JP2016181075A - Vehicle merging support method - Google Patents

Abstract

When a vehicle equipped with a rear monitoring means is guided by automatic steering at a road junction where a second vehicle travel lane joins the first vehicle travel lane from the side through a parallel running zone. When monitoring other vehicles in the proximity area located behind the vehicle in the first vehicle travel lane, a single rear monitoring means is used regardless of whether the vehicle joins from the left side or the right side. Make it in time with the smallest possible field of view.
The vehicle is guided so that the vehicle once deflects in a direction away from the first vehicle travel lane with respect to the travel direction along the parallel travel zone at the start point of the parallel travel zone.
[Selection] Figure 2

Description

  The present invention relates to assisting the driving of a vehicle by automatic steering at a road junction. More specifically, the second vehicle traveling lane has a parallel running band from the side of the first vehicle traveling lane. The present invention relates to a method of guiding a vehicle provided with rear monitoring means from the second vehicle travel lane to the first vehicle travel lane by automatic steering at a road junction where the vehicle merges.

  When a vehicle changes its lane on a road with two or more vehicle lanes, or passes through a road junction where the second vehicle lane joins the first vehicle lane from the side through the parallel running zone, As a means to support the interrupting operation by the computer, the front monitoring means for monitoring the front over a certain angle range and the rear side for monitoring the rear side of the side with the changed lane or the side of the vehicle lane after merging Japanese Patent Application Laid-Open No. 2004-151867 discloses a driving support device that searches for timing of lane change or merging based on information obtained from the monitoring means and notifies the driver when appropriate timing is obtained.

JP 2012-073925 A

  In the driving support device described in Patent Document 1, a right rear monitoring unit that monitors the right rear of the host vehicle and a left rear monitoring unit that monitors the left rear are separately provided. When changing lanes or merging from the left, the right rear monitoring means that monitors the right rear is activated in response to the operation of the right blinker, and when changing the lane to the left or merging from the right, In response, left rear monitoring means for monitoring the left rear is activated.

  As means for monitoring the front or rear of the vehicle, a radar, an infrared sensor, a camera or the like is used. However, as the field of view becomes wider, the price increases and the sensitivity decreases on the other hand. The viewing angle is preferably limited to the minimum necessary size. Of course, the number of monitoring means should be kept to a minimum.

  The present invention provides the first vehicle travel lane from the second vehicle travel lane at a road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel running zone. When the vehicle equipped with the rear monitoring means is guided to the rear by automatic steering, it is another vehicle in a proximity region located behind the own vehicle in the first vehicle traveling lane and is located on the side rear side for the own vehicle before joining. When monitoring a vehicle to be operated, the rear monitoring means can be made as a single means with a small field of view as much as possible when merging from the left side or the right side at a road junction. It is an issue.

  In order to solve the above-mentioned problems, the present invention provides the second vehicle travel lane at a road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel travel zone. More preferably, the vehicle having the rear monitoring means is guided to the first vehicle travel lane by automatic steering, so that the vehicle once moves with respect to the travel direction along the parallel travel zone at the start point of the parallel travel zone. The present invention proposes a method characterized by guiding a vehicle so as to be deflected in a direction away from one vehicle travel lane.

  As described above, the first vehicle travel lane from the second vehicle travel lane at the road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel running zone. When the vehicle having the rear monitoring means is guided by automatic steering until the vehicle once travels along the parallel zone at a starting point of the parallel zone, the vehicle is separated from the first vehicle lane. If the vehicle is guided to be deflected, the vehicle deflects its rear tail toward the first vehicle travel lane at the start of the parallel running zone, so a single rear monitoring means is provided at the rear of the vehicle. In this case, even if the field of view is relatively small, the vehicle in the first vehicle travel lane can be used regardless of whether the vehicle travel lanes merge at the road merge point from the left side or the right side. In the proximity area The vehicle is positioned on the side behind a other vehicle to the vehicle it can be put into the field of view of the monitoring.

A single vehicle travel lane from the second vehicle travel lane to the first vehicle travel lane at a road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel travel zone. It is a figure which shows the conventional method at the time of guiding a vehicle provided with the back monitoring means by automatic steering. A single vehicle travel lane from the second vehicle travel lane to the first vehicle travel lane at a road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel travel zone. It is a figure which shows the method of this invention which guides the vehicle provided with the back monitoring means by automatic steering.

  1 and 2, 1 is the first vehicle travel lane, 2 is the second vehicle travel lane, and in the drawing, the second vehicle travel lane 2 has the parallel travel zone 3. A road junction that joins the first vehicle travel lane 1 from the left side is shown.

  The vehicle 4 is equipped with a rear monitoring means 5 such as a radar, an infrared sensor, a camera or the like as a single device at the rear, and is an electronic control device by a computer incorporated in the vehicle. In this field, it is assumed that guidance is automatically provided from the second vehicle travel lane 2 to the first vehicle travel lane 1 by a driving support apparatus that is already known in various modes.

  In this case, assuming that the rear monitoring means 5 has a field of view 6 having a spread angle as indicated by radiation in the drawing, the vehicle 4 moves from the second vehicle travel lane 2 to the first vehicle travel lane 1. When the vehicle is guided by the conventional method as shown in FIG. 1, it detects a vehicle 7 that is in the vicinity of the first vehicle travel lane 1 and is located in the vicinity of the vehicle and located at the rear side of the vehicle. 2, the vehicle 4 is once separated from the first vehicle travel lane 1 with respect to the travel direction along the parallel travel zone 3 by the method of the present invention as shown in FIG. The vehicle 7 enters the field of view 6 of the rear monitoring means 5 and is detected.

  As can be seen from the comparison between FIG. 1 and FIG. 2, according to the present invention, at the road junction where the second vehicle travel lane 2 joins the first vehicle travel lane 1 from the side via the parallel travel zone 3. When the vehicle 4 is guided from the second vehicle travel lane 2 to the first vehicle travel lane 1, the vehicle 4 gradually moves toward the end of the second vehicle travel lane 2 toward the side where the first vehicle travel lane 1 is located. After that, it is turned so as to be deflected in the direction away from the first vehicle travel lane 1 with respect to the travel direction along the parallel travel zone 3 at the start point of the parallel travel zone 3, and then the previous turn And proceed along the center of the parallel zone 3.

  Thus, according to the present invention, the vehicle is repeatedly turned within the parallel running zone 3, but the vehicle is usually sufficiently decelerated once when merging with another road. It is considered that the vehicle is in a low vehicle speed state that can sufficiently adapt to the turning as described above from the starting point of the running band 3 to the middle.

  It will be apparent to those skilled in the art that various modifications can be made to the embodiment of the present invention described above within the scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... 1st vehicle travel lane, 2 ... 2nd vehicle travel lane, 3 ... Parallel running zone, 4 ... Vehicle, 5 ... Back monitoring means, 6 ... Visual field, 7 ... Vehicle

Claims (1)

  Rear monitoring means from the second vehicle travel lane to the first vehicle travel lane at a road junction where the second vehicle travel lane joins the first vehicle travel lane from the side through the parallel running zone. In the method of guiding a vehicle equipped with automatic steering, the vehicle once deflects in a direction separated from the first vehicle travel lane with respect to the travel direction along the parallel travel zone at the start point of the parallel travel zone. A method characterized by guiding a vehicle.

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