JP2014046748A - Vehicle control device - Google Patents

Abstract

An automatic driving that appropriately reflects the driver's intention is suitably executed.
A vehicle control device (10) controls a vehicle (310) capable of automatic driving that automatically executes a driving operation by a driver at least partially. The vehicle control device includes a preceding vehicle detecting means (101) for detecting a preceding vehicle (320) traveling in front of the vehicle, and a measuring means (102) for measuring a continuous detection time during which the preceding vehicle is continuously detected. When the automatic detection is started and the continuation detection time is equal to or longer than the first threshold (A1), the tracking mode for following the preceding vehicle is selected and the continuation detection time is less than the first threshold. Comprises a mode selection means (107) for selecting an overtaking mode in which the set vehicle speed of the vehicle is prioritized over following the preceding vehicle.
[Selection] Figure 6

Description

  The present invention relates to a technical field of a vehicle control device that controls operations related to automatic driving in a vehicle such as an automobile.

  In this type of device, for example, a control in which the distance between the preceding vehicle and the preceding vehicle is kept constant is executed, so that the vehicle follows the preceding vehicle. However, such follow-up traveling control is not always executed during automatic driving control, and other traveling control (for example, overtaking control or the like) is appropriately performed based on predetermined conditions in order to realize more appropriate automatic driving. ) May be switched to.

  For example, Patent Document 1 proposes a technique of automatically performing overtaking control when the set vehicle speed of the own vehicle is faster than the speed of the preceding vehicle and overtaking control is possible in the overtaking lane. Patent Document 2 proposes a technique of removing a preceding vehicle from a tracking target when it is determined that the preceding vehicle is a vehicle that obstructs traffic flow during the following traveling control. Further, in Patent Document 3, an inter-vehicle control mode in which travel control is performed so that the inter-vehicle distance becomes a set value and a vehicle speed control mode in which travel control is performed so that the vehicle speed becomes a set value can be switched to each other by an operation of a switch or the like. Technology has been proposed.

JP 2003-063273 A JP 2009-143272 A JP 2002-178786 A

  However, in the technologies according to Patent Documents 1 and 2 described above, since the traveling control is automatically switched based on various parameters, there is a technical problem that control different from the driver's intention may be executed. Occurs. For example, in the technique according to Patent Document 1, it is not possible to determine whether the driver wants to follow the preceding vehicle or whether he / she wants to drive after passing the preceding vehicle by changing the lane. Therefore, depending on the driver's preference, a situation may occur in which traveling control different from his intention is executed. For example, the driver may not perform the overtaking control, but the overtaking control may be performed. In this case, it is considered that the driver's satisfaction with the automatic driving is greatly reduced.

  On the other hand, in the technique according to Patent Document 3, when the control mode is switched, the driver is required to perform an operation each time. For this reason, a driver's operation burden is generated to a greater or lesser extent. For example, it is not preferable for a driver who wants to automatically perform as many portions as possible.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a vehicle control device that can suitably execute automatic driving that appropriately reflects the driver's intention.

  In order to solve the above problems, the vehicle control device of the present invention is a vehicle control device capable of automatic driving that automatically executes a driving operation by a driver at least partially, and is a preceding vehicle that travels in front of the vehicle. A preceding vehicle detecting means for detecting a vehicle; a measuring means for measuring a continuous detection time during which the preceding vehicle is continuously detected; and when the automatic driving is started, the continuous detection time is equal to or greater than a first threshold value. Is selected, a follow-up mode that follows the preceding vehicle is selected, and when the continuation detection time is less than a first threshold, an overtaking mode that gives priority to the set vehicle speed of the vehicle over the follow-up of the preceding vehicle. Mode selection means for selecting.

  The vehicle controlled by the vehicle control device of the present invention can be controlled by, for example, ACC (Adaptive Cruise Control) control realized by throttle control and brake control based on monitoring by a millimeter wave radar, or steering control based on white line recognition by an in-vehicle camera. Automatic operation including various automatic execution controls such as LKA (Lane Keeping Assist) control realized is possible. Note that the “automatic driving” here includes not only fully automatic driving control in which all driving operations by the driver are automatically performed, but also only part of the driving operations are automatically performed (in other words, it is not automated). (Semi-automatic operation control in which the driver continuously operates the vehicle) is also included. For example, the driver can switch between automatic driving and normal driving by operating an automatic driving operation switch provided in the vehicle.

  During operation of the vehicle control apparatus of the present invention, for example, a preceding vehicle that travels in front of the host vehicle (more specifically, the front of the host vehicle in the advancing direction) is detected by a preceding vehicle detection unit including, for example, a millimeter wave radar. Vehicle traveling in the same direction) is detected. The preceding vehicle detection means may be configured not only to detect the presence of a preceding vehicle, but also to detect the presence of a preceding vehicle that matches various setting conditions. For example, the preceding vehicle detection means does not detect all the preceding vehicles that can be detected, but rather a preceding vehicle that affects the traveling control of the own vehicle (for example, a preceding vehicle whose inter-vehicle distance and relative speed are within a predetermined value). ) Only.

  While the preceding vehicle is detected by the preceding vehicle detecting means, the continuous detection time during which the preceding vehicle is continuously detected is measured by the measuring means. More specifically, the measuring means starts counting the continuous detection time when the preceding vehicle is detected by the preceding vehicle detecting means, and resets the count when no preceding vehicle is detected. The continuation detection time can also be measured as the distance traveled by the vehicle while the preceding vehicle is continuously detected (in other words, the continuation detection travel distance). In the processing, the continuous detection travel distance may be used instead of the continuous detection time.

  The detection of the preceding vehicle and the measurement of the continuation detection time described above are performed before the automatic driving is started (in other words, almost always in the state of normal driving). When the normal operation is switched to the automatic operation by the driver's operation, the control mode in the automatic operation is selected based on the continuous detection time at that time.

  Specifically, when the continuation detection time is equal to or greater than the first threshold, the mode selection unit selects a follow-up mode that follows the preceding vehicle. Here, the “first threshold value” is a threshold value for determining whether or not the driver intends to overtake the preceding person, and is obtained theoretically, experimentally, or empirically in advance. Is set. More specifically, when the continuation detection time is equal to or longer than the first threshold value, it is considered that switching to automatic driving was performed after a relatively long time following the preceding vehicle. Is determined to continue to follow the vehicle (in other words, the driver has no intention of overtaking the preceding vehicle), and the tracking mode is selected. In the follow-up mode, when the own vehicle catches up with the preceding vehicle, the follow-up traveling is prioritized over the set vehicle speed during automatic driving, and the set vehicle speed is changed.

  On the other hand, when the continuation detection time is less than the first threshold value, the mode selection means selects the overtaking mode that prioritizes the set vehicle speed during automatic driving rather than following the preceding vehicle. When the continuation detection time is less than the first threshold value, it is considered that the state of following the preceding vehicle is relatively short and the switching to the automatic driving is executed. (In other words, there is no intention to follow) and the overtaking mode is selected. In the overtaking mode, when the host vehicle catches up with the preceding vehicle, priority is given to keeping the set vehicle speed constant over following driving, and overtaking control of the preceding vehicle (specifically, lane change control, etc.) is executed. The

  Note that the vehicle according to the present embodiment can realize other control modes (for example, a normal mode selected when there is no preceding vehicle) in addition to the two control modes of the follow-up mode and the overtaking mode described above. It may be said.

  As described above, according to the vehicle control device of the present invention, based on the continuation detection time of the preceding vehicle at the start of automatic driving, it is appropriately determined whether or not the driver has an intention to pass the preceding vehicle. Can do. For this reason, even in the automatic driving in which the driver does not perform a direct operation, it is possible to realize traveling that appropriately reflects the driver's intention.

  In one aspect of the vehicle control apparatus of the present invention, the vehicle control device further includes an identification unit for identifying the preceding vehicle, and the mode selection unit again detects the same preceding vehicle within a predetermined period after the preceding vehicle is no longer detected. Is detected, a mode is selected using a second threshold shorter than the first threshold instead of the first threshold.

  According to this aspect, the preceding vehicle detected by the preceding vehicle detecting unit is identified from the other preceding vehicle by the identifying unit. The identification means identifies the preceding vehicle using, for example, license plate recognition using an image of the preceding vehicle, a unique ID acquired by inter-vehicle communication, or the like.

  In this aspect, in particular, when the preceding vehicle detected by the preceding vehicle detecting unit is not detected, and then the same preceding vehicle is detected again within a predetermined period, the first threshold used by the mode selecting unit is It is changed to a shorter second threshold value. That is, even when the continuation detection time is shorter than the first threshold, the tracking mode is selected exceptionally.

  The preceding vehicle detected by the preceding vehicle detection means may be in a state where it is not detected, for example, due to a sudden lane change of the preceding vehicle, even when the driver is driving with the intention to follow the vehicle. In such a case, it is considered that the driver trying to follow the preceding vehicle changes the lane to the lane to which the preceding vehicle has moved, and starts the following driving again. Then, the preceding vehicle is again detected by the preceding vehicle detecting means.

  In the situation as described above, even if the driver has an intention to follow the preceding vehicle, the continuation detection time is reset because the preceding vehicle is temporarily not detected. As a result, if an attempt is made to select a mode using the first threshold value at the start of automatic operation, the overtaking mode is selected because the continuation detection time is short. That is, despite the driver's intention to follow, the overtaking mode is selected instead of the following mode.

  However, in this aspect, as described above, when the preceding vehicle detected by the preceding vehicle detecting means is the preceding vehicle detected immediately before, the threshold used for mode selection is set to the second threshold that is shorter than the first threshold. Be changed. In other words, the tracking mode is easily selected. Therefore, even when the continuous detection time is measured to be short due to temporary non-detection of the preceding vehicle, the control mode is selected more accurately reflecting the driver's intention.

  In another aspect of the vehicle control device of the present invention, the vehicle control device further includes a lateral shift detection unit that detects a lateral shift that intersects a traveling direction of the vehicle and the preceding vehicle, and the mode selection unit includes the lateral shift. Is over the third threshold, the overtaking mode is selected even if the continuation detection time is over the first threshold.

  According to this aspect, before the start of the automatic driving, the lateral displacement detecting means detects the lateral displacement between the own vehicle and the preceding vehicle (that is, the direction intersecting the traveling direction of the vehicle). Then, it is determined whether or not the detected lateral deviation is greater than or equal to a third threshold value when switching to automatic operation. Here, the “third threshold value” is a threshold value for determining whether or not the driver intends to overtake the preceding person and is obtained theoretically, experimentally, or empirically in advance. Is set. For example, a vehicle that does not intend to overtake a preceding vehicle tends to follow a position that is close to the back of the preceding vehicle, whereas a vehicle that attempts to overtake a preceding vehicle moves sideways from the preceding vehicle with the aim of overtaking. There is a tendency to travel in a position shifted in the direction (that is, the overtaking lane side). By using such a tendency, it is possible to determine whether or not the driver has an intention to overtake the preceding vehicle based on the lateral displacement between the own vehicle and the preceding vehicle.

  In this aspect, in particular, when the above-described lateral shift is equal to or greater than the third threshold value, the overtaking mode is exceptionally selected even if the continuation detection time of the preceding vehicle is equal to or greater than the first threshold value. That is, even if the follow-up running is continued for a relatively long time until the automatic driving is started, the overtaking mode is selected when the detected lateral deviation is large. As described above, in this aspect, since the parameter of lateral deviation is used in addition to the continuous detection time, the driver's intention can be more accurately reflected in the automatic driving.

  In another aspect of the vehicle control device of the present invention, the vehicle control device further includes an inter-vehicle distance detection unit that detects an inter-vehicle distance from the preceding vehicle, and the continuation detection time is the first when the inter-vehicle distance is within a fourth threshold. The overtaking mode is selected even if the threshold value is exceeded.

  According to this aspect, the inter-vehicle distance between the host vehicle and the preceding vehicle is detected by the inter-vehicle distance detection means before the start of automatic driving. Then, it is determined whether or not the detected inter-vehicle distance is within the fourth threshold value when switching to automatic driving. Here, the “fourth threshold value” is a threshold value for determining whether or not the driver intends to overtake the preceding person and is obtained theoretically, experimentally, or empirically in advance. Is set. For example, a vehicle that does not intend to overtake the preceding vehicle tends to travel a certain distance from the preceding vehicle, whereas a vehicle that attempts to overtake the preceding vehicle closes the distance from the preceding vehicle. Tend to travel. By using such a tendency, it is possible to determine whether or not the driver has an intention to overtake the preceding vehicle based on the inter-vehicle distance between the own vehicle and the preceding vehicle.

  In this aspect, in particular, when the inter-vehicle distance from the preceding vehicle is within the fourth threshold, the overtaking mode is exceptionally selected even if the continuation detection time of the preceding vehicle is greater than or equal to the first threshold. That is, even if the follow-up running is continued for a relatively long time until the automatic driving is started, the overtaking mode is selected when the inter-vehicle distance is small. As described above, in this aspect, it is possible to more accurately reflect the driver's intention in the automatic driving by using the parameter called the inter-vehicle distance in addition to the continuous detection time.

  In another aspect of the vehicle control device of the present invention, the vehicle control device further includes an inter-vehicle distance variation measuring unit that measures an inter-vehicle distance variation with the preceding vehicle, and when the inter-vehicle distance variation frequency is a fifth threshold value or more, Even if the continuous detection time is equal to or greater than the first threshold, the overtaking mode is selected.

  According to this aspect, the variation in the inter-vehicle distance between the host vehicle and the preceding vehicle is measured by the inter-vehicle distance variation measuring means before the start of the automatic driving. The variation in the inter-vehicle distance is measured, for example, as a variation width of the inter-vehicle distance per unit time, the number of times of reversing the variation value, or the like. Then, it is determined whether or not the detected change in the inter-vehicle distance is equal to or greater than a fifth threshold value when switching to automatic driving. Here, the “fifth threshold value” is a threshold value for determining whether or not the driver intends to overtake the preceding person and is obtained theoretically, experimentally, or empirically in advance. Is set. For example, a vehicle that does not intend to overtake the preceding vehicle tends to travel while maintaining a constant distance from the preceding vehicle, whereas a vehicle that attempts to overtake the preceding vehicle has an inter-vehicle distance from the preceding vehicle. There is a tendency to drive while changing the details. By using such a tendency, it is possible to determine whether or not the driver has an intention to overtake the preceding vehicle based on the change in the inter-vehicle distance between the own vehicle and the preceding vehicle.

  In this aspect, in particular, when the variation in the inter-vehicle distance with the preceding vehicle is equal to or greater than the fifth threshold, the overtaking mode is exceptionally selected even if the continuation detection time of the preceding vehicle is equal to or greater than the first threshold. That is, even if the follow-up running is continued for a relatively long time until the automatic driving is started, the overtaking mode is selected when the inter-vehicle distance fluctuates finely. As described above, in this aspect, it is possible to more accurately reflect the driver's intention in the automatic driving by using the parameter of the variation in the inter-vehicle distance in addition to the continuous detection time.

  The effect | action and other gain of this invention are clarified from the form for implementing invention demonstrated below.

1 is a block diagram illustrating an overall configuration of a vehicle control device according to an embodiment. It is a top view which shows the preceding vehicle recognition area and white line recognition area of a vehicle. It is a conceptual diagram which shows the automatic driving | operation in follow-up mode. It is a conceptual diagram which shows the automatic driving | operation in overtaking mode. It is a flowchart which shows the operation | movement at the time of measuring the continuous detection time of a preceding vehicle. It is a flowchart which shows the mode selection operation | movement at the time of an automatic driving | operation start. It is a top view which shows an example of the condition where the horizontal shift with the own vehicle and a preceding vehicle has arisen. It is a top view which shows an example of the condition where the distance between the own vehicle and a preceding vehicle is short. It is a top view which shows an example of the condition where the inter-vehicle distance of the own vehicle and a preceding vehicle is changing finely. It is a conceptual diagram which shows the example of a display of a lock on mark.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<Device configuration>
First, the configuration of the vehicle control device according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing the overall configuration of the vehicle control device according to the present embodiment. In FIG. 1, for convenience of explanation, only members deeply related to the present embodiment among the members for controlling the vehicle are illustrated, and the other members are not illustrated.

  In FIG. 1, the vehicle control apparatus 10 includes, as main components, an ECU (Electronic Control Unit) 100, an in-vehicle camera 110, a millimeter wave radar 120, an automatic operation switch 130, a display 140, an electric accelerator 210, an electric brake 220, and an electric motor. A power steering 230 is provided.

  The ECU 100 is an electronic control unit that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like, and is configured to be able to control the operation of each part of the vehicle. The ECU 100 is configured to be able to execute various controls in the vehicle according to a control program stored in a ROM or the like, for example.

  The in-vehicle camera 110 mainly captures an image in front of the vehicle 1. A signal indicating an image captured by the in-vehicle camera 110 is transmitted to the ECU 100.

  The millimeter wave radar 120 emits a millimeter wave and receives a radio wave reflected by an object (for example, a preceding vehicle). Based on a propagation time or a frequency generated due to the Doppler effect, the millimeter wave radar 120 Measure position and relative speed with vehicle. The measurement result in the millimeter wave radar 120 is transmitted to the ECU 100.

  The automatic operation switch 130 is provided at a position where the driver in the vehicle can operate, and the normal operation and the automatic operation can be switched to each other by operating the switch.

  The display 140 is, for example, a display such as (Human Machine Interface), HUD (Head Up Display), or car navigation, and is provided at a position that can be viewed by the driver or the passenger. Alternatively, it may be a display such as a portable terminal (for example, a smartphone) possessed by the driver of the vehicle. The display 140 is configured to perform display according to various signals transmitted from the ECU 100.

  The electric accelerator 210 is configured to execute vehicle acceleration control during automatic driving. Further, the electric brake 220 is configured to be able to execute deceleration control of the vehicle during automatic driving. According to the electric accelerator 210 and the electric brake 220, for example, the ACC control can be executed based on the information on the preceding vehicle obtained from the in-vehicle camera 110 or the millimeter wave radar 120.

  The electric power steering 230 is configured to be able to execute steering control of the vehicle during automatic driving. According to the electric power steering 230, LKA control can be executed based on, for example, white line information obtained from the in-vehicle camera 110 and the millimeter wave radar 120.

  Further, the ECU 100 according to this embodiment particularly includes a preceding vehicle detection unit 101, a continuous detection time measurement unit 102, a preceding vehicle identification unit 103, a lateral deviation detection unit 104, an inter-vehicle distance detection unit 105, an inter-vehicle distance variation measurement unit 106, and A mode selection unit 107 is provided.

  The preceding vehicle detection unit 101 is an example of the “preceding vehicle detection unit” according to the present invention, and detects the presence of the preceding vehicle based on the measurement result of the millimeter wave radar 120.

  The continuous detection time measurement unit 102 is an example of the “measurement unit” according to the present invention, and measures the time during which the preceding vehicle is continuously detected by the preceding vehicle detection unit 101.

  The preceding vehicle identification unit 103 is an example of a “preceding vehicle identification unit” according to the present invention, and is a unique ID acquired using a license plate in an image captured by the in-vehicle camera 110 or a vehicle-to-vehicle communication system (not shown). Etc. to identify a plurality of preceding vehicles from each other.

  The lateral deviation detection unit 104 is an example of the “lateral deviation detection unit” according to the present invention, and is based on the image taken by the in-vehicle camera 110 and the lateral direction of the own vehicle and the preceding vehicle (that is, the progression) Detect the deviation in the direction that intersects the direction.

  The inter-vehicle distance detection unit 105 is an example of the “inter-vehicle distance detection means” according to the present invention, and detects the inter-vehicle distance between the host vehicle and the preceding vehicle based on the measurement result of the millimeter wave radar 120 and the like.

  The inter-vehicle distance variation measuring unit 106 is an example of the “inter-vehicle distance variation measuring unit” according to the present invention, and measures inter-vehicle distance variation (for example, variation width and variation frequency) detected by the inter-vehicle distance detection unit 105.

  The mode selection unit 107 is an example of the “mode selection unit” according to the present invention. The continuous detection time measured by the continuous detection time measurement unit 102, the lateral shift detected by the lateral shift detection unit 104, and the inter-vehicle distance Based on the inter-vehicle distance detected by the distance detector 105 and the inter-vehicle distance variation measured by the inter-vehicle distance variation measuring unit 106, a control mode at the start of automatic driving is selected. The control mode during automatic operation will be described in detail later.

<Previous vehicle detection method and automatic driving control>
Next, a method for detecting a preceding vehicle and an automatic driving control mode when a preceding vehicle is present will be described with reference to FIGS. FIG. 2 is a top view showing the preceding vehicle recognition area and the white line recognition area of the vehicle. FIG. 3 is a conceptual diagram showing automatic driving in the follow mode, and FIG. 4 is a conceptual diagram showing automatic driving in the overtaking mode.

  In FIG. 2, it is assumed that the preceding vehicle 320 is traveling in front of the host vehicle 310 on which the vehicle control device according to the present embodiment is mounted. In this case, when the host vehicle 310 is automatically operated, the in-vehicle camera 110 recognizes the white line 400 on the roadway, and the electric power steering 230 is controlled so as to travel in the white line 400 (LKA control). Further, the preceding vehicle 320 is recognized by the millimeter wave radar 120, and the electric accelerator 210 and the electric brake 220 are controlled based on the distance between the preceding vehicle 320 and the like (ACC control).

  And according to the vehicle control device concerning this embodiment, when the preceding vehicle 320 is detected, at least two control modes shown below are realizable.

  In FIG. 3, when the automatic driving is executed in the follow-up mode, the own vehicle 310 is controlled so as to travel with a constant inter-vehicle distance from the preceding vehicle 320. Specifically, the host vehicle 310 at the time when the automatic driving is started is controlled to run while maintaining a predetermined set vehicle speed. If the speed of the preceding vehicle 320 is higher than the speed of the host vehicle 310 and the inter-vehicle distance gradually increases, acceleration control by the electric accelerator 210 is executed (that is, the set vehicle speed is temporarily increased). ). On the other hand, if the speed of the preceding vehicle 320 is slower than the speed of the host vehicle 310 and the inter-vehicle distance gradually decreases, deceleration control by the electric brake 220 (or control for loosening the electric accelerator 210) is executed ( That is, the set vehicle speed is temporarily reduced). Thereby, the inter-vehicle distance between the host vehicle 310 and the preceding vehicle 320 is kept constant.

  In FIG. 4, when automatic driving is executed in the overtaking mode, the own vehicle 310 is controlled to run with priority given to keeping the set vehicle speed constant rather than keeping the inter-vehicle distance with the preceding vehicle 320 constant. Is done. For this reason, if the speed of the preceding vehicle 320 is slower than the speed of the host vehicle 310 and the inter-vehicle distance gradually decreases, the lane change control to the overtaking lane by the electric power steering 230 is executed, and the host vehicle 310 Drive over the car 320. In this way, even when there is a preceding vehicle 320 having a relative speed different from that of the host vehicle 310, the vehicle can travel with the set vehicle speed kept constant.

  As described above, the two control modes described above are selectively realized depending on whether priority is given to keeping the set vehicle speed constant. For this reason, if the driver of the host vehicle 310 cannot accurately determine whether or not to give priority to keeping the set vehicle speed constant, automatic driving is executed in an inappropriate mode. There is a risk of discomfort and discomfort. On the other hand, the vehicle control device according to the present embodiment is intended to realize a highly satisfactory automatic driving by accurately determining the intention (preference) of the driving vehicle and selecting a control mode.

  Below, the mode selection method at the time of an automatic driving | operation start is demonstrated in detail.

<Continuous detection time measurement control for the preceding vehicle>
First, the measurement of the continuous detection time used for automatic operation mode selection will be described with reference to FIG. FIG. 5 is a flowchart showing the operation when measuring the continuation detection time of the preceding vehicle.

  In FIG. 5, in the vehicle control apparatus according to the present embodiment, as described with reference to FIG. 2, it is monitored whether or not the preceding vehicle 320 exists using the in-vehicle camera 110 and the millimeter wave radar (step S101). . When the preceding vehicle 320 is detected by the preceding vehicle detection unit 101 (step S102: YES), the continuous detection time counting unit 102 starts counting the continuous detection time (step S103). Here, “the preceding vehicle 320 is detected” does not simply mean a state in which the presence of the preceding vehicle 320 is detected, but the preceding vehicle 320 that may affect the traveling control of the host vehicle 310. This means that the presence of is detected. Specifically, for example, when a predetermined threshold is set for each parameter such as an inter-vehicle distance and relative speed with the own vehicle 310, and the presence of a preceding vehicle 320 in which each parameter is within the predetermined threshold is detected. In this case, the state “the preceding vehicle 320 has been detected” is entered.

  If the preceding vehicle 320 that has been detected so far cannot be detected after the start of counting the continuous detection time (step S104: YES), the count of the continuous detection time is reset (step S105). In this case, the count of the continuous detection time is stopped until the preceding vehicle is detected again, and when the preceding vehicle is detected again, the continuous detection time is counted from the initial value of zero. On the other hand, when the preceding vehicle 320 is continuously detected (step S103: NO), the count of the continuous detection time is continued. For this reason, when the own vehicle 310 is traveling following the preceding vehicle, the continuous detection time continues to increase.

  In addition, the detection of the continuous detection time mentioned above is performed from the stage which the own vehicle 310 is drive | operating normally (namely, before automatic operation is started).

<Mode selection control at the start of automatic operation>
Next, automatic operation mode selection based on the continuation detection time will be described with reference to FIGS. FIG. 6 is a flowchart showing the mode selection operation at the start of automatic operation. FIG. 7 is a top view showing an example of a situation in which a lateral displacement between the own vehicle and the preceding vehicle occurs. FIG. 8 is a top view showing an example of a situation where the distance between the host vehicle and the preceding vehicle is short. FIG. 9 is a top view showing an example of a situation in which the inter-vehicle distance between the host vehicle and the preceding vehicle varies finely.

  In FIG. 6, when the driver turns on the automatic driving switch 130 while the vehicle is normally driving (step S <b> 201: YES), first, the preceding vehicle detection unit 101 detects the preceding vehicle 320. It is determined whether or not there is (step S202). If it is determined that the preceding vehicle 320 has not been detected (step S202: NO), automatic driving is started in the normal mode (that is, the control mode when there is no preceding vehicle) (step S211). That is, it is determined that there is no preceding vehicle 320 that affects the traveling control of the host vehicle 310, and selection control for the follow-up mode and the overtaking mode described later is not executed.

  On the other hand, if it is determined that the preceding vehicle 320 is detected (step S202: YES), whether or not the preceding vehicle 320 being detected is the same as the preceding vehicle detected immediately before by the preceding vehicle identifying unit 103. Is determined (step S203). In particular, when it is determined that the preceding vehicle 320 being detected is the same as the preceding vehicle detected immediately before (step S203: YES), the threshold value A1 used for determination using the continuous detection time described later. Is changed to a shorter threshold value A2 (step S204). When it is determined that the preceding vehicle 320 being detected is not the same as the preceding vehicle detected immediately before (step S203: NO), the threshold A1 is not changed.

  Here, “the preceding vehicle 320 being detected is the same as the preceding vehicle that was detected immediately before” means that the follow-up running is canceled against the driver's intention, and then the follow-up running is started again. Is assumed. Specifically, for example, when the driver is driving with intention to follow the preceding vehicle 320, the preceding vehicle 320 is temporarily not detected due to a sudden lane change of the preceding vehicle 320, and the like. Thereafter, a case where the driver changes the vehicle 310 to the lane to which the preceding vehicle 320 has moved and the preceding vehicle 320 is detected again is taken as an example. In such a case, the reason for changing the threshold A1 to a shorter A2 will be described in detail later.

  Subsequently, the mode selection unit 107 determines whether or not the continuation detection time at the time when the automatic operation switch 130 is operated is equal to or greater than the threshold value A1 (the threshold value A2 when changed in step S204) ( Step S205). If it is determined that the continuous detection time is not equal to or greater than the threshold value A1 (step S205: NO), the mode selection unit 107 selects the overtaking mode (step S210).

  Here, the continuation detection time is used to determine whether or not the driver has an intention to overtake the preceding vehicle 320 (in other words, whether or not priority is given to a constant set vehicle speed over follow-up traveling to the preceding vehicle 320). It is used as a standard. Specifically, when the continuation detection time is equal to or longer than the threshold value A1 (that is, relatively long), it can be said that the driver is following the preceding vehicle 320 for a long time. For this reason, when the continuation detection time is equal to or greater than the threshold value A1, it can be determined that the driver has no intention to overtake the preceding vehicle 320 (that is, he wants to continue following the vehicle as it is). On the other hand, if the continuation detection time is not greater than or equal to the threshold A1 (that is, relatively short), it can be determined that the driver is willing to overtake the preceding vehicle 320 paradoxically. Therefore, as described above, if the overtaking mode is selected when the continuation detection time is not equal to or greater than the threshold value A1, the automatic driving can be executed in a mode that accurately reflects the driver's intention.

  In step S203 described above, when it is determined that the preceding vehicle 320 being detected is the same as the preceding vehicle that was detected immediately before, the preceding vehicle 320 is temporarily not detected, thereby continuing detection time. Therefore, even if the driver has the intention to follow the preceding vehicle 320, it is considered that the continuous detection time is measured shortly against that intention. For this reason, by changing the threshold value A1 to a shorter A2 in step S204 (in other words, by making it easier for the driver to determine that he / she intends to follow), the driver's intention is reflected more accurately. Automatic operation can be started in the selected mode.

  On the other hand, even if it is determined that the continuous detection time is greater than or equal to the threshold value A1 (or A2) (step S205: YES), the follow-up mode is not unconditionally selected. When it is determined that the continuation detection time is greater than or equal to the threshold A1, first, the lateral deviation detection unit 104 detects the lateral deviation L1 between the host vehicle 310 and the preceding vehicle 320, and the predetermined threshold B or greater. Is determined (step S206).

  In FIG. 7, it is assumed that the lateral deviation L1 is relatively large, for example, as shown in the figure, in which the host vehicle 310 is traveling near the overtaking lane to overtake the preceding vehicle 320. Therefore, in such a case, it can be determined that the driver has an intention to overtake the preceding vehicle 320 even if the vehicle has been following for a relatively long period of time. Therefore, when the lateral deviation L1 is equal to or greater than the predetermined threshold B (step S206: YES), the overtaking mode is exceptionally selected even when the continuous detection time is equal to or greater than the threshold A1.

  Returning to FIG. 6, when the lateral deviation L1 is not equal to or greater than the predetermined threshold B (step S206: NO), the inter-vehicle distance detection unit 105 subsequently determines the inter-vehicle distance L2 between the host vehicle 310 and the preceding vehicle 320. It is detected and it is determined whether it is below a predetermined threshold C (step S207).

  In FIG. 8, it is assumed that the inter-vehicle distance L2 is extremely small, for example, as shown in the figure, in which the host vehicle 310 is traveling with a reduced inter-vehicle distance to overtake the preceding vehicle 320. Therefore, in such a case, it can be determined that the driver has an intention to overtake the preceding vehicle 320 even if the vehicle has been following for a relatively long period of time. Therefore, when the inter-vehicle distance L2 is equal to or less than the predetermined threshold C (step S207: YES), the overtaking mode is exceptionally selected even when the continuation detection time is equal to or greater than the threshold A1.

  Returning to FIG. 6 again, when the inter-vehicle distance L2 is not equal to or less than the predetermined threshold C (step S207: NO), the inter-vehicle distance variation measuring unit 106 then sets the inter-vehicle distance L2 between the host vehicle 310 and the preceding vehicle 320. A change is detected, and it is determined whether or not it is greater than or equal to a predetermined threshold D (step S207).

  In FIG. 9, as a state in which the inter-vehicle distance L2 varies greatly, for example, as shown in the figure, a state in which the host vehicle 310 is traveling while finely changing the inter-vehicle distance to overtake the preceding vehicle 320 is assumed. Therefore, in such a case, it can be determined that the driver has an intention to overtake the preceding vehicle 320 even if the vehicle has been following for a relatively long period of time. Therefore, when the fluctuation of the inter-vehicle distance L2 is equal to or greater than the predetermined threshold D (step S208: YES), the overtaking mode is exceptionally selected even when the continuous detection time is equal to or greater than the threshold A1.

  Returning to FIG. 6 again, if the change in the inter-vehicle distance L2 is not equal to or greater than the predetermined threshold D (step S208: NO), it is determined that the driver does not intend to overtake the preceding vehicle 320 and the follow-up mode is set. Is selected (step S209).

  If the follow-up mode and the overtaking mode are selected as described above, automatic driving that appropriately reflects the driver's intention can be executed.

<Lock-on display control>
Next, lock-on display control for visualizing the above-described mode selection control will be described with reference to FIG. FIG. 10 is a conceptual diagram showing a display example of the lock-on mark.

  In the mode selection control described above, the driver does not know which mode is selected unless automatic driving is actually started. For this reason, you may visualize mode selection control using the display 140 etc. which were mounted in the vehicle.

  In FIG. 10, it is assumed that an image ahead of the host vehicle 310 is displayed on the display 140. Here, FIG. 10A is an image at the time when the preceding vehicle 320 is recognized in the image. Since the continuous detection time is short at this stage, if the automatic operation switch 130 is operated. , The overtaking mode will be selected.

  However, when the continuous detection time becomes long and the automatic operation switch 130 is operated to select the follow-up mode, a lock-on mark 500 is displayed for the preceding vehicle 320 as shown in FIG. The That is, if the automatic operation switch 130 is operated with the lock on mark 500 displayed, the follow mode is selected, and if the automatic operation switch 130 is operated without the lock on mark 500 displayed, the overtaking mode is selected. Is done.

  If the lock-on mark is used, the driver can know in advance which control mode is realized when the automatic operation switch 130 is operated. Therefore, it is possible to reliably prevent the automatic operation from being executed in a mode not intended by the driver.

  Instead of the display on the display 140 described above, the driver may be notified of the selection mode (that is, the control mode selected when the automatic operation switch 130 is operated at the present time) by another method. For example, when a situation in which the follow-up mode is selected (that is, when the continuous detection time becomes equal to or greater than the threshold value A1), if the sound effect or the voice guide is played from the vehicle-mounted speaker, the above-described operation is performed. The same effect as the display of the lock-on mark can be obtained.

  In the present embodiment, the configuration and control that are deeply related to the present invention have been mainly described. However, the vehicle may be provided with other configurations related to automatic driving, or other control related to automatic driving is executed. It does not matter.

  As described above, according to the vehicle control device according to the present embodiment, it is possible to suitably execute automatic driving that appropriately reflects the driver's intention.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the scope or spirit of the invention that can be read from the claims and the entire specification. Is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Vehicle control apparatus, 100 ... ECU, 101 ... Leading vehicle detection part, 102 ... Continuation detection time measurement part, 103 ... Leading vehicle identification part, 104 ... Lateral direction deviation detection part, 105 ... Inter-vehicle distance detection part , 106: Inter-vehicle distance variation measurement unit, 107: Mode selection unit, 110: In-vehicle camera, 120 ... Millimeter wave radar, 130 ... Automatic operation switch, 140 ... Display, 210 ... Electric accelerator, 220 ... Electric brake, 230 ... Electric power Steering, 310 ... own vehicle, 320 ... preceding vehicle, 400 ... white line, 500 ... lock-on mark.

Claims (5)

A vehicle control device capable of automatic driving at least partially automatically performing a driving operation by a driver,
Preceding vehicle detection means for detecting a preceding vehicle traveling in front of the vehicle;
Measuring means for measuring a continuous detection time in which the preceding vehicle is continuously detected;
When the automatic operation is started, if the continuation detection time is equal to or greater than a first threshold, a tracking mode for following the preceding vehicle is selected, and the continuation detection time is less than the first threshold. Comprises a mode selection means for selecting an overtaking mode that prioritizes the set vehicle speed of the vehicle over following the preceding vehicle. An identification means for identifying the preceding vehicle,
When the same preceding vehicle is detected again within a predetermined period after the preceding vehicle is no longer detected, the mode selection means sets a second threshold shorter than the first threshold instead of the first threshold. The vehicle control device according to claim 1, wherein the mode is selected by using the vehicle control device. A lateral deviation detecting means for detecting a lateral deviation intersecting the traveling direction of the vehicle and the preceding vehicle;
The mode selection means, when the lateral deviation is equal to or greater than a third threshold, selects the overtaking mode even if the continuation detection time is equal to or greater than the first threshold. The vehicle control device according to 2. An inter-vehicle distance detecting means for detecting an inter-vehicle distance with the preceding vehicle;
4. The overtaking mode is selected even when the inter-vehicle distance is within a fourth threshold value, even if the continuation detection time is equal to or greater than the first threshold value. 5. Vehicle control device. An inter-vehicle distance variation measuring means for measuring the inter-vehicle distance variation with the preceding vehicle,
5. The overtaking mode is selected when the frequency of fluctuation of the inter-vehicle distance is equal to or greater than a fifth threshold, even if the duration detection time is equal to or greater than the first threshold. The vehicle control device according to item.

Images