Driving assistance systems

Abstract

PURPOSE: To provide a drive assist device that is inexpensive and is capable of reducing discomfort of an occupant on a car.SOLUTION: A driving assist device 1 comprises: an on-vehicle sensor 20 that acquires information on a target existing around an own vehicle; and a processor that acquires a manner of a traffic lane change of another vehicle traveling near the own vehicle on the basis of the information acquired from the on-vehicle sensor 20, controls the own vehicle in accordance with the manner of the traffic lane change of the other vehicle, and assists in a driving operation associated with a traffic lane change of the own vehicle.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a driving support device that supports a driving operation (lane change operation) for moving a host vehicle from a first lane on which the host vehicle is currently traveling to a second lane adjacent to the first lane.

Background Art

[0002] A driving support device that supports a driving operation (lane change operation) for moving a host vehicle from a first lane on which the host vehicle is currently traveling to a second lane adjacent to the first lane has been proposed (see, for example, Patent Document 1 below). The driving support device of Patent Document 1 (hereinafter referred to as the "conventional device") includes an in-vehicle sensor (for example, a radar) and a processor. The in-vehicle sensor acquires information on objects existing around the host vehicle. When a predetermined condition (lane change start condition) is satisfied, the processor performs automatic lane change control to control the steering device so that the host vehicle moves from the first lane to the second lane while avoiding contact between the host vehicle and an obstacle (for example, a parallel vehicle, a guardrail, a pole, a curb, etc.) based on the information acquired from the in-vehicle sensor. For example, the lane change start condition is satisfied when the host vehicle reaches a predetermined lane change point (for example, slightly before the base point of a branch road (the base point of a sidewalk) extending toward the destination) on the route for the host vehicle to reach a predetermined destination. Further, for example, the lane change start condition is satisfied when the processor detects an object indicating a non-passable section located ahead of the first lane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] Generally, on-board sensors (radar) can detect targets located within a predetermined range, but cannot detect targets located outside that range. In other words, the on-board sensor can only detect a target when the vehicle has approached it to a certain extent.

[0005] Here, for example, when the vehicle reaches a pre-set point for changing lanes, the lane change start condition is met, and the processor starts automatic lane change control. As a result, the vehicle begins to move from the first lane to the second lane while moving forward. For example, while the vehicle is moving from the first lane to the second lane due to automatic lane change control, the on-board sensors may detect that there is a construction zone in the second lane. In this case, the processor interrupts the automatic lane change control and starts new automatic lane change control to return the vehicle to the first lane. Also, for example, immediately after the vehicle has moved from the first lane to the second lane due to automatic lane change control, the on-board sensors may detect that there is a construction zone ahead of the vehicle. In this case, the processor starts new automatic lane change control to return the vehicle to the first lane. Thus, with conventional devices, lane changes may be repeated in a short period of time, potentially causing discomfort to the occupants.

[0006] Here, for example, the above problem could potentially be solved by providing a device (e.g., a communication device) that provides information indicating the section of a lane that is impassable to each vehicle traveling near that impassable section. However, installing such a device would incur significant costs.

[0007] One of the objectives of the present invention is to provide an inexpensive driver assistance device that can reduce discomfort for the occupants.

[0008] To achieve the above objective, the driving assistance device (1) of the present invention is: An on-board sensor (20) acquires information about targets present around the vehicle (V), A processor (10) acquires information from the on-board sensors to obtain the lane-changing patterns of other vehicles (V1-V8) traveling around the vehicle, and controls the vehicle according to the lane-changing patterns of the other vehicles to support driving operations related to the vehicle's lane changes. It is equipped with. The processor is configured to suppress a lane change by the vehicle from the first lane to the second lane when it detects, based on information acquired from the on-board sensors, that the distance (ΔDb) between the vehicle and a preceding vehicle (V4) traveling directly in front of the vehicle in the first lane (L1) is less than a threshold (ΔDbth), and when it detects that a parallel vehicle (V5) traveling in the second lane adjacent to the first lane has moved between the preceding vehicle and the vehicle.

[0009] In the driver assistance system according to the present invention, the processor can predict road conditions in an area in front of the vehicle that cannot be detected by the on-board sensors, based on the lane change patterns of other vehicles traveling in the first lane in which the vehicle is traveling, and other vehicles traveling in the second lane adjacent to the first lane. Based on the prediction result, it determines whether or not to perform a lane change and performs support (processing (control) to promote or suppress lane changes) according to the result. This suppresses situations in which lane changes are repeated in a short period of time, as can occur with conventional systems. Therefore, the driver assistance system according to the present invention can reduce discomfort for occupants. Furthermore, the driver assistance function (lane change assistance function) of the present invention is realized without providing a device to each vehicle traveling near an impassable section of a lane. In other words, the driver assistance function can be realized at low cost.

[0011] If another vehicle cuts in between your vehicle and the vehicle ahead, even though the distance between your vehicle and the vehicle ahead is relatively small, there is a high probability that your vehicle is approaching an impassable section of the second lane. According to the present invention, in this situation, it is possible to suppress your vehicle from changing lanes from the first lane to the second lane.

[0012] Furthermore, the driving assistance device (1) of the present invention is An on-board sensor (20) acquires information about targets present around the vehicle (V), A processor (10) acquires information from the on-board sensors to obtain the lane-changing patterns of other vehicles (V1-V8) traveling around the vehicle, and controls the vehicle according to the lane-changing patterns of the other vehicles to support driving operations related to the vehicle's lane changes. It is equipped with. Based on information acquired from the on-board sensors, the processor detects that there are no other vehicles traveling parallel to the first lane in which the vehicle is traveling, and that the preceding vehicle (V6 and / or V7) traveling ahead of the vehicle in the first lane is moving away from the first lane. The aforementioned second lane The system is configured to suppress the vehicle's lane change from the first lane to the second lane if the duration of the vehicle not changing lanes exceeds a threshold.

[0013] If the second lane is clear, but the vehicle ahead does not change lanes to the second lane, and the first lane is relatively congested, there is a high probability that your vehicle is approaching an impassable section of the second lane. According to the present invention, in this situation, it is possible to suppress your vehicle from changing lanes from the first lane to the second lane.

[0014] Furthermore, the driving assistance device (1) of the present invention is An on-board sensor (20) acquires information about targets present around the vehicle (V), A processor (10) acquires information from the on-board sensors to obtain the lane-changing patterns of other vehicles (V1-V8) traveling around the vehicle, and controls the vehicle according to the lane-changing patterns of the other vehicles to support driving operations related to the vehicle's lane changes. It is equipped with. The processor is configured to suppress the vehicle's lane change from the first lane to the second lane if it detects, based on information acquired from the on-board sensors, that another vehicle (V8) traveling in front of or behind the vehicle in the first lane where the vehicle is traveling has started to change lanes to the second lane adjacent to the first lane, but has then interrupted the lane change and returned to the first lane.

[0015] If another vehicle traveling in the first lane begins to change lanes to the second lane, then interrupts that lane change and returns to the first lane, there is a high probability that the vehicle in question is approaching an impassable section of the second lane. According to the present invention, in this situation, it is possible to suppress the vehicle's lane change from the first lane to the second lane.

[0016] Furthermore, the driving assistance device (1) of the present invention is An on-board sensor (20) acquires information about targets present around the vehicle (V), A processor (10) acquires information from the on-board sensors to obtain the lane-changing patterns of other vehicles (V1-V8) traveling around the vehicle, and controls the vehicle according to the lane-changing patterns of the other vehicles to support driving operations related to the vehicle's lane changes. It is equipped with. Based on the information obtained from the in-vehicle sensors, when the distance between a first other vehicle traveling in a second lane adjacent to the first lane in which the host vehicle is traveling and a second other vehicle traveling immediately behind the first other vehicle is less than a threshold value, and it is detected that a preceding vehicle that was traveling in front of the host vehicle in the first lane has entered between the first other vehicle and the second other vehicle, the processor is configured to promote a lane change of the host vehicle from the first lane to the second lane.

[0017] Even if the second lane is congested, when another vehicle traveling in the first lane changes lanes to the second lane, there is a high possibility that the host vehicle is approaching a non-passable section in the first lane. According to the present invention, in this situation, it is possible to promote a lane change from the first lane to the second lane.

Brief Description of the Drawings

[0018] [Figure 1] FIG. 1 is a block diagram of a driving support device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view showing an example where a lane change start condition is satisfied. [Figure 3] FIG. 3 is a plan view showing a first example where a lane change suppression condition is satisfied. [Figure 4] FIG. 4 is a plan view showing a second example where a lane change suppression condition is satisfied. [Figure 5] FIG. 5 is a plan view showing a third example where a lane change suppression condition is satisfied. [Figure 6] FIG. 6 is a flowchart of a program for realizing an automatic lane change function.

Mode for Carrying Out the Invention

[0019] (Schematic) A driving assistance device 1 according to one embodiment of the present invention includes a function to assist the driver's driving operations by performing automatic driving control to automatically drive the vehicle (vehicle V) along a preset route (automatic driving function that drives the vehicle on behalf of the driver). The automatic driving function includes a function to move the vehicle from the first lane in which the vehicle is traveling to a second lane adjacent to the first lane (automatic lane change function).

[0020] (Specific configuration) As shown in Figure 1, the driver assistance system 1 includes a driver assistance ECU 10, an on-board sensor 20, a drive unit 30, a braking unit 40, and a steering unit 50.

[0021] The driver assistance ECU 10 includes a CPU 10a, ROM 10b, RAM 10c, timer 10d, etc. The driver assistance ECU 10 is connected to other ECUs (for example, the ECUs of the drive unit 30, braking unit 40, and steering unit 50, which will be described later) via CAN.

[0022] The on-board sensor 20 includes ambient sensors that acquire information about targets present around the vehicle. The on-board sensor 20 includes, for example, a millimeter-wave radar 21, a sonar 22, and a camera 23 as ambient sensors.

[0023] The millimeter-wave radar 21 comprises a transmitting / receiving unit and a signal processing unit. The transmitting / receiving unit emits millimeter-wave radio waves (hereinafter referred to as "millimeter waves") into the area surrounding the vehicle and receives millimeter waves (reflected waves) reflected by three-dimensional objects located within the radiation range. The signal processing unit recognizes the distance between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object to the vehicle, etc., based on the time from when the transmitting / receiving unit emits the millimeter waves until the reflected waves are received, the phase difference between the transmitted millimeter waves and the received reflected waves, the degree of attenuation of the reflected waves, etc., and transmits the recognition results to the driver assistance ECU 10.

[0024] The sonar 22 intermittently emits ultrasonic waves into the area surrounding the vehicle and receives ultrasonic waves (reflected waves) reflected by three-dimensional objects. Based on the time from the transmission of ultrasonic waves to the reception of reflected waves, the sonar 22 recognizes the distance between the vehicle and the three-dimensional object, the relative position (direction) of the three-dimensional object to the vehicle, etc., and transmits the recognition results to the driver assistance ECU 10.

[0025] Camera 23 includes an imaging device and an image analysis device. The imaging device incorporates, for example, a CCD. The imaging devices are installed on the front, rear, left side, and right side of the vehicle. The imaging devices each capture images of the area surrounding the vehicle at a predetermined frame rate and acquire image data. Each imaging device transmits the image data to the image analysis device. The image analysis device analyzes the acquired image data and recognizes objects and markings present around the vehicle from the images. For example, the image analysis device recognizes other vehicles, guardrails, poles, lane markings (lane lines, curbs, median strips, etc.), and transmits the recognition results to the driver assistance ECU 10.

[0026] Furthermore, the in-vehicle sensor 20 includes a navigation system 24. The navigation system 24 receives GPS signals from multiple satellites and detects the vehicle's current location (latitude and longitude) based on the received GPS signals. The navigation system 24 also stores map data representing a map. The map data includes road information representing roads. When the driver inputs a destination into the navigation system 24, the navigation system 24 calculates the route from the current location to the destination (e.g., the shortest route) and lane change points based on the map data. The navigation system 24 transmits the current location and route to the driver assistance ECU 10.

[0027] The drive unit 30 applies driving force to the drive wheels. The drive unit 30 includes an engine ECU, an internal combustion engine, a transmission, and a power transmission mechanism that transmits driving force to the wheels. The engine ECU obtains information (target value) representing the target driving force from another ECU (driving support ECU 10), and based on this information, drives the throttle valve of the internal combustion engine to control the driving force applied to the drive wheels. The driving force generated by the internal combustion engine is transmitted to the drive wheels via the transmission and the power transmission mechanism. The engine ECU also obtains information (control signal) regarding the shift position of the transmission equipped in the vehicle, and controls the shift position based on this information.

[0028] Furthermore, if the vehicle to which the driver assistance system 1 is applied is a hybrid electric vehicle (HEV), the engine ECU can control the vehicle's driving force generated by either the internal combustion engine or the electric motor, or both, as the vehicle's power source. Also, if the vehicle to which the driver assistance system 1 is applied is an electric electric vehicle (BEV), an electric motor ECU that controls the vehicle's driving force generated by the electric motor, as the vehicle's power source, may be used instead of the engine ECU.

[0029] The braking system 40 applies braking force to the wheels (brake discs). The braking system 40 includes a brake ECU, brake calipers, etc. The brake ECU acquires information (target value) representing the target braking force and controls the brake calipers based on this information to control the braking force applied to the brake discs.

[0030] The steering system 50 controls the steering angle of the steering wheels (left front wheel and right front wheel). The steering system 50 includes a steering ECU, a steering mechanism, and the like. The steering system 50 further includes actuators that drive the steering mechanism to change the steering angle. The steering ECU acquires information (target value) representing a target steering angle and drives the actuators based on this information to control the steering angle of the steering wheels.

[0031] (Operation) <Automatic driving control> When the driver inputs a destination into the navigation system 24, and a route R to that destination is set, the driver assistance ECU 10 acquires information from the navigation system 24 representing the route R and lane change points. The driver assistance ECU 10 then sequentially acquires information from the on-board sensors 20 and, based on this information, can perform automatic driving control to control the drive unit 30, braking unit 40, and steering unit 50 (hereinafter referred to as "drive unit, etc.") so that the vehicle proceeds along the route R while avoiding obstacles.

[0032] <Automatic lane change control> The above-described automated driving control assumes a situation where the vehicle is traveling on a road with multiple lanes. In this situation, when predetermined lane change initiation conditions are met, the driver assistance ECU 10 executes a process (control) to facilitate the vehicle's lane change. Specifically, the driver assistance ECU 10 controls the drive system, etc., to execute automatic lane change control that automatically moves the vehicle from the first lane L1, where the vehicle is currently traveling, to the second lane L2, which is adjacent to the right or left of the first lane L1. The driver assistance ECU 10 determines that the lane change initiation conditions have been met in the following cases.

[0033] <Examples of conditions for initiating a lane change> As shown in Figure 2, if another vehicle traveling in the first lane L1 changes lanes to the second lane L2 despite the second lane L2 being congested, there is a high probability that the vehicle is approaching an impassable section of the first lane L1. Therefore, the driver assistance ECU 10 sequentially searches for other vehicles traveling around the vehicle based on information acquired from the on-board sensor 20. When the driver assistance ECU 10 detects a first parallel vehicle V1 traveling in the same direction as the vehicle in the second lane L2 and a second parallel vehicle V2 traveling immediately behind it, it calculates (acquires) the distance ΔDa between the first parallel vehicle V1 and the second parallel vehicle V2 based on information acquired from the on-board sensor 20. The driver assistance ECU 10 determines that the conditions for initiating a lane change have been met when the distance between vehicles ΔDa is less than the threshold ΔDath, and when it detects that the preceding vehicle V3, which is traveling directly in front of the vehicle in the first lane L1, has changed lanes so as to move between the first parallel vehicle V1 and the second parallel vehicle V2.

[0034] When the driver assistance ECU 10 determines that the conditions for initiating a lane change have been met, it determines whether or not there is an obstacle in the destination area A based on information acquired from the millimeter-wave radar 21, sonar 22, and camera 23. Here, area A consists of area A0 to the side of the vehicle (the area on the second lane L2 side), area A1 of a predetermined length in front of area A0, and area A2 of a predetermined length behind area A0. If there is no obstacle in area A, the driver assistance ECU 10 controls the steering device 50 (drive device, etc.) to move the vehicle from the first lane L1 to the second lane L2. On the other hand, if there is an obstacle in area A, the driver assistance ECU 10 moves the vehicle along the first lane L1 while repeatedly determining whether or not there is an obstacle in area A. Then, when the driver assistance ECU 10 determines that there is no obstacle in area A, it starts moving the vehicle to the second lane L2. However, if the driver assistance ECU 10 fails to initiate movement to the second lane L2 within a predetermined time period from the time it determines that the conditions for initiating a lane change have been met, it will present the driver with predetermined information (information indicating that a lane change is not possible). The driver assistance ECU 10 will then terminate its determination of whether or not there are obstacles in area A. In other words, in this case, the driver assistance ECU 10 will not perform automatic lane change control. Therefore, if the driver wishes to change lanes, they must manually perform the driving operation for lane change. If the vehicle deviates from route R during this time, the navigation system 24 will update route R.

[0035] Furthermore, as described below, the driver assistance ECU 10 suppresses the vehicle's lane change if it determines that the lane change suppression condition has been met. In other words, in this case, the driver assistance ECU 10 does not execute automatic lane change control. Specifically, even if the lane change initiation condition is met within a predetermined period from the time t0 when the lane change suppression condition is met, the driver assistance ECU 10 does not execute automatic lane change control. For example, if the elapsed time ΔT from time t0 is less than the threshold ΔTth, the execution of automatic lane change control is suppressed (prohibited). For example, the execution of automatic lane control may be suppressed (prohibited) from time t0 until time ta when the vehicle passes the side of the impassable section of the second lane L2.

[0036] The driver assistance ECU10 determines, for example, that the lane change suppression condition has been met in the following cases:

[0037] <Example 1 of conditions that restrict lane changes> As shown in Figure 3, even though the distance ΔDb between the vehicle and the preceding vehicle V4 is relatively small, if a parallel vehicle V5 cuts in between the vehicle and the preceding vehicle V4 from the second lane L2, there is a high probability that the vehicle is approaching an impassable section of the second lane L2. Therefore, the driver assistance ECU 10 sequentially searches for other vehicles traveling around the vehicle based on the information acquired from the on-board sensor 20. When the driver assistance ECU 10 detects a preceding vehicle V4 traveling in the same direction as the vehicle directly in front of the vehicle in the first lane L1, it calculates (acquires) the distance ΔDb between the preceding vehicle V4 and the vehicle based on the information acquired from the on-board sensor 20. The driver assistance ECU 10 determines that the lane change suppression condition has been met when the distance between vehicles ΔDb is less than the threshold ΔDbth, and it detects that a parallel vehicle V5 traveling in the same direction as the vehicle in the second lane L2 has changed lanes so as to move between the preceding vehicle V4 and the vehicle itself.

[0038] <Example 2 of a situation where lane change restriction conditions are met> As shown in Figure 4, if the second lane L2 is clear, but the preceding vehicles V6 and V7 do not change lanes to the second lane L2, and the first lane L1 is relatively congested, there is a high probability that the vehicle is approaching an impassable section of the second lane L2. Therefore, the driver assistance ECU 10 detects that there are no other vehicles traveling parallel in the second lane L2, and that the duration of the state in which the preceding vehicle V6 traveling in front of the vehicle in the first lane L1 and the preceding vehicle V7 traveling further ahead have not changed lanes from the first lane L1 to the second lane L2 exceeds a threshold, and determines that the lane change suppression condition has been met. This threshold is a fixed value predetermined based on statistical data regarding the time it takes to start leaving a queue of vehicles (when there is congestion). Alternatively, this threshold may be determined based on factors such as the speed of the vehicle or the distance between the vehicle and the preceding vehicle. Furthermore, for example, the driver assistance ECU 10 may assign a value smaller than the standard value to the threshold near a toll road gate.

[0039] <Example 3 of conditions that restrict lane changes> As shown in Figure 5, if another vehicle traveling in the first lane L1 begins to change lanes to the second lane L2, then interrupts that lane change and returns to the first lane L1, there is a high probability that the vehicle is approaching the impassable section of the second lane L2. Therefore, when the driver assistance ECU 10 detects that the preceding vehicle V8 (or another vehicle traveling behind the vehicle) has interrupted its lane change to the second lane L2 and returned to the first lane L1, it determines that the lane change suppression condition has been met.

[0040] Next, referring to Figure 6, we will explain the programs PR1, PR2, and PR3 executed by the CPU 10a (hereinafter referred to as "CPU") of the driver assistance ECU 10 to perform the above-mentioned automatic lane change function. In these programs, flags F1 and F2 are used. When the lane change start condition is met, flag F1 is "1", and when the lane change start condition is not met, flag F1 is "0". When the lane change suppression condition is met, flag F2 is "1", and when the lane change suppression condition is not met, flag F2 is "0". When the vehicle's ignition switch transitions from the off state to the on state, the CPU initializes flags F1 and F2 to "0".

[0041] The CPU starts executing programs PR1, PR2, and PR3 at predetermined intervals.

[0042] As shown in Figure 6(A), the CPU starts executing program PR1 from step 100 and then proceeds to step 101.

[0043] When the CPU proceeds to step 101, it determines whether the lane change initiation condition (hereinafter sometimes referred to as the "initiation condition") is met. If the initiation condition is met (101: Yes), the CPU proceeds to step 102. On the other hand, if the initiation condition is not met (101: No), the CPU proceeds to step 103 and terminates the execution of program PR1.

[0044] When the CPU proceeds to step 102, it sets flag F1 to "1", then proceeds to step 103, ending the execution of program PR1.

[0045] Furthermore, as shown in Figure 6(B), once the CPU starts executing program PR2 from step 200, it proceeds to step 201.

[0046] When the CPU proceeds to step 201, it determines whether the lane change suppression condition (hereinafter sometimes referred to as the "suppression condition") is met. If the suppression condition is met (201: Yes), the CPU proceeds to step 202. On the other hand, if the suppression condition is not met (201: No), the CPU proceeds to step 205 and terminates the execution of program PR2.

[0047] When the CPU proceeds to step 202, it sets flag F2 to "1" and then proceeds to step 203.

[0048] When the CPU proceeds to step 203, it determines whether the time ΔT elapsed since the time when flag F2 was set to "1" (step 202) exceeds the threshold ΔTth. If time ΔT exceeds the threshold ΔTth (203: Yes), the CPU proceeds to step 204. On the other hand, if time ΔT is less than the threshold ΔTth, the CPU returns to step 203. In other words, the CPU maintains a state in which no automatic lane change is performed (a state in which the execution of lane changes is suppressed) for a certain period of time.

[0049] When the CPU proceeds to step 204, it sets flag F2 to "0", then proceeds to step 205, ending the execution of program PR2.

[0050] Furthermore, as shown in Figure 6(C), the CPU starts executing program PR3 from step 300 and proceeds to step 301.

[0051] When the CPU proceeds to step 301, it determines whether flag F1 is "1" or not (whether the start condition is met or not). If flag F1 is "1" (301: Yes), the CPU proceeds to step 102. On the other hand, if flag F1 is "0" (301: No), the CPU proceeds to step 308 and terminates the execution of program PR1.

[0052] When the CPU proceeds to step 302, it determines whether flag F2 is "1" or not (whether the suppression condition is met or not). If flag F2 is "1" (302: Yes), the CPU proceeds to step 303. On the other hand, if flag F2 is "0" (302: No), the CPU proceeds to step 308.

[0053] When the CPU proceeds to step 303, it determines whether or not a lane change is possible based on the information obtained from the on-board sensor 20. The CPU determines that a lane change is possible if it detects that there are no obstacles in a predetermined range (area A) to the side of the vehicle within a predetermined range in the second lane L2, which is the destination lane for the lane change. If the CPU determines that a lane change is possible (303: Yes), it proceeds to step 305. On the other hand, if the CPU determines that a lane change is not possible (303: No), it proceeds to step 304.

[0054] When the CPU proceeds to step 304, it determines whether the time Δt elapsed since the point in time when it was determined that a lane change should be initiated (step 301: Yes, and step 302: Yes) exceeds the threshold tth. If time Δt exceeds the threshold Δtth, the CPU displays an image on the display indicating that a lane change cannot be performed and proceeds to step 307. On the other hand, if time Δt is less than or equal to the threshold Δtth, the CPU returns to step 303. In other words, the CPU repeatedly determines whether a lane change is possible when time Δt is less than or equal to the threshold Δtth.

[0055] When the CPU proceeds to step 305, it begins the lane change. That is, the CPU controls the steering device 50 to move its vehicle from the first lane L1 to the second lane L2. Then the CPU proceeds to step 306.

[0056] When the CPU proceeds to step 306, it determines whether the lane change is complete. If the lane change is complete, the CPU proceeds to step 307. If the lane change is not yet complete, the CPU returns to step 306.

[0057] When the CPU proceeds to step 307, it sets flag F1 to "0", then proceeds to step 308, ending the execution of program PR1.

[0058] (effect) As described above, the driver assistance ECU 10 predicts road conditions in the area in front of the vehicle that cannot be detected by the on-board sensor 20, based on the lane change patterns of other vehicles traveling in the first lane L1 on which the vehicle is traveling, and other vehicles traveling in the second lane L2 adjacent to the first lane L1. Based on this prediction, it decides whether or not to perform a lane change. This suppresses situations where lane changes are repeated in a short period of time, as can occur with conventional devices. Therefore, the driver assistance device 1 can reduce discomfort for the occupants. Furthermore, the automatic lane change function of this embodiment is realized without providing a device to each vehicle traveling near an impassable section of a lane. In other words, the automatic lane change function can be realized at low cost.

[0059] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention.

[0060] <Example 1> The driver assistance ECU 10 may display an icon on its display to allow the driver to choose whether or not to initiate a lane change when the conditions for initiating a lane change are met, the conditions for suppressing a lane change are not met, and a lane change is possible (i.e., there are no obstacles). The driver assistance ECU 10 may be configured to start controlling the drive system and other components for the lane change when the driver performs a predetermined operation and selects (approves) to initiate a lane change. Even if the conditions for initiating a lane change are met, if the conditions for suppressing a lane change are also met, the driver assistance ECU 10 will not display the above icon. In other words, in this case, the driver assistance ECU 10 will suppress the lane change of its own vehicle.

[0061] <Modification 2> The driver assistance ECU 10 may display an image on the display to encourage (recommend) a lane change if the lane change initiation conditions are met, the lane change suppression conditions are not met, and a lane change is possible (i.e., there are no obstacles). In this case, the driver assistance ECU 10 only issues the notification and does not perform steering for the lane change. The driver can manually initiate a lane change using the image display as a trigger. Even if the lane change initiation conditions are met, if the lane change suppression conditions are met, the driver assistance ECU 10 will not display an image to encourage a lane change. In other words, in this case, the driver assistance ECU 10 suppresses the lane change of its own vehicle. The driver assistance ECU 10 may also display an image on the display to suppress a lane change if the lane change suppression conditions are met. The driver can refrain from changing lanes using the image display as a trigger.

[0062] <Variation 3> The system may be configured so that the lane change initiation condition is met when the driver operates a predetermined driving control device. For example, the lane change initiation condition may be met when the driver holds the turn signal lever to about half of its total stroke (range of motion). When the lane change initiation condition is met, the driving support ECU 10 controls the drive device for lane changes, etc., to perform lane change control to change the vehicle's lane, similar to the embodiment described above. However, even if the lane change initiation condition is met by the driver's operation, if the lane change suppression condition is met, the driving support ECU 10 will not perform lane change control. In other words, in this case, the driving support ECU 10 suppresses the vehicle's lane change. [Explanation of symbols]

[0063] 1...Vehicle control system, 10...Driver assistance ECU, 20...On-board sensor, 30...Drive system, 40...Braking system, 50...Steering system

Claims

1. An on-board sensor that acquires information about targets present around the vehicle, A processor that, based on information acquired from the on-board sensors, acquires the lane-changing behavior of other vehicles traveling around the vehicle, controls the vehicle according to the lane-changing behavior of the other vehicles, and assists in driving operations related to the vehicle's lane changes. A driver assistance device equipped with, The aforementioned processor is configured to detect, based on information acquired from the on-board sensors, that the distance between the vehicle and a preceding vehicle traveling directly in front of it in the first lane is less than a threshold, and that a vehicle traveling alongside in the second lane adjacent to the first lane has moved between the preceding vehicle and the vehicle, thereby suppressing the vehicle's lane change from the first lane to the second lane.

2. An on-board sensor that acquires information about targets present around the vehicle, A processor that, based on information acquired from the on-board sensors, acquires the lane-changing behavior of other vehicles traveling around the vehicle, controls the vehicle according to the lane-changing behavior of the other vehicles, and assists in driving operations related to the vehicle's lane changes. A driver assistance device equipped with, The aforementioned processor is configured to detect, based on information acquired from the on-board sensors, that there are no other vehicles traveling parallel to the first lane in the second lane adjacent to the first lane in which the vehicle is traveling, and to suppress the vehicle's lane change from the first lane to the second lane if the duration of the state in which the preceding vehicle traveling in the first lane does not change lanes from the first lane to the second lane exceeds a threshold, thereby suppressing the vehicle's lane change from the first lane to the second lane.

3. An on-board sensor that acquires information about targets present around the vehicle, A processor that, based on information acquired from the on-board sensors, acquires the lane-changing behavior of other vehicles traveling around the vehicle, controls the vehicle according to the lane-changing behavior of the other vehicles, and assists in driving operations related to the vehicle's lane changes. A driver assistance device equipped with, The aforementioned processor is configured to suppress the lane change of the vehicle from the first lane to the second lane when it detects, based on information acquired from the on-board sensor, that another vehicle traveling in front of or behind the vehicle in the first lane on which the vehicle is traveling has started to change lanes to the second lane adjacent to the first lane, but has interrupted the lane change and returned to the first lane.

4. An on-board sensor that acquires information about targets present around the vehicle, A processor that, based on information acquired from the on-board sensors, acquires the lane-changing behavior of other vehicles traveling around the vehicle, controls the vehicle according to the lane-changing behavior of the other vehicles, and assists in driving operations related to the vehicle's lane changes. A driver assistance device equipped with, The aforementioned processor is configured to facilitate a lane change of the vehicle from the first lane to the second lane, based on information acquired from the on-board sensors, when it detects that the distance between a first other vehicle traveling in the second lane adjacent to the first lane in which the vehicle is traveling and a second other vehicle traveling immediately behind the first other vehicle is less than a threshold, and when it detects that a preceding vehicle traveling in front of the vehicle in the first lane has moved between the first other vehicle and the second other vehicle.

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