Vehicle driving assistance system

Abstract

To provide a vehicle drive support device automatically and more reliably changing a lane of a vehicle in a form preferred by a driver.SOLUTION: A vehicle drive support device 10 acquires characteristics related to manual lane change as real lane change characteristics in a period when an operator of an own vehicle 100 performs the manual lane change, and performs automatic lane change according to target lane change characteristics set on the basis of the real lane change characteristics. The vehicle drive support device acquires a real required time required till the own vehicle shifts to a state other than a prescribed state after the own vehicle turns into the prescribed state, as the real lane change characteristics, and a real maximum lateral velocity as a maximum value of the lateral velocity of the own vehicle, sets a target value of the time till the own vehicle shifts to a state corresponding to the other state after the own vehicle turns into a state corresponding to the prescribed state, as the target lane change characteristics, on the basis of the real required time, and sets a target value as the maximum value of the lateral velocity on the basis of the real maximum lateral velocity.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a vehicle driving support device.

Background Art

[0002] There is known a vehicle driving support device having a function of automatically changing the lane of a vehicle. Also, when automatically changing the lane of a vehicle, it has been pointed out that it is desirable to change the lane of the vehicle in a form preferred by the driver (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

[0007] When an operator manually changes lanes, the time it takes for the vehicle to transition from one state to another (actual time), such as the time from when the turn signal is activated until the vehicle begins to move laterally, or the time from when the vehicle begins to move laterally until it crosses the lane markings, reflects the operator's preference for lane changes. Furthermore, when an operator manually changes lanes, the maximum lateral speed of the vehicle (actual maximum lateral speed) also reflects the operator's preference for lane changes.

[0008] According to the vehicle driving assistance device of the present invention, the actual required time and target required time (a target value for the time from when the vehicle enters a state corresponding to a predetermined state until the vehicle transitions to a state corresponding to another state) are acquired, the target required time (a target value for the maximum value of the vehicle's lateral speed) are set based on the actual required time, and the target maximum lateral speed (a target value for the maximum lateral speed of the vehicle) are set based on the actual maximum lateral speed. The vehicle then automatically changes lanes in accordance with these target required time and target maximum lateral speed. As a result, the vehicle can be automatically changed lanes in a manner preferred by the operator with greater reliability.

[0009] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to acquire the actual maximum lateral speed arrival time, which is the time required from the start of the lateral movement of the vehicle until the lateral speed reaches its maximum value, as the actual lane change characteristic, and to set the target maximum lateral speed arrival time, which is the target value of the time from the start of the lateral movement of the vehicle until the lateral speed reaches its maximum value, as the target lane change characteristic, based on the actual maximum lateral speed arrival time.

[0010] When an operator manually changes the lane of their vehicle, the time from when the vehicle begins moving laterally until its lateral speed reaches its maximum value (actual time to reach maximum lateral speed) reflects the operator's preference regarding the lane change.

[0011] According to the vehicle driving assistance device of the present invention, the actual time to reach the maximum lateral speed is acquired, and the target time to reach the maximum lateral speed (the target value of the time from when the vehicle starts moving laterally until the vehicle's lateral speed reaches its maximum value) is set based on the actual time to reach the maximum lateral speed, and the vehicle automatically changes lanes according to this target time to reach the maximum lateral speed. As a result, the vehicle can automatically change lanes in a manner preferred by the operator with greater reliability.

[0012] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to acquire, as the actual lane change characteristics, the actual maximum lateral acceleration, which is the maximum value of the lateral acceleration of the vehicle in the lateral direction, and the actual maximum lateral acceleration gradient, which is the maximum value of the lateral acceleration gradient, which is the rate of change of the lateral acceleration, and to set, as the target lane change characteristics, a target maximum lateral acceleration, which is the target value of the maximum value of the lateral acceleration, based on the actual maximum lateral acceleration, and a target maximum lateral acceleration gradient, which is the target value of the maximum value of the lateral acceleration gradient, based on the actual maximum lateral acceleration gradient.

[0013] When an operator manually changes the lane of their vehicle, the maximum lateral acceleration of the vehicle (actual maximum lateral acceleration) and the lateral acceleration gradient of the vehicle (actual maximum lateral acceleration gradient) reflect the operator's preference for lane changes.

[0014] According to the vehicle driving assistance system of the present invention, the actual maximum lateral acceleration and the actual maximum lateral acceleration gradient are acquired, the target maximum lateral acceleration (target value of the maximum value of the vehicle's lateral acceleration) is set based on the actual maximum lateral acceleration, and the target maximum lateral acceleration gradient (target value of the maximum value of the vehicle's lateral acceleration gradient) is set based on the actual maximum lateral acceleration gradient. The vehicle then automatically changes lanes according to these target maximum lateral acceleration and target maximum lateral acceleration gradient. As a result, the vehicle can automatically change lanes in a manner preferred by the operator with greater reliability.

[0015] Furthermore, in the vehicle driving support device according to the present invention, the control device may be configured to acquire, as the actual lane change characteristics, an actual lateral speed change profile which is the trajectory of the lateral speed that changed during the manual lane change period, an actual lateral acceleration change profile which is the trajectory of the lateral acceleration of the vehicle that changed during the manual lane change period, and an actual lateral acceleration gradient change profile which is the trajectory of the lateral acceleration gradient which is the rate of change of the lateral acceleration of the vehicle that changed during the manual lane change period, and to set, as the target lane change characteristics, a target lateral speed change profile which is the trajectory of the target value of the lateral speed that is changed by the lane change control, based on the actual lateral speed change profile, a target lateral acceleration change profile which is the trajectory of the target value of the lateral acceleration that is changed by the lane change control, based on the actual lateral acceleration change profile, and a target lateral acceleration gradient change profile which is the trajectory of the target value of the lateral acceleration gradient that is changed by the lane change control, based on the actual lateral acceleration gradient change profile.

[0016] When an operator manually changes the lane of their vehicle, the operator's preferences regarding the lane change are reflected in how the vehicle's lateral speed changes (actual lateral speed change profile), how the vehicle's lateral acceleration changes (actual lateral acceleration change profile), and how the vehicle's lateral acceleration gradient changes (actual lateral acceleration gradient change profile).

[0017] According to the vehicle driving assistance system of the present invention, a real lateral speed change profile, a real lateral acceleration change profile, and a real lateral acceleration gradient change profile are acquired. As target lane change characteristics, the target lateral speed change profile (the trajectory of the target value of the vehicle's lateral speed changed by lane change control) is set based on the real lateral speed change profile, the target lateral acceleration change profile (the trajectory of the target value of the vehicle's lateral acceleration changed by lane change control) is set based on the real lateral acceleration change profile, and the target lateral acceleration gradient change profile (the trajectory of the target value of the vehicle's lateral acceleration gradient changed by lane change control) is set based on the real lateral acceleration gradient change profile. The vehicle then automatically changes lanes in accordance with these target lateral speed change profiles, target lateral acceleration change profiles, and target lateral acceleration gradient change profiles. As a result, the vehicle can automatically change lanes in a manner preferred by the operator with greater reliability.

[0018] Furthermore, in the vehicle driving support device according to the present invention, the control device acquires the following as the actual required time: the actual lateral movement start time, which is the time taken from when the operator makes an operation indicating their intention to perform the manual lane change until the vehicle begins to move laterally; the actual crossing start time, which is the time taken from when the vehicle begins to move laterally until the vehicle begins to cross the lane markings; and the actual crossing completion time, which is the time taken from when the vehicle begins to cross the lane markings until it finishes crossing the lane markings; and the target required time is the lane change The system may be configured to set a target lateral movement start time, which is the target time from when an operation requesting the execution of control is made until the vehicle starts moving laterally, based on the actual lateral movement start time; a target crossing start time, which is the target time from when the vehicle starts moving laterally until the vehicle starts crossing the lane markings, based on the actual crossing start time; and a target crossing completion time, which is the target time from when the vehicle starts crossing the lane markings until it finishes crossing the lane markings, based on the actual crossing completion time.

[0019] The time from when the operator indicates their intention to manually change lanes until the vehicle begins to move laterally (actual lateral movement start time), the time from when the vehicle begins to move laterally until the vehicle begins to cross the lane markings (actual crossing start time), and the time from when the vehicle begins to cross the lane markings until it finishes crossing them (actual crossing completion time) all reflect the operator's preference regarding the lane change.

[0020] According to the vehicle driving assistance device of the present invention, the actual lateral movement start time, the actual crossing start time, and the actual crossing completion time are acquired. The target lateral movement start time (a target value for the time from when an operation requesting the execution of lane change control is made until the vehicle starts moving laterally) is set based on the actual lateral movement start time. The target crossing start time (a target value for the time from when the vehicle starts moving laterally until the vehicle begins to cross the lane markings) is set based on the actual crossing start time. The target crossing completion time (a target value for the time from when the vehicle begins to cross the lane markings until the vehicle finishes crossing the lane markings) is set based on the actual crossing completion time. The vehicle then automatically changes lanes according to these target lateral movement start time, target crossing start time, and target crossing completion time. As a result, the vehicle can automatically change lanes in a manner preferred by the operator with greater reliability.

[0021] Furthermore, the vehicle driving assistance system according to the present invention may be configured to learn the actual required time, etc., and to perform this learning using AI technology such as so-called machine learning or deep learning.

[0022] The components of the present invention are not limited to the embodiments described below with reference to the drawings. Other objects, features, and incidental advantages of the present invention will be readily apparent from the description of the embodiments. [Brief explanation of the drawing]

[0023] [Figure 1] Figure 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] Figure 2 shows a manual lane change performed by the vehicle. [Figure 3] FIG. 3 is a diagram showing a lane change of the host vehicle by lane change control. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing a routine executed by the vehicle driving support device according to an embodiment of the present invention. MODE FOR CARRYING OUT THE INVENTION

[0024] Hereinafter, the vehicle driving support device 10 according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the vehicle driving support device 10 according to an embodiment of the present invention. The vehicle driving support device 10 is mounted on the host vehicle 100. Hereinafter, the case where the operator of the host vehicle 100 is a person who rides on the host vehicle 100 and drives the host vehicle 100 (that is, the driver of the host vehicle 100) will be taken as an example to describe the vehicle driving support device 10.

[0025] However, the operator of the host vehicle 100 may be a person who remotely drives the host vehicle 100 without riding on the host vehicle 100 (that is, the remote operator of the host vehicle 100). When the operator of the host vehicle 100 is a remote operator, the vehicle driving support device 10 is mounted on the host vehicle 100 and on remote operation equipment installed outside the host vehicle 100 for remotely driving the host vehicle 100, and the functions of the vehicle driving support device 10 described below are shared and performed by the vehicle driving support device 10 mounted on the host vehicle 100 and the vehicle driving support device 10 mounted on the remote operation equipment, respectively.

[0026] As shown in Figure 1, the vehicle driving assistance system 10 includes an ECU (Electronic Control Unit) 90 as a control device. The ECU 90 mainly consists of a microcomputer. The microcomputer includes a CPU, ROM, RAM, non-volatile memory and other storage media, as well as interfaces. The CPU realizes various functions by executing instructions, programs, or routines stored in the storage media. In particular, in this example, the vehicle driving assistance system 10 stores programs that realize the various controls that the vehicle driving assistance system 10 performs in the storage media.

[0027] In this example, the vehicle driving assistance system 10 is equipped with only one ECU 90, but it may also be equipped with multiple ECUs, and the functions of the vehicle driving assistance system 10 described below may be divided among the ECUs.

[0028] Furthermore, the vehicle driving assistance device 10 may be configured to update the program stored in the storage medium via wireless communication with an external device (for example, internet communication).

[0029] Furthermore, the vehicle 100 is equipped with a running gear 20, turn signals 30, turn signal lever 40, vehicle behavior acquisition device 50, and external information acquisition device 60.

[0030] The running gear 20 is a device for driving the vehicle 100, and the vehicle driving support device 10 can drive the vehicle 100 by controlling the operation of the running gear 20. The running gear 20 includes a drive unit 21, a braking unit 22, and a steering unit 23.

[0031] The drive unit 21 is electrically connected to the ECU 90. The vehicle driving assistance system 10 can control the driving force supplied to the vehicle 100 by controlling the operation of the drive unit 21, thereby accelerating the vehicle 100.

[0032] Furthermore, the braking device 22 is also electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the braking force applied to the vehicle 100 by controlling the operation of the braking device 22, thereby decelerating the vehicle 100.

[0033] Furthermore, the steering device 23 is also electrically connected to the ECU 90. The vehicle driving assistance device 10 can control the operating force applied to the vehicle 100 by controlling the operation of the steering device 23, thereby enabling the vehicle 100 to be steered.

[0034] Furthermore, the turn signal 30 is a device that indicates the direction in which the vehicle 100 is turning by flashing. The turn signal 30 is equipped with a right turn signal 31 and a left turn signal 32. The right turn signal 31 and the left turn signal 32 are electrically connected to the ECU 90, respectively. The vehicle driving support device 10 can selectively flash the right turn signal 31 and the left turn signal 32.

[0035] Furthermore, the turn signal lever 40 is a device operated by the driver and is electrically connected to the ECU 90. When the driver operates the turn signal lever 40 and a predetermined condition (a condition in which it is determined that flashing of the right turn signal 31 or the left turn signal 32 has been requested) is met, the vehicle driving assistance device 10 flashes either the right turn signal 31 or the left turn signal 32 according to the type of operation. On the other hand, when the driver operates the turn signal lever 40 and another condition (a condition in which it is determined that the execution of lane change control, described later, has been requested) is met, the vehicle driving assistance device 10 determines that the execution of lane change control, described later, has been requested. Thus, in this example, the turn signal lever 40 also functions as a lane change switch for the driver to request the execution of lane change control. However, a lane change switch may be provided separately from the turn signal lever 40.

[0036] Furthermore, the vehicle behavior acquisition device 50 is a device that acquires data (vehicle behavior information IE) related to the behavior of the vehicle 100. In this example, the vehicle behavior acquisition device 50 is equipped with a vehicle speed detection device 51 and a lateral acceleration sensor 52.

[0037] The vehicle speed detection device 51 is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires the driving speed of its own vehicle 100 as its own vehicle speed V using the vehicle speed detection device 51.

[0038] Furthermore, the lateral acceleration sensor 52 is also electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires the lateral acceleration of the vehicle 100 as lateral acceleration Gy using the lateral acceleration sensor 52.

[0039] Furthermore, the external information acquisition device 60 is a device that acquires information (external information IO) regarding the external environment or surrounding conditions of the vehicle 100. The vehicle driving support system 10 acquires external information IO using the external information acquisition device 60. In this example, the external information acquisition device 60 includes an electromagnetic wave sensor 61, an image sensor 62, a GPS signal receiver 63, and a map database 64.

[0040] The electromagnetic wave sensor 61 is a sensor such as a millimeter-wave radar or lidar, and is electrically connected to the ECU 90. The vehicle driving support system 10 uses the electromagnetic wave sensor 61 to acquire information about targets present around the vehicle 100 (for example, target information such as the distance between the vehicle 100 and other vehicles) as external information I / O.

[0041] Furthermore, the image sensor 62 is a sensor such as a camera sensor and is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires image data (image information IC) obtained by imaging the area around the vehicle 100 using the image sensor 62 as external information I / O.

[0042] Furthermore, the GPS signal receiver 63 is electrically connected to the ECU 90. The vehicle driving assistance system 10 acquires GPS signals via the GPS signal receiver 63 and obtains the current position of its own vehicle 100 based on these acquired GPS signals.

[0043] Furthermore, the map database 64 is a device that records map information and is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains information about the area in which the vehicle 100 is traveling (for example, road information such as information about the road on which the vehicle 100 is traveling) as external information I / O by comparing the current position of the vehicle 100, which is obtained based on GPS signals, with the map information recorded in the map database 64.

[0044] <Operation of vehicle driver assistance system> As shown in Figure 2, the vehicle driving support system 10 acquires the characteristics related to the manual lane change (manual lane change) performed by the driver of the vehicle 100 during the period in which the driver of the vehicle 100 is manually changing the lane of the vehicle 100 (manual lane change period) as the actual lane change characteristics, and as shown in Figure 3, it is configured to perform a lane change (automatic lane change) of the vehicle 100 by lane change control according to the target lane change characteristics set based on the acquired actual lane change characteristics.

[0045] Furthermore, lane change control is one of the automatic driving controls, and as shown in Figure 3, it is a control that automatically changes the lane of the vehicle 100 from the current driving lane LN1 to the designated adjacent lane LN2. The current driving lane LN1 is the lane in which the vehicle 100 is currently traveling. The designated adjacent lane LN2 is a lane in which the vehicle 100 can travel in the same direction as the direction of travel, is the lane adjacent to the current driving lane LN1, and is the lane on the side indicated by the activated turn signal 30.

[0046] The vehicle driving assistance system 10 acquires and stores the actual lane change characteristics used in lane change control by executing the routine shown in Figure 4 at predetermined time intervals, and executes lane change control when predetermined conditions are met by executing the routine shown in Figure 5 at predetermined time intervals.

[0047] Therefore, when a predetermined timing occurs, the vehicle driving support device 10 starts processing from step S400 of the routine shown in Figure 4, proceeds to step S405, and determines whether or not the manual lane change condition C1 is met.

[0048] Manual lane change condition C1 is met, for example, when the turn signal lever 40 is operated during manual driving, and is not met when the manual lane change of the vehicle 100 (manual lane change) is completed or when the operation of the turn signal 30 stops without the vehicle 100 performing a manual lane change. Manual lane change condition C1 may also include the condition that there is an adjacent lane on the side indicated by the activated turn signal 30. The adjacent lane is a lane that can be traveled in the same direction as the vehicle 100's direction of travel, and is the lane adjacent to the currently traveled lane LN1. The vehicle driving support device 10 can determine whether or not there is an adjacent lane on the side indicated by the activated turn signal 30 based on external information IO.

[0049] If the manual lane change condition C1 is met, the vehicle driving support system 10 determines "Yes" in step S405, proceeds to step S410, acquires the lane change characteristics, and stores the lane change characteristics as temporary lane change characteristics. Next, the vehicle driving support system 10 proceeds to step S495 and terminates the processing of this routine.

[0050] In this example, the lane change characteristics acquired in step S410 are the actual time required T, the actual maximum lateral velocity Vy_max, the actual maximum lateral acceleration Gy_max, the actual maximum lateral acceleration gradient Jy_max, the time to reach the actual maximum lateral velocity T_Vy_max, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy.

[0051] The actual time T is the time taken during manual driving or manual lane change when the vehicle 100 enters a predetermined state and then transitions to a state other than that predetermined state. In particular, in this example, the actual time T is the actual lateral movement start time T1, the actual crossing start time T2, and the actual crossing completion time T3.

[0052] The actual lateral movement start time T1 is the time taken during manual driving from the moment the driver performs an operation indicating their intention to manually change lanes (in this example, an operation on the turn signal lever 40) until the lateral movement of the vehicle 100 (lateral movement of the vehicle 100) begins. In the example shown in Figure 2, the actual lateral movement start time T1 is the time taken from the moment the turn signal lever 40 is operated and the right turn signal 31 begins flashing during manual driving until the lateral movement of the vehicle 100 to the right begins.

[0053] Furthermore, the actual crossing start time T2 is the time taken during the manual lane change period from when the lateral movement of the vehicle 100 begins until the vehicle 100 begins to cross the lane marking LM. In the example shown in Figure 2, the actual crossing start time T2 is the time taken from when the lateral movement of the vehicle 100 to the right begins until the right front corner or the right front wheel of the vehicle 100 reaches the lane marking LM. Note that the lane marking LM is the line separating the current driving lane LN1 and the designated adjacent lane LN2. The vehicle driving support device 10 is configured to recognize the lane marking LM based on external information IO.

[0054] Furthermore, the actual crossing completion time T3 is the time taken during the manual lane change period from when the vehicle 100 begins to cross the lane marking LM until it has finished crossing the lane marking LM. In the example shown in Figure 2, the actual crossing completion time T3 is the time taken from when the right front corner or right front wheel of the vehicle 100 reaches the lane marking LM until the left rear corner or left rear wheel of the vehicle 100 passes the lane marking LM.

[0055] The vehicle driving assistance system 10 acquires the actual required time T based on external information I / O (especially image information IC).

[0056] Furthermore, in this example, the actual maximum lateral velocity Vy_max is the maximum value of the lateral velocity Vy (i.e., the lateral movement speed of the vehicle 100) during the manual lane change period. Also, the actual maximum lateral acceleration Gy_max is the maximum value of the lateral acceleration Gy (i.e., the lateral acceleration of the vehicle 100) during the manual lane change period. Also, the actual maximum lateral acceleration gradient Jy_max is the maximum value of the lateral acceleration gradient Jy (i.e., the rate of change of the lateral acceleration of the vehicle 100) during the manual lane change period.

[0057] The vehicle driving support system 10 acquires the actual maximum lateral velocity Vy_max, the actual maximum lateral acceleration Gy_max, and the actual maximum lateral acceleration gradient Jy_max based on the lateral acceleration Gy data detected by the lateral acceleration sensor 52.

[0058] Furthermore, the actual maximum lateral speed arrival time T_Vy_max is the time required during the manual lane change period from the start of the lateral movement of the vehicle 100 until the lateral speed Vy of the vehicle 100 reaches its maximum value.

[0059] Furthermore, the actual lateral velocity change profile P_Vy is the trajectory of the lateral velocity Vy that changed during the manual lane change period. Furthermore, the actual lateral acceleration change profile P_Gy is the trajectory of the lateral acceleration Gy that changed during the manual lane change period. Furthermore, the actual lateral acceleration gradient change profile P_Jy is the trajectory of the lateral acceleration gradient Jy that changed during the manual lane change period.

[0060] The vehicle driving support system 10 acquires the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy based on the lateral acceleration Gy data detected by the lateral acceleration sensor 52.

[0061] For example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are, respectively, based on the elapsed time Telsp since the start of the manual lane change, or on the distance D between the lane marking LM and the vehicle 100. For example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are obtained using statistical methods based on the distribution of lateral velocity Vy, lateral acceleration Gy, and lateral acceleration gradient Jy with respect to the elapsed time Telsp since the start of each manual lane change when multiple manual lane changes are performed. Furthermore, for example, the actual lateral velocity change profile P_Vy, the actual lateral acceleration change profile P_Gy, and the actual lateral acceleration gradient change profile P_Jy are obtained by statistical methods based on the distribution of lateral velocity Vy, lateral acceleration Gy, and lateral acceleration gradient Jy with respect to the distance D between the lane marking LM and the vehicle 100 during each manual lane change, when multiple manual lane changes are performed.

[0062] On the other hand, if the manual lane change condition C1 is not met, the vehicle driving support system 10 determines "No" in step S405 and proceeds to step S415 to determine whether the manual lane change completion condition C2 is met. The manual lane change completion condition C2 is met when the manual lane change is completed. Note that the manual lane change completion condition C2 becomes invalid, for example, when the process in the next step S420 is executed.

[0063] If the manual lane change completion condition C2 is met, the vehicle driving support system 10 proceeds to step S420 and stores the temporary lane change characteristics stored in step S410 as the actual lane change characteristics. Next, the vehicle driving support system 10 proceeds to step S495 and terminates the processing of this routine.

[0064] On the other hand, if the manual lane change completion condition C2 is not met, the vehicle driving support system 10 proceeds to step S425 and determines whether the manual lane change non-performance condition C3 is met. The manual lane change non-performance condition C3 is met when the manual lane change condition C1 is met, but the manual lane change condition C1 is not met without the manual lane change being performed. Note that the manual lane change non-performance condition C3 becomes non-met, for example, when the next step S430 is executed.

[0065] If the manual lane change non-performance condition C3 is met, the vehicle driving support system 10 proceeds to step S430 and erases the temporary lane change characteristic data stored in step S410. Next, the vehicle driving support system 10 proceeds to step S495 and terminates the processing of this routine.

[0066] On the other hand, if the condition C3 for not performing a manual lane change is not met, the vehicle driving support device 10 determines "No" in step S425, proceeds directly to step S495, and terminates the processing of this routine.

[0067] Furthermore, at a predetermined timing, the vehicle driving support system 10 starts processing from step S500 of the routine shown in Figure 5, proceeds to step S505, and determines whether the value of the automatic lane change flag X1 is "0". If the value of the automatic lane change flag X1 is "1", it indicates that lane change control is being performed, in other words, that lane change control has already started, and if the value is "0", it indicates that lane change control is not being performed. Lane change control is a control that performs an automatic lane change of the vehicle 100 by the vehicle driving support system 10 autonomously controlling the operation of the running gear 20.

[0068] If the value of the automatic lane change flag X1 is "0" (i.e., lane change control is being performed), the vehicle driving assistance device 10 determines "Yes" in step S505 and proceeds to step S510 to determine whether the automatic lane change request condition C4 is met. The automatic lane change request condition C4 is the condition that a lane change for the vehicle 100 has been requested by lane change control.

[0069] If the automatic lane change request condition C4 is met, the vehicle driving support system 10 determines "Yes" in step S510 and starts lane change control. That is, if the vehicle driving support system 10 determines "Yes" in step S510, it proceeds to step S515 and sets the lane change route Rtgt.

[0070] The vehicle driving support system 10 sets a lane change route Rtgt as a path that allows the vehicle 100 to safely move to the designated adjacent lane LN2 based on external information IO. At this time, the vehicle driving support system 10 may also set the lane change route Rtgt by considering the path taken by the vehicle 100 when it moved to the designated adjacent lane LN2 when a manual lane change was performed.

[0071] Next, the vehicle driving support device 10 proceeds to step S520, setting the target lane change characteristics based on the actual lane change characteristics stored in step S420 of the routine shown in Figure 4.

[0072] In this example, the target lane change characteristics set in step S520 are the target required time Ttgt, target maximum lateral velocity Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target time to reach maximum lateral velocity T_Vy_max_tgt, target lateral velocity change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt, and target lateral acceleration gradient change profile P_Jy_tgt.

[0073] The target time Ttgt is the target time from when the vehicle 100 enters a state corresponding to the predetermined state described above until the vehicle 100 is moved to a state corresponding to another state described above. In particular, in this example, the target time Ttgt is the target lateral movement start time T1_tgt, the target crossing start time T2_tgt, and the target crossing completion time T3_tgt. The target time Ttgt is set based on the actual time T. For example, the target time Ttgt is set to be equal to or approximately equal to the actual time T.

[0074] The target lateral movement start time T1_tgt is the target time from when an operation is made to request the execution of lane change control until the lateral movement of the vehicle 100 begins. In the example shown in Figure 3, the target lateral movement start time T1_tgt is the target time from when the driver requests the execution of lane change control and the vehicle driving support device 10 starts flashing the right turn signal 31 until the lateral movement of the vehicle 100 begins. The target lateral movement start time T1_tgt is set based on the actual lateral movement start time T1. For example, the target lateral movement start time T1_tgt is set to a time equal to or approximately equal to the actual lateral movement start time T1.

[0075] Furthermore, the target crossing start time T2_tgt is the target time from when the vehicle 100 starts moving laterally until the vehicle 100 begins to cross the lane marking LM. In the example shown in Figure 3, the target crossing start time T2 is the target time from when the vehicle 100 starts moving laterally to the right until the vehicle 100 begins to cross the lane marking LM. The target crossing start time T2_tgt is set based on the actual crossing start time T2. For example, the target crossing start time T2_tgt is set to be equal to or approximately equal to the actual crossing start time T2.

[0076] Furthermore, the target crossing completion time T3_tgt is the target time from when the vehicle 100 begins to cross the lane marking LM until it has finished crossing the lane marking LM. The target crossing completion time T3_tgt is set based on the actual crossing completion time T3. For example, the target crossing completion time T3_tgt is set to a time equal to or approximately equal to the actual crossing completion time T3.

[0077] Furthermore, the target maximum lateral speed Vy_max_tgt is the target value for the maximum lateral speed Vy during lane change control execution. The target maximum lateral speed Vy_max_tgt is set based on the actual maximum lateral speed Vy_max. For example, the target maximum lateral speed Vy_max_tgt is set to a value equal to or approximately equal to the actual maximum lateral speed Vy_max.

[0078] Furthermore, the target maximum lateral acceleration Gy_max_tgt is the target value for the maximum lateral acceleration Gy during lane change control execution. The target maximum lateral acceleration Gy_max_tgt is set based on the actual maximum lateral acceleration Gy_max. For example, the target maximum lateral acceleration Gy_max_tgt is set to a value equal to or approximately equal to the actual maximum lateral acceleration Gy_max.

[0079] Furthermore, the target maximum lateral acceleration gradient Jy_max_tgt is the target value for the maximum lateral acceleration gradient Jy during lane change control execution. The target maximum lateral acceleration gradient Jy_max_tgt is set based on the actual maximum lateral acceleration gradient Jy_max. For example, the target maximum lateral acceleration gradient Jy_max_tgt is set to a value equal to or approximately equal to the actual maximum lateral acceleration gradient Jy_max.

[0080] Furthermore, the target time to reach the maximum lateral speed T_Vy_max_tgt is the target time from when the vehicle 100 starts moving laterally until the lateral speed Vy reaches its maximum value. In the example shown in Figure 3, the target time to reach the maximum lateral speed T_Vy_max_tgt is the target time from when the vehicle 100 starts moving laterally to the right until the lateral speed Vy reaches its maximum value. The target time to reach the maximum lateral speed T_Vy_max_tgt is set based on the actual time to reach the maximum lateral speed T_Vy_max. For example, the target time to reach the maximum lateral speed T_Vy_max_tgt is set to a time equal to or approximately equal to the actual time to reach the maximum lateral speed T_Vy_max.

[0081] Furthermore, the target lateral velocity change profile P_Vy_tgt is the trajectory of the target value of the lateral velocity Vy that is changed by lane change control. The target lateral velocity change profile P_Vy_tgt is set based on the actual lateral velocity change profile P_Vy. For example, the target lateral velocity change profile P_Vy_tgt is set to the same profile or approximately the same profile as the actual lateral velocity change profile P_Vy.

[0082] Furthermore, the target lateral acceleration change profile P_Gy_tgt is the trajectory of the target value of the lateral acceleration Gy that is changed by the lane change control. The target lateral acceleration change profile P_Gy_tgt is set based on the actual lateral acceleration change profile P_Gy. For example, the target lateral acceleration change profile P_Gy_tgt is set to the same profile or approximately the same profile as the actual lateral acceleration change profile P_Gy.

[0083] Furthermore, the target lateral acceleration gradient change profile P_Jy_tgt is the trajectory of the target value of the lateral acceleration gradient Jy that is changed by lane change control. The target lateral acceleration gradient change profile P_Jy_tgt is set based on the actual lateral acceleration gradient change profile P_Jy. For example, the target lateral acceleration gradient change profile P_Jy_tgt is set to the same profile or approximately the same profile as the actual lateral acceleration gradient change profile P_Jy.

[0084] After executing the process in step S520, the vehicle driving support device 10 proceeds to step S525 to determine whether the lane change permission condition C5 is met. The lane change permission condition C5 is the condition that the vehicle 100 can safely enter the designated adjacent lane LN2. The lane change permission condition C5 is met, for example, when there are no other vehicles in the area of ​​the designated adjacent lane LN2 into which the vehicle 100 is about to enter. Alternatively, the lane change permission condition C5 is met, for example, when the vehicle 100 is moved along the lane change path Rtgt set in step S515 according to the target lane change characteristics set in step S520, and there are no other vehicles that would come into contact with the vehicle 100.

[0085] If the vehicle driving support system 10 determines "Yes" in step S525, it proceeds to step S530, starts controlling the operation of the driving device 20, and moves the vehicle 100 along the lane change path Rtgt set in step S515 according to the target lane change characteristics set in step S520.

[0086] Next, the vehicle driving support system 10 proceeds to step S535 and sets the value of the automatic lane change flag X1 to "1". Then, the vehicle driving support system 10 proceeds to step S595 and terminates the processing of this routine.

[0087] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S510 or step S525, it proceeds directly to step S595 and terminates the processing of this routine.

[0088] Furthermore, if the vehicle driving support device 10 determines "No" in step S505, it proceeds to step S540 to determine whether or not the auto lane change completion condition C6 has been met.

[0089] If the vehicle driving support system 10 determines "Yes" in step S540, it proceeds to step S545 and terminates control of the operation of the running gear 20. Next, the vehicle driving support system 10 proceeds to step S550 and sets the value of the automatic lane change flag X1 to "0". Next, the vehicle driving support system 10 proceeds to step S595 and terminates the processing of this routine.

[0090] On the other hand, if the vehicle driving support system 10 determines "No" in step S540, it proceeds to step S555 and continues to control the operation of the running gear 20. Next, the vehicle driving support system 10 proceeds to step S595 and terminates the processing of this routine.

[0091] The above describes the operation of the vehicle driving assistance device 10.

[0092] When a driver manually changes lanes with their vehicle 100, the actual time T (actual lateral movement start time T1, actual lane-crossing start time T2, and actual lane-crossing completion time T3), actual maximum lateral velocity Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual time to reach maximum lateral velocity T_Vy_max, actual lateral velocity change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy reflect the driver's preferences regarding the lane change of their vehicle 100.

[0093] According to the vehicle driving support system 10, based on the actual lateral movement start time T1, actual straddle start time T2, actual straddle completion time T3, actual maximum lateral velocity Vy_max, actual maximum lateral acceleration Gy_max, actual maximum lateral acceleration gradient Jy_max, actual maximum lateral velocity arrival time T_Vy_max, actual lateral velocity change profile P_Vy, actual lateral acceleration change profile P_Gy, and actual lateral acceleration gradient change profile P_Jy, the target lateral movement start time T1_tgt, The following parameters are set: target crossover start time T2_tgt, target crossover completion time T3_tgt, target maximum lateral velocity Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target maximum lateral velocity arrival time T_Vy_max_tgt, target lateral velocity change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt, and target lateral acceleration gradient change profile P_Jy_tgt. Then, the vehicle changes lanes automatically according to the target lateral movement start time T1_tgt, target crossing start time T2_tgt, target crossing completion time T3_tgt, target maximum lateral velocity Vy_max_tgt, target maximum lateral acceleration Gy_max_tgt, target maximum lateral acceleration gradient Jy_max_tgt, target maximum lateral velocity arrival time T_Vy_max_tgt, target lateral velocity change profile P_Vy_tgt, target lateral acceleration change profile P_Gy_tgt, and target lateral acceleration gradient change profile P_Jy_tgt. As a result, the vehicle 100 can be automatically changed lanes in a manner preferred by the driver with greater reliability.

[0094] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be adopted within the scope of the present invention. [Explanation of Symbols]

[0095] 10...Vehicle driving assistance system, 20...Running system, 30...Turn indicator, 40...Turn signal lever, 50...Vehicle behavior acquisition system, 60...External information acquisition system, 90...ECU, 100...Vehicle

Claims

1. It is equipped with a control device that performs lane change control to automatically change the vehicle's lane, The control device is During the manual lane change period, which is the period in which the operator of the vehicle is manually changing lanes of the vehicle, the characteristics related to the manual lane change are acquired as actual lane change characteristics. The vehicle performs an automatic lane change, which is a lane change, using the lane change control, according to the target lane change characteristics set based on the actual lane change characteristics. It is structured in such a way. In a vehicle driving assistance system, The control device is As the actual lane change characteristics, the actual time required, which is the time it takes for the vehicle to transition from a predetermined state to a state other than the predetermined state, and the actual maximum lateral speed, which is the maximum value of the lateral speed at which the vehicle moves laterally, are obtained. As the target lane change characteristics, the target required time, which is the target value of the time from when the vehicle enters a state corresponding to the predetermined state until the vehicle transitions to a state corresponding to the other state, is set based on the actual required time, and the target maximum lateral speed, which is the target value of the maximum lateral speed, is set based on the actual maximum lateral speed. It is structured in such a way. Vehicle driving assistance system.

2. In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the time taken from when the lateral movement of the vehicle begins until the lateral speed reaches its maximum value is obtained, and As the target lane change characteristic, the target time for reaching the maximum lateral speed, which is the time from when the vehicle starts moving laterally until the lateral speed reaches its maximum value, is set based on the actual maximum lateral speed. It is structured in such a way. Vehicle driving assistance system.

3. In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the actual maximum lateral acceleration, which is the maximum value of the lateral acceleration of the vehicle in the lateral direction, and the actual maximum lateral acceleration gradient, which is the maximum value of the lateral acceleration gradient, which is the rate of change of the lateral acceleration, are obtained. As the target lane change characteristics, the target maximum lateral acceleration, which is the target value of the maximum lateral acceleration, is set based on the actual maximum lateral acceleration, and the target maximum lateral acceleration gradient, which is the target value of the maximum lateral acceleration gradient, is set based on the actual maximum lateral acceleration gradient. It is structured in such a way. Vehicle driving assistance system.

4. In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the following are obtained: an actual lateral speed change profile, which is the trajectory of the lateral speed that changed during the manual lane change period; an actual lateral acceleration change profile, which is the trajectory of the lateral acceleration of the vehicle that changed during the manual lane change period; and an actual lateral acceleration gradient change profile, which is the trajectory of the lateral acceleration gradient, which is the rate of change of the lateral acceleration of the vehicle that changed during the manual lane change period. As the target lane change characteristics, a target lateral speed change profile, which is the trajectory of the target value of the lateral speed changed by the lane change control, is set based on the actual lateral speed change profile; a target lateral acceleration change profile, which is the trajectory of the target value of the lateral acceleration changed by the lane change control, is set based on the actual lateral acceleration change profile; and a target lateral acceleration gradient change profile, which is the trajectory of the target value of the lateral acceleration gradient changed by the lane change control, is set based on the actual lateral acceleration gradient change profile. It is structured in such a way. Vehicle driving assistance system.

5. In the vehicle driving support device according to claim 1, The control device is As the actual time required, the following are obtained: the actual lateral movement start time, which is the time taken from when the operator makes an operation indicating their intention to perform the manual lane change until the vehicle begins to move laterally; the actual crossing start time, which is the time taken from when the vehicle begins to move laterally until the vehicle begins to cross the lane markings; and the actual crossing completion time, which is the time taken from when the vehicle begins to cross the lane markings until it finishes crossing the lane markings. As the target required time, the target lateral movement start time, which is the target time from when the operation requesting the execution of the lane change control is made until the vehicle starts moving laterally, is set based on the actual lateral movement start time; the target crossing start time, which is the target time from when the vehicle starts moving laterally until the vehicle starts crossing the lane markings, is set based on the actual crossing start time; and the target crossing completion time, which is the target time from when the vehicle starts crossing the lane markings until the vehicle finishes crossing the lane markings, is set based on the actual crossing completion time. It is structured in such a way. Vehicle driving assistance system.

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