In-vehicle electronic control unit

Abstract

Provided is an inexpensive vehicle-mounted electronic control device 100 that, on the basis of a method for determining the directions of travel for lanes without misjudgment taking into account other vehicles that enter an oncoming lane for overtaking, can appropriately change the control of an ACC function without relying on map data the next time the host vehicle enters the oncoming lane and overtakes another vehicle. The vehicle-mounted electronic control device 100 is provided with: a starting vehicle recognition unit 244 that, on the basis of recognition results from surroundings recognition sensors 210, 220 mounted on a host vehicle SV, recognizes another vehicle that has started from a stopped state in a different lane than the lane in which the host vehicle SV is traveling; and a direction-of-travel determination unit 245 that determines the directions of travel for lanes adjacent to the lane in which the host vehicle is traveling, including said different lane, on the basis of the direction of travel for the lane in which the host vehicle is traveling, the direction of travel of the another vehicle that has started, and the lane position of said different lane.　

Description

[Technical Field]

[0001] The present invention relates to an on-vehicle electronic control device that determines the traveling direction of a lane surrounding a vehicle and appropriately changes the control of a driving assistance function. [Background technology]

[0002] In recent years, adaptive cruise control (ACC) functions, which automatically accelerate and decelerate a vehicle and control it to follow the vehicle ahead, have become increasingly popular on high-standard highways such as national expressways and expressways. However, in most cases, these functions are either not designed to be usable on ordinary roads other than high-standard highways, or are not recommended for use on such roads. In the future, the operating range of ACC functions is expected to be expanded to ordinary roads, which will require control that takes into account a variety of driving scenarios.

[0003] Patent Document 1 describes a driving lane detection device that determines whether or not there is an adjacent lane, and if there is an adjacent lane, determines the traveling direction of the adjacent lane from the behavior of other vehicles. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-301603 Summary of the Invention [Problem to be solved by the invention]

[0005] As an example of a driving scene that should be considered in controlling the ACC function, an overtaking scene during ACC control is given as shown in FIG.

[0006] In FIG. 11, in a scene 110 of catching up with a preceding vehicle, while traveling in the own lane L1 at a set vehicle speed using the ACC function, the own vehicle SV catches up with the preceding vehicle OB1, decelerates, and follows the preceding vehicle OB1 while maintaining a certain distance between the vehicles.

[0007] Next, after the host vehicle SV catches up with the preceding vehicle OB1, some time passes and the host vehicle SV crosses into the oncoming lane L2 to overtake the preceding vehicle OB1 in a preceding vehicle overtaking scene 120. In this case, the conventional ACC function automatically accelerates the host vehicle SV to the original set vehicle speed.

[0008] Next, consider the case where an oncoming vehicle OB2 is approaching in original lane return scene 130. In this case, automatic control intervenes to automatically accelerate the vehicle to the original set vehicle speed, which may prevent the driver from properly adjusting the speed, potentially leading to a collision with the oncoming vehicle OB2. Therefore, in this scene, it is necessary to appropriately change the control of the ACC function.

[0009] In order to perform the above-mentioned control change, it is necessary to determine whether the lane into which the vehicle is to change lanes when overtaking is a lane traveling in the same direction as the vehicle itself (a forward lane). This determination can be made based on map data including lane information and satellite positioning information, but because map data is expensive, it is desirable to configure the system so that the determination is based on external recognition information rather than relying on map data. In this case, a conceivable method is to use an external recognition device to recognize the lanes around the vehicle itself, while also recognizing the behavior of other vehicles traveling in those lanes, and determine the traveling direction of the surrounding lanes.

[0010] Specifically, when considering determining the direction of travel of a lane based on the behavior of other vehicles traveling in the lane around the vehicle, if there is another vehicle traveling in the same direction as the vehicle, the lane to which the other vehicle belongs will be determined to be a forward travel lane.

[0011] However, when the above-mentioned lane travel direction determination method is applied, if another vehicle appears to overtake the vehicle by going into the oncoming lane, the other vehicle will travel in the same direction as the vehicle while overtaking, which may result in the oncoming lane being mistakenly determined to be the forward travel lane.

[0012] Therefore, when the host vehicle strays into the oncoming lane to overtake another vehicle, the control of the ACC function cannot be changed appropriately.

[0013] Patent Document 1 only describes determining the direction of travel in the adjacent lane based on the distance and relative speed between the vehicle and another vehicle traveling in the adjacent lane, and does not take into consideration the case where another vehicle appears and crosses into the oncoming lane to overtake the vehicle.

[0014] Therefore, an object of the present invention is to provide an inexpensive on-board electronic control device and on-board electronic control method that are based on a lane travel direction determination method that is free from erroneous judgments and takes into account other vehicles that stray into the oncoming lane to overtake, and that can appropriately change the control of the ACC function without relying on map data the next time the vehicle strays into the oncoming lane to overtake another vehicle. [Means for solving the problem]

[0015] In order to achieve the above object, the present invention is configured as follows.

[0016] Also, The computing unit installed in the on-board electronic control unit performs driving assistance control. In an on-board electronic control method, another vehicle that has started from a stopped state in a lane different from the lane in which the own vehicle is traveling is recognized, and the direction of travel of lanes surrounding the own vehicle's lane, including the other lane, is determined based on the direction of travel of the own lane, the direction of departure of the other vehicle that has started, and the lane position of the other lane.

[0017] In addition, in the on-board electronic control method, another vehicle that has started from a stopped state in a lane different from the lane in which the vehicle is traveling is recognized, and the direction of travel of lanes surrounding the vehicle's lane, including the other lane, is determined based on the direction of travel of the vehicle's lane, the direction of departure of the other vehicle that has started, and the lane position of the other lane. [Effects of the Invention]

[0018] To provide an on-vehicle electronic control device and an on-vehicle electronic control method at low cost, which can appropriately change the control of an ACC function without relying on map data when the vehicle next strays into an oncoming lane to overtake another vehicle, based on a lane traveling direction determination method without erroneous determination that takes into consideration another vehicle straying into an oncoming lane to overtake. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram illustrating an example of the configuration of an in-vehicle electronic control device according to an embodiment of the present invention; [Figure 2] 1 is a diagram illustrating a state in which a traffic light at an intersection is in a red light state, which explains the present embodiment. FIG. [Figure 3] 1 is a diagram illustrating a state in which a traffic light at an intersection has changed from red to green, which explains the present embodiment. [Figure 4] FIG. 2 is a bird's-eye view of a recognition area of ​​an external environment recognition sensor for explaining the present embodiment. [Figure 5] 1 is a bird's-eye view of a scene in which vehicles stop and start at successive intersections, illustrating this embodiment. [Figure 6] FIG. 1 is an overhead view of a lane reduction scene illustrating the present embodiment. [Figure 7] 1 is a bird's-eye view of a scene in which a vehicle turns left at an intersection in accordance with an embodiment of the present invention; [Figure 8] 1 is a bird's-eye view of an overtaking scene when ACC control is changed, illustrating the present embodiment. [Figure 9] 4 is a flowchart showing a processing operation according to the present embodiment. [Figure 10] 4 is a flowchart showing a processing operation according to the present embodiment. [Figure 11] 1 is a bird's-eye view of a scene in which a vehicle is overtaking during ACC control, which explains the background art of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will now be described in detail with reference to the accompanying drawings. [Example]

[0021] FIG. 1 is a diagram showing an example of the configuration of an in-vehicle electronic control device 100 according to an embodiment of the present invention.

[0022] The on-vehicle electronic control device 100 shown in FIG. 1 is mounted on a vehicle and includes a camera 210, a radar 220, a vehicle motion information acquisition device 230, a calculation device 240, a brake control device 250, a brake actuator 260, an engine control device 270, and a throttle actuator 280.

[0023] In addition, in describing the processing contents of each component in this embodiment, a scene will be considered as a representative example in which the traffic light TL changes from a red light as shown in FIG. 2 to a green light as shown in FIG.

[0024] In the embodiment shown in Fig. 1, the camera 210 is an external environment recognition sensor using an image sensor, which recognizes objects and calculates target information such as their relative position relative to the host vehicle SV, a relative velocity vector, and type, as well as white line information such as the relative position between the host vehicle SV and surrounding white lines and an approximate formula for the white lines. The objects to be recognized are primarily vehicles, but may also include traffic lights and signs. In this case, the camera 210 also determines the light color for traffic lights TL and the regulation content for signs.

[0025] The radar 220 is an external environment recognition sensor that uses millimeter waves, lasers, etc., and recognizes objects and calculates target information such as their relative position with respect to the host vehicle SV, a relative velocity vector, and type. While the radar 220 is exemplified here, external environment recognition sensors such as sonar using ultrasonic waves or LiDAR that scans a wide range with a laser may also be used.

[0026] In this embodiment, the camera 210 and radar 220 are mounted on the host vehicle SV as shown in FIG. 4 so as to cover the entire periphery of the host vehicle SV as a recognition range. The front camera CM is mounted facing forward of the host vehicle SV and covers a front camera recognition area CA. The front center radar RD1 is also mounted facing forward of the host vehicle SV and covers a front center radar recognition area RA1 that includes areas farther away than the front camera CM. The front corner radars RD2 and RD3 are mounted facing diagonally forward to the left and right of the host vehicle SV and cover front corner radar recognition areas RA2 and RA3. The rear corner radars RD4 and RD5 are mounted facing diagonally rearward to the left and right of the host vehicle SV and cover rear corner radar recognition areas RA4 and RA5.

[0027] The vehicle motion information acquisition device 230 is equipped with a vehicle speed sensor that acquires vehicle speed information of the host vehicle SV, a yaw rate sensor that acquires yaw rate information, an accelerator opening sensor that acquires accelerator opening information, etc., and acquires vehicle motion information that is a combination of these.

[0028] The arithmetic unit 240 is mounted on an ECU equipped with a CPU and memory (ROM, RAM), and executes various processing programs stored in advance in the memory. The arithmetic unit 240 includes functional blocks of a lane recognition processing unit 241, a target recognition processing unit 242, a departure determination unit 243 (host vehicle departure determination unit), a departing vehicle recognition unit 244, a traveling direction determination unit 245, a traveling direction storage unit 246, and a driving assistance control unit 247.

[0029] The lane recognition processing unit 241 estimates the position (area) of the lane around the host vehicle based on the white line information calculated by the camera 210. By this processing, the area of ​​lanes L3 to L9 around the host vehicle SV is estimated in each of the situations shown in Figs.

[0030] The target object recognition processing unit 242 distinguishes other vehicles traveling in each lane around the host vehicle based on the target object information calculated by the camera 210 and the radar 220 and the lane area information. This processing calculates the relative position, relative speed, and type of other vehicles OB3 to OB8 in each of the situations shown in Figures 2 and 3. At the same time, based on the area information for each lane and the relative position information for each other vehicle, it is determined that the host vehicle SV belongs to lane L3, the other vehicle OB3 belongs to lane L4, the other vehicle OB4 belongs to lane L5, the other vehicle OB5 belongs to lane L6, the other vehicle OB6 belongs to lane L7, the other vehicle OB7 belongs to lane L8, and the other vehicle OB8 belongs to lane L9.

[0031] The departure determination unit 243 determines that the host vehicle SV has started from a stopped state based on the vehicle motion information acquired by the vehicle motion information acquisition device 230, and generates host vehicle departure information. This processing generates the departure information of the host vehicle SV in the situation shown in Fig. 3. The traveling direction determination unit 245 can also be configured to determine the traveling direction of lanes around the host vehicle lane when the host vehicle departure determination unit 243 determines that the host vehicle SV has started.

[0032] When it is determined that the host vehicle SV has started based on the host vehicle start information, the vehicle speed information and yaw rate information of the host vehicle SV, and the relative speed vector information of the other vehicle, the departing vehicle recognition unit 244 recognizes another vehicle in another lane that has started from a stopped state before the intersection and passed through the intersection in the same direction as the traveling direction of the host vehicle SV as a departing other vehicle traveling in the same lane. In other words, the departing vehicle recognition unit 244 recognizes another vehicle that has started from a stopped state in a lane different from the host vehicle SV's own lane based on the recognition results of the camera 210 and radar 220, which are external environment recognition sensors mounted on the host vehicle SV.

[0033] Specifically, the absolute velocity vector of the host vehicle SV is calculated based on vehicle speed information and yaw rate information when the host vehicle starts moving. The absolute velocity vector of each other vehicle is also calculated from the absolute velocity vector of the host vehicle SV and the relative velocity vector information of each other vehicle. Here, a vehicle whose absolute velocity vector has started to increase from a value close to zero is determined to have started moving from a stopped state.

[0034] Next, the direction of the absolute velocity vector of the subject vehicle SV and the direction of the absolute velocity vector of the other vehicle are compared for a specified time (for example, about 5 seconds) to determine other vehicles (forward-running vehicles) traveling in the same direction as the subject vehicle SV. Here, assuming that the traveling direction of the subject vehicle SV is X and the direction perpendicular to the traveling direction X is Y, the absolute velocity vectors of the subject vehicle SV and the other vehicle are resolved into the X and Y directions, and if the X component of the absolute velocity vector of the other vehicle is a square value and the difference between the Y component of the absolute velocity vector of the subject vehicle SV and the Y component of the absolute velocity vector of the other vehicle converges to a small value, the other vehicle is provisionally determined to be a forward-running vehicle.

[0035] Finally, among the other vehicles provisionally determined to be forward-traveling vehicles, those that pass the intersection end IE within a specified time (for example, about 5 seconds after the host vehicle SV passes the intersection end IE) are confirmed to be forward-traveling vehicles, and are finally determined to be starting forward-traveling vehicles. By this process, in the situation shown in FIG. 3, other vehicles OB3, OB4, OB5, and OB7 are determined to have started from a stopped state. Of these, other vehicle OB7 has a negative X component, and the difference in Y component from the host vehicle SV diverges for other vehicle OB5, so it is determined not to be a forward-traveling vehicle. On the other hand, other vehicles OB3 and OB4 have positive X components, the difference in Y component from the host vehicle SV converges to zero, and in addition, they have passed the intersection end IE, so they are determined to be starting forward-traveling vehicles.

[0036] The traveling direction determination unit 245 determines the traveling direction of lanes around the own vehicle lane, including other lanes, based on the traveling direction of the own vehicle lane, the starting direction of the other vehicle that has started, and the lane positions of the other lanes. In other words, when the starting forward traveling vehicle is present in any lane on the first lateral side (the right side in left-hand traffic, or the left side in right-hand traffic), the traveling direction determination unit 245 determines the lane on the second lateral side (the left side in left-hand traffic, or the right side in right-hand traffic) of the lane to which the starting forward traveling vehicle belongs as the forward traveling lane, based on information about the starting forward traveling vehicle that is located in the lane farthest from the own vehicle SV on the first lateral side.

[0037] On the other hand, when there is no forward-traveling vehicle around the host vehicle SV that is starting to move, or when the host vehicle SV is traveling on the first lateral side of the forward-traveling lane, it is not possible to recognize a forward-traveling vehicle on the first lateral side of the host vehicle SV, and the above-mentioned determination cannot be made. In such cases, the lane two lateral sides from the host vehicle's lane is provisionally determined to be the forward-traveling lane.

[0038] Through this process, among the other vehicles OB3 and OB4 that are determined to be forward-traveling vehicles during the start, lane L5 to which vehicle OB4, which is located furthest to the right of vehicle SV, belongs, and lanes L3 and L4 to the left of that are determined to be forward-traveling lanes.

[0039] The travel direction storage unit 246 stores or updates the forward travel lane determination result determined by the travel direction determination unit 245, and updates or deletes the stored travel direction of the lane in response to an increase or decrease in the number of lanes on the road on which the vehicle SV is traveling or a right or left turn of the vehicle SV. Specifically, the forward travel lane determination result is stored while it is determined that there is continuity between the recognized lanes, and if the number of lanes determined to be forward travel lanes increases, the result is updated to the latest forward travel lane determination result.

[0040] For example, consider a scene in which the vehicle repeatedly starts from a stopped state at successive intersections IS1, IS2, and IS3 as shown in Figure 5. In a starting scene 610 at intersection IS1, there are no other vehicles around the vehicle SV, and only lane L3 is determined and stored as a forward lane.

[0041] Next, in a starting scene 620 at intersection IS2, lanes L3, L4, and L5 are determined to be forward lanes based on information about departing forward vehicles around the host vehicle SV. At this time, lanes L4 and L5 are newly determined to be forward lanes (the number of lanes determined to be forward lanes increases), so the memory is updated to the results of the forward lane determination.

[0042] Furthermore, in scene 630 of starting at intersection IS3, lanes L3 and L4 are determined to be forward lanes based on information about forward-traveling vehicles around host vehicle SV that are starting. At this time, lanes L3 and L4 are already stored as forward lanes, and since there are no more lanes that are determined to be forward lanes, the memory is not updated and the previous memory (memory that lanes L3, L4, and L5 are forward lanes) is maintained.

[0043] When determining whether to update or retain such memory, if there is a lane that is determined to be non-continuous due to an increase or decrease in the number of lanes on the road or the vehicle SV turning right or left, the memory may be updated by erasing the forward lane determination result for that lane.

[0044] For example, consider a case where lanes increase or decrease on a road. In the situation shown in Figure 3, lanes L3 to L5 are stored as forward lanes. Then, when a lane decrease occurs, as shown in Figure 6, the memory of lane L3 as a forward lane is erased, and the memory is updated to include lanes L4 and L5 as forward lanes. Here, the forward lane determination results may be erased not only for lanes that are determined to be discontinuous, but also for all lanes recognized at that time.

[0045] Next, as a second example, consider a case where the host vehicle SV makes a right or left turn.

[0046] In the situation shown in Figure 3, after lanes L3 to L5 are memorized as forward lanes, when the host vehicle SV turns left, as shown in Figure 7, the memory of lanes L3 to L9 as forward lanes is erased, and a new determination of the direction of travel for lanes L10 to L15 is started.

[0047] The driving assistance control unit 247 controls the speed of the host vehicle SV so that it follows a preceding vehicle traveling ahead of the host vehicle SV. The driving assistance control unit 247 also changes the speed of the host vehicle SV based on the traveling direction of the host vehicle SV and the traveling direction of the lane determined by the traveling direction determination unit 245. That is, when the driving assistance control unit 247 determines that the host vehicle is currently traveling in a lane that is not a forward traveling lane based on the forward traveling lane determination result and the host vehicle lane information stored in the traveling direction storage unit 246, the driving assistance control unit 247 lowers and resets the set vehicle speed of the ACC function to the vehicle speed before the lane change, and transmits brake control commands and engine control commands corresponding to this. Here, "before the lane change" specifically refers to the timing when the front tires of the host vehicle SV extend into the adjacent lane area, and the vehicle speed at this time becomes the set vehicle speed of the ACC function.

[0048] However, if the vehicle exceeds a specified acceleration (e.g., 2.0 m / s) within a specified time (e.g., about 5 seconds) from the time of the departure from the adjacent lane, 2 ), the vehicle speed at the timing when the sudden acceleration starts becomes the set vehicle speed for the ACC function.

[0049] Furthermore, if the set vehicle speed determined by the above-described method for resetting the set vehicle speed exceeds the original driver-set vehicle speed, the set vehicle speed of the ACC function is maintained at the driver-set vehicle speed.

[0050] Explaining with reference to FIG. 8, in a scene 910 of catching up with a preceding vehicle, while the host vehicle SV is traveling in its own lane L1 at a set vehicle speed using the ACC function, it is determined that the host vehicle L1 is a forward lane and that the oncoming lane L2 is not a forward lane. Furthermore, when the host vehicle SV catches up with the preceding vehicle OB1, it follows (decelerates) the preceding vehicle OB1 while maintaining a certain inter-vehicle distance. Next, in a scene 920 of overtaking the preceding vehicle, the host vehicle SV crosses into the oncoming lane L2 to overtake. Here, based on the determination that the oncoming lane L2 is not a forward lane, the ACC set vehicle speed is reduced to the vehicle speed before the lane change (before the overtaking started) by processing according to an embodiment of the present invention. Unlike conventional ACC control, in this embodiment of the present invention, the host vehicle SV does not automatically accelerate, but the driver manually depresses the accelerator pedal to accelerate and adjust the speed.

[0051] In original lane return scene 930, consider the case where an oncoming vehicle OB2 is approaching. At this time, the driver adjusts the speed, which reduces the possibility of inducing a collision with the oncoming vehicle OB2 compared to conventional ACC control. Although lowering the ACC set vehicle speed has been given as an example of control change above, the ACC function may also be deactivated. Furthermore, even if the vehicle's lane is determined to be a forward lane, as shown in Figure 6, if the vehicle's lane decreases in the future and the driver does not change lanes, the ACC function is deactivated.

[0052] The brake control device 250 transmits a brake actuator operation command based on the brake control command transmitted from the driving assistance control unit 247 .

[0053] The brake actuator 260 controls the brake fluid pressure based on a brake actuator operation command sent from the brake control device 250 .

[0054] The engine control device 270 transmits a throttle actuator operation command based on the engine control command transmitted from the driving assistance control unit 247 .

[0055] The throttle actuator 280 controls the throttle valve opening based on a throttle actuator operation command sent from the engine control device 270 .

[0056] In this embodiment, the control change of the ACC function has been described. However, the control change of a driving assistance function other than the ACC function may also be performed based on the forward lane determination result. For example, it is conceivable to apply this to an automatic lane change function that automatically changes lanes in response to the driver's turn signal operation. With this function, as with the ACC function, in a scene where a vehicle strays into an oncoming lane to overtake, there is a possibility that a collision with an oncoming vehicle may be triggered, and it is therefore necessary to change the control appropriately.

[0057] The flow of processing in this embodiment will be described using the flowcharts shown in Figures 9 and 10. This processing is repeatedly executed in the arithmetic unit 240 at a predetermined cycle.

[0058] First, in step S1010 of FIG. 9, white line information and target information are acquired from the camera 210, target information is acquired from the radar 220, and vehicle motion information is acquired from the vehicle motion information acquisition device 230.

[0059] In step S1011, the lane recognition processing unit 241 estimates the lane area around the host vehicle SV based on the white line information.

[0060] In step S1012, the target object recognition processing unit 242 discriminates other vehicles traveling in each lane around the host vehicle SV based on the target object information and lane area information.

[0061] In step S1013, the start determining unit 243 determines that the host vehicle SV has started from a stopped state based on the vehicle motion information, and generates host vehicle start information.

[0062] In step S1014, it is determined whether or not host vehicle departure information has been generated in the starting vehicle recognition unit 244. If the answer is YES in step S1014, the process proceeds to step S1015. If the answer is NO in step S1014 (the host vehicle has not started from a stopped state), the process proceeds to step S1110 in FIG.

[0063] In step S1015, when it is determined that the host vehicle SV has started, the departing vehicle recognition unit 244 recognizes another vehicle that has started from a stopped state in another lane. That is, based on the host vehicle start information, the vehicle speed information and yaw rate information of the host vehicle SV, and the relative velocity vector information of the other vehicle, the departing vehicle recognition unit 244 recognizes the other vehicle that has started from a stopped state in another lane and passed through the intersection in the same direction as the traveling direction of the host vehicle SV as a forward traveling vehicle that is starting.

[0064] In step S1016, the traveling direction determination unit 245 determines whether the starting forward traveling vehicle is present in any lane on the first side (the right side if the forward traveling direction of the vehicle is to the left (driving on the left side), or the left side if the forward traveling direction of the vehicle is to the right (driving on the right side)). If the answer is YES in step S1016, proceed to step S1017. If the answer is NO in step S1016, proceed to step S1018.

[0065] In step S1017, the travel direction determination unit 245 determines, based on information about the starting forward vehicle located in the lane farthest from the vehicle SV on the first lateral side, that the lane to the second lateral side of the lane to which the starting forward vehicle belongs (to the left if the vehicle's forward direction is to the left (driving on the left), or to the right if the vehicle's forward direction is to the right (driving on the right)) is the forward lane.

[0066] In step S1018, the traveling direction determination unit 245 determines that the lane second to the side of the own lane is the forward lane.

[0067] In step S1019, the travel direction memory unit 246 stores and updates the forward travel lane determination result, and updates or erases the stored travel direction of the lane in response to an increase or decrease in the number of lanes on the road on which the vehicle SV is traveling, or a right or left turn of the vehicle SV. 10, the driving assistance control unit 247 determines whether the lane in which the vehicle is currently traveling is a forward lane based on the forward lane determination result and the vehicle lane information stored in the traveling direction storage unit 246. If the determination is YES in step S1110, the process proceeds to step S1111. If the determination is NO in step S1110, the process proceeds to step S1112.

[0068] In step S1111, the driving assistance control unit 247 sets the set vehicle speed of the ACC function to the driver set vehicle speed, and transmits brake control commands and engine control commands according to this. Then, the process proceeds to step S1113.

[0069] In step S1112, the driving assistance control unit 247 lowers the set vehicle speed of the ACC function to the vehicle speed before the lane change (changes it to the driving speed) and resets it, and transmits brake control commands and engine control commands according to this. Then, the process proceeds to step S1113.

[0070] In step S1113, the brake control device 250 transmits a brake actuator operation command based on the brake control command transmitted from the driving assistance control unit 247. At the same time, the engine control device 270 transmits a throttle actuator operation command based on the engine control command transmitted from the driving assistance control unit 247.

[0071] In step S1114, the brake actuator 260 controls the brake fluid pressure based on the brake actuator operation command sent from the brake control device 250. At the same time, the throttle actuator 280 controls the throttle valve opening based on the throttle actuator operation command sent from the engine control device 270. Then, the process ends.

[0072] As described above, according to the embodiments of the present invention, it is possible to realize a lane travel direction determination that takes into account other vehicles that stray into the oncoming lane to be overtaken, without making erroneous judgments, and it is possible to provide an on-board electronic control device and an on-board electronic control method at low cost that appropriately change the control of the ACC function without relying on map data when the vehicle strays into the oncoming lane to overtake other vehicles. [Explanation of symbols]

[0073] 100: on-vehicle electronic control device, 210: camera, 220: radar, 230: vehicle motion information acquisition device, 240: calculation device, 241: lane recognition processing unit, 242: target recognition processing unit, 243: departure determination unit (host vehicle departure determination unit), 244: departing vehicle recognition unit, 245: traveling direction determination unit, 246: traveling direction memory unit, 247: driving assistance control unit, 250: brake control device, 260: brake actuator, 270: engine control device, 280: throttle actuator, SV: host vehicle

Claims

1. a departing vehicle recognition unit that recognizes another vehicle that has started from a stopped state in a lane different from the lane in which the host vehicle is traveling, based on a recognition result of an external environment recognition sensor mounted on the host vehicle; a travel direction determination unit that determines the travel direction of lanes around the own vehicle lane, including the other lane, based on the travel direction of the own vehicle lane, the departure direction of the other vehicle that has started, and the lane position of the other lane; An in-vehicle electronic control device comprising:

2. 2. The on-vehicle electronic control device according to claim 1, The vehicle-mounted electronic control device further includes a host vehicle departure determination unit that determines whether the host vehicle has started from a stopped state, and the departing vehicle recognition unit recognizes the other vehicle that has started from a stopped state in the other lane when it is determined that the host vehicle has started.

3. 2. The on-vehicle electronic control device according to claim 1, a host vehicle start determination unit that determines whether the host vehicle has started from a stopped state; The vehicle-mounted electronic control device is characterized in that the traveling direction determination unit determines the traveling direction of lanes surrounding the host vehicle lane when the host vehicle departure determination unit determines that the host vehicle has started.

4. 2. The on-vehicle electronic control device according to claim 1, The vehicle-mounted electronic control device is characterized in that the travel direction determination unit determines the travel direction of the lane located on the second lateral side of the first lateral side lane based on the starting direction of the other vehicle that has started in the lane on the first lateral side, with one of the two sides of the vehicle's own lane being the first lateral side and the other being the second lateral side.

5. 5. The on-vehicle electronic control device according to claim 4, The vehicle-mounted electronic control device is characterized in that the travel direction determination unit determines that a lane located on the second lateral side of a lane in which a vehicle departing in the same direction as the travel direction of the own vehicle lane is recognized on the first lateral side as a forward travel lane in the same travel direction as the own vehicle lane.

6. 2. The on-vehicle electronic control device according to claim 1, a travel direction storage unit that stores the travel direction of the lane determined by the travel direction determination unit, The vehicle-mounted electronic control device is characterized in that the travel direction memory unit updates or erases the stored travel direction of the lane depending on an increase or decrease in the number of lanes on the road on which the vehicle is traveling or whether the vehicle SV turns right or left.

7. 2. The on-vehicle electronic control device according to claim 1, a driving assistance control unit that controls the speed of the host vehicle so that the host vehicle catches up with a preceding vehicle traveling ahead of the host vehicle at a preset speed and decelerates to follow the preceding vehicle; The driving assistance control unit changes the speed of the vehicle based on the traveling direction of the vehicle and the traveling direction of the lane determined by the traveling direction determination unit.

8. 3. The on-vehicle electronic control device according to claim 2, The departing vehicle recognition unit is characterized in that, when another vehicle on the other lane starts from a stopped state in front of an intersection, it recognizes another vehicle that passes through the intersection in the same direction as the direction of travel of the vehicle as the other departing vehicle.

9. The on-vehicle electronic control device according to claim 7, The vehicle-mounted electronic control device further includes a travel direction memory unit that stores the travel direction of the lane determined by the travel direction determination unit, and the driving assistance control unit changes the control speed of the vehicle from the preset speed to the travel speed before the lane change when it is determined that the lane in which the vehicle is traveling has changed and the lane in which the vehicle is traveling is not a forward lane, based on the travel direction of the lane stored in the travel direction memory unit and the position of the vehicle's current lane.

10. 5. The on-vehicle electronic control device according to claim 4, The in-vehicle electronic control device is characterized in that the first side is the right side if the forward driving direction of the vehicle is the left side, and the left side if the forward driving direction of the vehicle is the right side, and the second side is the left side if the forward driving direction of the vehicle is the left side, and the right side if the forward driving direction of the vehicle is the right side.

11. An in-vehicle electronic control method in which a computing device provided in an in-vehicle electronic control device performs driving assistance control, Recognizing other vehicles that have started from a stopped state in a lane different from the lane in which the own vehicle is traveling, An on-board electronic control method characterized by determining the direction of travel of lanes surrounding the own lane, including the other lanes, based on the direction of travel of the own lane, the starting direction of the other vehicle that has started, and the lane position of the other lanes.

12. The on-vehicle electronic control method according to claim 11, An in-vehicle electronic control method characterized by determining whether the subject vehicle has started from a stopped state, and if it is determined that the subject vehicle has started, recognizing another vehicle that has started from a stopped state in the other lane.

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