand, when the vehicle control unit 56 detects an accelerator pedal operation, a brake pedal operation, or a steering wheel operation by the driver, the vehicle control unit 56 adjusts the target speed v based on the operation content. obj or change the control amount based on the target speed v objFor example, if an acceleration operation is detected by operating the accelerator pedal, the speed command value v set or target speed v obj When a deceleration operation is detected by operating the accelerator pedal or the brake pedal, the speed command value v set or target speed v obj Alternatively, if an accelerator pedal operation amount, a brake pedal operation amount, or a steering operation amount that is equal to or greater than the judgment value is detected, the target speed v obj In this case, the vehicle control unit 56 calculates a command value for the output of the power machine 8, a command value for the braking force of the electric brake device 9, and a target steering angle based on the accelerator pedal operation, brake operation, and steering wheel operation by the driver, and transmits these to each control device.

[0084] 2. Second Embodiment Next, a vehicle control device 50 according to a second embodiment will be described. Description of components similar to those of the first embodiment will be omitted. The basic configuration of the vehicle control device 50 according to this embodiment is similar to that of the first embodiment, but part of the processing of the target traveling state setting unit 55 differs from that of the first embodiment.

[0085] As in the first embodiment, the target running state setting unit 55 sets the speed command value v set The expected travel time t from the start point of the transition to the merging lane to the start point of deceleration, assuming that the vehicle is traveling according to the const Calculate the following.

[0086] In this embodiment, the target running state setting unit 55 sets the expected running time t const However, the judgment time t th If the time is less than the expected travel time t const is the judgment time t th The target speed v from the start point of the transition to the merging lane to the start point of deceleration is obj Set.

[0087] According to this configuration, it is possible to suppress an increase in the travel time up to the deceleration start point, while suppressing a deterioration in ride comfort due to unnecessary acceleration and deceleration.

[0088] Below, target speed v obj As shown in Figure 6, the expected travel time t const is the judgment time t th The adjusted speed up to the deceleration start point to become v1 ’ The vehicle speed at the start of the transition drive is v0, and the adjusted speed is v1 ’ Up to the achievable acceleration a accel The adjusted acceleration distance d accel ’ is calculated using the following formula:

number

[0089] Also, the adjusted speed v1 ’ From the deceleration point speed v2, the achievable deceleration a decel The adjusted deceleration distance d decel ’ is calculated using the following formula:

number

[0090] Adjusted speed v1 ’ The adjusted speed v1 from when it reaches the target speed until it starts to slow down. ’ Adjusted driving distance d const ’ is calculated using the following formula, and the adjusted travel distance d const ’ But the adjusted speed v1 ’ At the judgment time t th The distance should be equal to the distance multiplied by

number

[0091] Substituting equations (6) and (7) into equation (8) and rearranging, we obtain the following equation: Velocity v1 after adjustment ’ Solving the quadratic equation, the adjusted velocity v1 ’ can be obtained.

number

[0092] Therefore, the target running state setting unit 55 determines the determination time t th , the current traveling speed v0 of the vehicle (in this example, the traveling speed v0 at the start point of the transition operation), the deceleration point speed v2, and the remaining distance l from the start point of the transition operation to the deceleration point. fr Based on the adjusted speed v1 ’ Calculate the adjusted speed v1 ’ However, the target traveling state setting unit 55 sets the adjusted speed v1 so that the adjusted speed v1 is not smaller than the current traveling speed v0 and the deceleration point speed v2 of the host vehicle. ’ is lower-bounded by the larger of the current traveling speed v0 of the host vehicle and the deceleration point speed v2.

[0093] The deceleration start point setting unit 54 uses the equation (7) to calculate the adjusted speed v1 ’ Based on this, the adjusted deceleration distance d decel ’ Calculate the adjusted deceleration distance d decel ’ The deceleration start point is set at a position just before the target.

[0094] Then, the target running state setting unit 55 sets the adjusted speed v1 ’ is the target speed v from the start point of the transition to the merging lane to the start point of deceleration. obj Set as.

[0095] The target running state setting unit 55 sets the adjusted speed v1 from the deceleration start point to the deceleration point. ’ From the deceleration point speed v2, the target speed v obj Gradually decrease the amount.

[0096] In addition, the expected running time tconst However, the judgment time t th If this is the case, the target running state setting unit 55 sets the speed command value v set is the target speed v from the start point of the transition to the merging lane to the start point of deceleration. obj It can be set as:

[0097] <Summary of various aspects of the present application> Various aspects of the present application will be summarized below as appendices. (Appendix 1) an information acquisition unit that acquires a driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; When the other vehicle is present within a determination range ahead of the host vehicle, the vehicle control device corrects the target speed in accordance with the traveling speed of the other vehicle.

[0098] (Appendix 2) The deceleration point is a point where the speed at which the host vehicle should travel changes, 2. The vehicle control device according to claim 1, wherein the deceleration point setting unit sets the deceleration point based on at least one of a speed limit change point, a road type change point, and a speed change point due to a change in road curvature.

[0099] (Appendix 3) the target driving state setting unit, when a lane change is required to transition from the main lane to the diverging lane, sets a point after arriving at a start point of the diverging lane and at which an operation of a turn signal by the driver is detected as a start point of transition operation to the diverging lane; A vehicle control device as described in Appendix 1 or 2, which sets the starting point of the diverging lane as the starting point of transition operation to the diverging lane when no lane change is required to transition from the main lane to the diverging lane.

[0100] (Appendix 4) The vehicle control device according to any one of appendixes 1 to 3, wherein the target driving state setting unit calculates a predicted driving time from the start point of transition operation to the diverging lane to the deceleration start point, assuming that the vehicle travels in accordance with the speed command value, and if the predicted driving time is less than a judgment time, sets the smaller of the current driving speed of the vehicle and the speed command value as the target speed from the start point of transition operation to the diverging lane to the deceleration start point.

[0101] (Appendix 5) The vehicle control device according to any one of appendices 1 to 3, wherein the target driving state setting unit calculates a predicted driving time from the start point of transition operation to the diverging lane to the deceleration start point, assuming that the vehicle travels in accordance with the speed command value, and if the predicted driving time is less than a judgment time, sets the target speed from the start point of transition operation to the diverging lane to the deceleration start point so that the predicted driving time from the start point of transition operation to the diverging lane to the deceleration start point becomes the judgment time.

[0102] (Appendix 6) The vehicle control device according to any one of appendixes 1 to 5, wherein the target driving state setting unit calculates a predicted driving time from the start point of transition operation to the diverging lane to the deceleration start point, assuming that the vehicle travels in accordance with the speed command value, and if the predicted driving time is equal to or longer than a judgment time, sets the speed command value as the target speed from the start point of transition operation to the diverging lane to the deceleration start point.

[0103] (Appendix 7) 7. The vehicle control device according to claim 4, wherein the predicted traveling time does not include an acceleration time required for the host vehicle to accelerate from a current traveling speed to the speed command value.

[0104] (Appendix 8) 7. The vehicle control device according to claim 4, wherein the predicted traveling time includes an acceleration time required for the host vehicle to accelerate from a current traveling speed to the speed command value.

[0105] (Appendix 9) 9. The vehicle control device according to claim 1, wherein the target driving state setting unit sets the target speed ahead of the deceleration point to the smallest of the speed limit of the road ahead of the deceleration point, the speed command value, and a speed limit based on the curvature of the road ahead of the deceleration point.

[0106] (Appendix 10) 10. The vehicle control device according to claim 1, wherein, when an accelerator pedal operation, a brake pedal operation, or a steering wheel operation by the driver is detected, the vehicle control unit changes a control amount based on the target speed or terminates control based on the target speed based on the operation content.

[0107] (Appendix 11) A vehicle control device as described in any one of Appendices 1 to 10, wherein, if the driver operates a turn signal to transition from the main lane to the diverging lane and then turns off the turn signal before the transition to the diverging lane is completed, the target driving state setting unit determines whether to continue or stop the transition to the diverging lane and deceleration based on the degree of completion of the transition to the diverging lane, and if it determines to stop, stops setting the target speed for deceleration.

[0108] Although various exemplary embodiments and examples are described in this application, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment. [Explanation of symbols]

[0109] 50: Vehicle control device, 51: Information acquisition unit, 52: Target driving route setting unit, 53: Deceleration point setting unit, 54: Deceleration start point setting unit, 55: Target driving state setting unit, 56: Vehicle control unit, fr : remaining distance from the start point of the transition to the diverging lane to the deceleration point, t const : Estimated travel time, t th : Judgment time, v0: Current running speed of the vehicle, v2: Deceleration point speed, v obj :Target speed, v set : Speed ​​command value

Claims

1. an information acquisition unit that acquires a driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; The target driving state setting unit calculates an expected driving time from the start point of the transition operation to the diverging lane to the start point of the deceleration, assuming that the vehicle will travel in accordance with the speed command value, and if the expected driving time is less than a judgment time, sets the smaller of the current driving speed of the vehicle and the speed command value as the target speed from the start point of the transition operation to the diverging lane to the start point of the deceleration.

2. The deceleration point is a point where the speed at which the host vehicle should travel changes, The vehicle control device according to claim 1 , wherein the deceleration point setting unit sets the deceleration point based on at least one of a speed limit change point, a road type change point, and a speed change point due to a change in road curvature.

3. the target driving state setting unit, when a lane change is required to transition from the main lane to the diverging lane, sets a point after arriving at a start point of the diverging lane and at which an operation of a turn signal by the driver is detected as a start point of transition operation to the diverging lane; The vehicle control device according to claim 1 , wherein when a lane change is not required to transition from the main lane to the diverging lane, the start point of the diverging lane is set as the start point of transition operation to the diverging lane.

4. An information acquisition unit that acquires a driving state of a vehicle, road information around the vehicle, and information about other vehicles around the vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; The target driving state setting unit calculates a predicted driving time from the start point of the transition operation to the diverging lane to the deceleration start point, assuming that the vehicle will drive in accordance with the speed command value, and if the predicted driving time is less than a judgment time, sets the target speed from the start point of the transition operation to the diverging lane to the deceleration start point so that the predicted driving time from the start point of the transition operation to the diverging lane to the deceleration start point becomes the judgment time.

5. An information acquisition unit that acquires a driving state of a vehicle, road information around the vehicle, and information about other vehicles around the vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; The target driving state setting unit calculates an expected driving time from the start point of transition operation to the diverging lane to the start point of deceleration, assuming that the vehicle will travel in accordance with the speed command value, and if the expected driving time is equal to or longer than a judgment time, sets the speed command value as the target speed from the start point of transition operation to the diverging lane to the start point of deceleration.

6. The vehicle control device according to claim 1 , wherein the predicted running time does not include an acceleration time required for the host vehicle to accelerate from a current running speed to the speed command value.

7. The vehicle control device according to claim 1 , wherein the predicted traveling time includes an acceleration time required for the host vehicle to accelerate from a current traveling speed to the speed command value.

8. An information acquisition unit that acquires a driving state of a vehicle, road information around the vehicle, and information about other vehicles around the vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; The target driving state setting unit sets the target speed ahead of the deceleration point to the smallest of the speed limit of the road ahead of the deceleration point, the speed command value, and the speed limit based on the curvature of the road ahead of the deceleration point.

9. 2. The vehicle control device according to claim 1, wherein, when an accelerator pedal operation, a brake pedal operation, or a steering wheel operation by the driver is detected, the vehicle control unit changes a control amount based on the target speed or terminates control based on the target speed based on the operation content.

10. An information acquisition unit that acquires a driving state of a vehicle, road information around the vehicle, and information about other vehicles around the vehicle; a target driving route setting unit that sets a target driving route for the host vehicle; a deceleration point setting unit that sets a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and that sets a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting unit that sets a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target traveling route; a target running state setting unit that sets a target speed; a vehicle control unit that controls the host vehicle based on the target speed; Equipped with the deceleration start point setting unit, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, sets the deceleration start point ahead of a start point of a transition operation from the main line to the diverging lane, When the diverging lane is present before the deceleration point, the target traveling state setting unit sets a target speed of the host vehicle before a start point of a transition operation to the diverging lane based on a speed command value, and sets the target speed ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; The target driving state setting unit is a vehicle control device that, if the driver operates a turn signal to transition from the main lane to the diverging lane and then turns off the turn signal before the transition to the diverging lane is completed, determines whether to continue or stop the transition to the diverging lane and deceleration based on the degree of completion of the transition to the diverging lane, and if it determines to stop, stops setting the target speed for deceleration.

11. A vehicle control method that causes a processing device to execute the following steps: an information acquisition step of acquiring a driving state of the host vehicle, road information around the host vehicle, and information about other vehicles around the host vehicle; a target driving route setting step of setting a target driving route of the host vehicle; a deceleration point setting step of setting a deceleration point on the target driving route, the deceleration point being a point at which the speed at which the host vehicle should travel is slower than the host vehicle's current driving speed, based on the driving state, the target driving route, and the road information, and setting a deceleration point speed, the speed at which the host vehicle should travel at the deceleration point; a deceleration start point setting step of setting a deceleration start point, which is a point at which deceleration of the host vehicle starts, between a current position of the host vehicle and the deceleration point on the target travel route; a target running state setting step for setting a target speed; a vehicle control step of controlling the host vehicle based on the target speed; Equipped with In the deceleration start point setting step, when a diverging lane diverging from a main line exists before the deceleration point on the target travel route, the deceleration start point is set before a start point of a transition operation from the main line to the diverging lane, In the target driving state setting step, when the diverging lane exists before the deceleration point, a target speed of the host vehicle is set before a start point of a transition operation to the diverging lane based on a speed command value, and the target speed is set ahead of the start point of the transition operation to the diverging lane based on the speed command value, a current traveling speed of the host vehicle, a remaining distance from the start point of the transition operation to the diverging lane to the deceleration point, and the deceleration point speed; If the other vehicle is present within a determination range ahead of the host vehicle, the target speed is corrected in accordance with the traveling speed of the other vehicle; In the target driving state setting step, an expected driving time from the start point of the transition operation to the diverging lane to the start point of the deceleration, assuming that the vehicle will travel in accordance with the speed command value, is calculated, and if the expected driving time is less than a judgment time, the smaller of the vehicle's current driving speed and the speed command value is set as the target speed from the start point of the transition operation to the diverging lane to the start point of the deceleration.

Images