JP2018109591A - Automatic drive control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately control a vehicle when the vicinity of a branch point on a road is congested in automatic driving control of the vehicle. An automatic driving control device (10) includes an automatic driving control unit (22C) that controls the automatic driving of the own vehicle (C0), a traffic jam information acquisition unit (22A) that acquires traffic congestion information on the road on which the own vehicle (C0) travels, and the own vehicle (C0). It is provided with a traveling route information acquisition unit 22B that acquires the traveling route information of the preceding vehicle from the preceding vehicle traveling ahead of the vehicle. The travel route information includes the position of the branch point, which is the approach point to the branch road branching from the currently traveling road. When there is a congested lane in front of the own vehicle C0, the automatic driving control unit 22C coincides with the branch point of the congested lane traveling vehicle traveling in the congested lane with the branch point included in the traveling route of the own vehicle C0. In this case, the own vehicle C0 is driven following the vehicle traveling in the congested lane, and when the branch points do not match, the own vehicle C0 is driven while avoiding the congested lane. [Selection diagram] Fig. 2

Description

  The present invention relates to an automatic driving control device for a vehicle.

  In recent years, a vehicle that travels on a road by automatic driving control based on a detection result of an in-vehicle sensor or the like has been proposed. For example, an automatic driving vehicle system according to Patent Document 1 below generates a travel plan, generates a control range of a target control value of the vehicle in the travel plan, and a vehicle state corresponds to the target control value. A travel control unit that calculates a command control value so as to achieve a target vehicle state, and an actuator that controls the travel of the vehicle based on the command control value.

  In addition, a technique has been proposed in which information related to road conditions is received from other vehicles traveling around the host vehicle and driving assistance is provided. For example, in the driving support system according to Patent Document 2 below, the first information processing device mounted on the first traveling vehicle obtains the situation information during traveling of the first traveling vehicle and the acquisition location indicating the acquired location. A travel-related information acquisition unit that acquires travel-related information including information, and a travel-related information transmission unit that transmits the travel-related information to a second traveling vehicle that is an oncoming vehicle. In addition, the second information processing apparatus mounted on the second traveling vehicle has a route indicated by the acquisition location information included in the traveling related information received by the traveling related information receiving unit from the first traveling vehicle that is an oncoming vehicle. A determination unit that determines whether or not the route is searched by the search unit, and driving support that is information that supports driving according to the travel-related information when the determination unit determines that the route is searched. A driving support information output unit for outputting information.

Japanese Patent Laid-Open No. 2006-203882 JP 2013-101010 A

In conventional automatic driving control, for example, when entering a destination such as a store beside a road, traffic congestion at the entrance (branch point with the road) is not considered. For this reason, when there is a traffic jam around the entrance, there is a possibility that the traffic will be mistakenly recognized as a traffic jam and the passing lane may be changed to pass through the entrance.
FIG. 7 is an explanatory view schematically showing automatic driving control according to the conventional technique.
In FIG. 7, the symbol L is a road including the travel lane L1 of the host vehicle C0, and is a multi-lane road composed of lanes L1 and L2. Reference sign S is a central separator. Moreover, code | symbol B1, B2 is a branch road branched from the road L, for example, is a passage for entrance to a store. Reference signs P1 and P2 are branch points between the road L and the passage B1 or B2.
In FIG. 7A, the traveling route of the host vehicle C0 is a route that enters the passage B1 through the branch point P1. The four preceding vehicles C1 to C4 stop in front of the host vehicle C0, and the train (congestion) of the preceding vehicles C1 to C4 continues to the branch point P1 and the passage B1 where the host vehicle C0 should travel. .
In the automatic driving control according to the prior art, under the situation as shown in FIG. 7A, the lane may be changed to the lane L2 in order to avoid a traffic jam, and as a result, there is a possibility that the vehicle cannot enter the passage B1.

Also, for example, if there is a traffic jam before the entrance to the destination, if it is normal to change the lane to the overtaking lane and avoid the traffic jam, return to the original lane and enter the destination, There is a possibility that it will follow the traffic jam and arrive at the destination.
For example, in FIG. 7B, the traveling route of the host vehicle C0 is a route that enters the passage B2 through the branch point P2. Four preceding vehicles C1 to C4 stop in front of the host vehicle C0, and the train (congestion) of the preceding vehicles C1 to C4 branches off from the branch point P2 and the passage B2 where the host vehicle C0 should travel. It continues to point P1 and passage B1.
In the automatic driving control according to the conventional technology, the traffic jam is at the tail end under the situation as shown in FIG. 7B, and as a result, arrival at the destination may be delayed.

  The present invention has been made in view of such circumstances, and an object of the present invention is to appropriately control a vehicle when the vicinity of a branch point on a road is congested in automatic driving control of the vehicle.

In order to achieve the above object, an automatic driving control device according to the invention of claim 1 includes an automatic driving control unit that controls automatic driving of the host vehicle, and a traffic jam information acquiring unit that acquires traffic jam information ahead of the host vehicle. And a travel route information acquisition unit that acquires travel route information of the preceding vehicle from a preceding vehicle traveling in front of the host vehicle, wherein the travel route information is a branch road that branches from the currently traveling road. The automatic operation control unit, when there is a traffic lane in front of the host vehicle, the branch point of the traffic lane traveling vehicle traveling in the traffic lane The vehicle travels following the traffic lane traveling vehicle when it coincides with a branch point included in the traveling path of the host vehicle, and the traffic lane is avoided when the vehicle does not coincide with the branch point. Drive your vehicle, And wherein the door.
In the automatic driving control device according to the invention of claim 2, the traveling route information acquisition unit acquires the traveling route information from a plurality of the traffic lane traveling vehicles traveling in front of the host vehicle, and the automatic driving control unit If there is one or more vehicles with the same branching point among a plurality of the traffic lane traveling vehicles, the vehicle follows the traffic lane traveling vehicle and travels the own vehicle. When there is no vehicle, the vehicle is allowed to travel avoiding the traffic lane.
In the automatic driving control device according to the invention of claim 3, the traveling route information acquisition unit acquires the traveling route information from a plurality of the congested lane traveling vehicles traveling in front of the host vehicle, and the automatic driving control unit Follows the traffic lane traveling vehicle when the traffic congestion lane ahead of the host vehicle is congested and there are more than a predetermined percentage of vehicles having the same branch point among the traffic lane traveling vehicles. Then, the host vehicle is caused to travel, and when the number of vehicles having the same branch point is less than the predetermined ratio, the host vehicle is allowed to travel while avoiding the traffic jam lane.
The automatic driving control apparatus according to a fourth aspect of the present invention further includes a setting unit that receives the setting of the predetermined ratio from a user of the host vehicle.
In the automatic driving control device according to the invention of claim 5, the travel route information acquisition unit acquires the travel route information from the immediately preceding traveling vehicle that is the traffic jam lane traveling vehicle immediately before the own vehicle, and When the branch point of the immediately preceding traveling vehicle coincides with the branch point included in the travel route of the own vehicle, the operation control unit follows the immediately preceding traveling vehicle to travel the host vehicle, and the branch point is If they do not match, the vehicle is allowed to travel while avoiding the traffic lane.

According to the first aspect of the present invention, when there is a traffic lane ahead of the host vehicle, when the branch point of the traffic lane traveling vehicle coincides with the branch point included in the travel route of the host vehicle, that is, the traffic lane traveling vehicle and When the traveling route of the host vehicle is predicted to be the same, the host vehicle is driven following the traffic lane traveling vehicle, and the traveling route of the traffic lane traveling vehicle and the host vehicle are predicted to be different when the bifurcation points do not match. When the vehicle is to be driven, the vehicle is driven avoiding the traffic lane. As a result, when the traffic jam that is occurring is a traffic jam waiting to enter the branch road where the vehicle should enter, it is possible to follow the traffic jam and enter the branch road without fail. When the vehicle is not related to the approach to the branch road, it is possible to avoid the traffic jam and shorten the time required to reach the destination.
According to the second aspect of the present invention, when there is one or more traffic lane traveling vehicles having the same branch point (traveling route), the vehicle travels following the traffic congestion lane traveling vehicle, so that the vehicle can be surely moved to the branch road. It will be advantageous when entering.
According to the invention of claim 3, when there is a traffic congestion lane traveling vehicle with a matching branch point (traveling path) that is equal to or greater than a predetermined ratio, the vehicle travels following the traffic congestion lane traveling vehicle. This is advantageous in balancing with the priority of avoiding mistakes at branching.
According to the fourth aspect of the present invention, since the predetermined ratio can be set by the user, the vehicle behavior at the time of traffic jam can be determined reflecting the user's driving preference.
According to the fifth aspect of the present invention, when the traffic jam lane traveling vehicle (immediately traveling vehicle) traveling immediately before the host vehicle coincides with the branch point (traveling route), the host vehicle is caused to follow the traffic jam lane traveling vehicle. Therefore, the host vehicle only needs to be able to communicate only with the immediately preceding traveling vehicle, which is advantageous in reducing the cost of the system and the processing load of the automatic driving control device.

It is a block diagram showing composition of automatic operation control device 10 concerning an embodiment. It is explanatory drawing which shows typically the control by 22 A of automatic operation control parts. It is explanatory drawing which shows typically the control by 22 A of automatic operation control parts. 4 is a flowchart showing a processing procedure of the automatic operation control device 10. FIG. 10 is an explanatory diagram schematically showing control in the second embodiment. FIG. 10 is an explanatory diagram schematically showing control in the second embodiment. It is explanatory drawing which shows typically the automatic driving control concerning a prior art.

(Embodiment 1)
Exemplary embodiments of an automatic operation control device according to the present invention will be explained below in detail with reference to the accompanying drawings.
FIG. 1 is a block diagram illustrating a configuration of an automatic operation control apparatus 10 according to an embodiment.
Hereinafter, a vehicle equipped with the automatic driving control device 10 is referred to as “own vehicle”, and a vehicle other than the own vehicle is referred to as “other vehicle”. However, it is assumed that the automatic driving control device 10 is also installed in other vehicles.
The automatic driving control apparatus 10 uses the information acquired by the in-vehicle sensors or the like to basically run the vehicle without user intervention.

The automatic driving control device 10 includes an ECU 22, an in-vehicle sensor 26, a navigation device 28, an operation unit 30, a communication unit 32, a drive ECU 34, a brake ECU 36, and a steering ECU 38.
The in-vehicle sensor 26 is a sensor that detects objects and road conditions around the host vehicle. In the present embodiment, the in-vehicle sensor 26 includes a camera unit 2602, a radar unit 2604, and a sonar unit 2606. .
The camera unit 2602 captures the entire circumference of the host vehicle, generates image information around the host vehicle, and determines the state around the host vehicle (the position of other vehicles and obstacles, the number of lanes on the travel road, the travel lane) from the image information. ).
The radar unit 2604 transmits a transmission wave composed of an electromagnetic wave toward the front and rear of the host vehicle, receives a reflected wave reflected by the object, and detects the presence of the object and the distance to the object. The radar unit 2604 is suitable for detecting an object far from the host vehicle.
The sonar unit 2606 transmits a transmission wave composed of ultrasonic waves toward the front and rear of the host vehicle, receives a reflected wave reflected by the object, and detects the presence / absence of the object and the distance to the object. The sonar unit 2606 is suitable for detecting an object close to the host vehicle.
The radar unit 2604 and the sonar unit 2606 supply the detection result to the ECU 22.

The navigation device 28 is provided with map information, receives position signals of the host vehicle by receiving signals from positioning satellites, and provides route guidance for the host vehicle. The map information may include lane number information for each road.
The navigation device 28 supplies map information including the position information of the host vehicle to the ECU 22.

The operation unit 30 receives various setting operations for automatic driving control from a user (mainly a driver) of the host vehicle. The operation unit 30 functions as a setting unit in the claims.
The operation unit 30 includes, for example, an operation switch or a touch panel provided in the vehicle interior.

The communication unit 32 communicates with a device outside the host vehicle.
In the present embodiment, the communication unit 32 is provided on the road side around the host vehicle and between the vehicles and the communication unit (not shown) provided on the other vehicle CX traveling around the host vehicle. It corresponds to road-to-vehicle communication that communicates with the roadside device 50.
The roadside device 50 is connected to a wide area network NW such as the Internet, and enables the communication unit 32 to communicate with the route information providing server 52, the traffic jam information providing server 54, and the like that are also connected to the wide area network NW. Further, the roadside device 50 may relay communication between the other vehicle CX and the own vehicle that are separated to the extent that direct vehicle-to-vehicle communication cannot be performed.
The communication part 32 transmits / receives various information using conventionally well-known wireless communication techniques, such as Wi-Fi and a beacon, for example.

The drive ECU 34 controls traveling of the host vehicle by controlling an engine or a motor that is a driving source of the host vehicle based on control of an automatic driving control unit 22C described later.
The brake ECU 36 controls the braking of the host vehicle by controlling the actuator of the braking mechanism based on the control of the automatic driving control unit 22C.
The steering ECU 38 steers the host vehicle by controlling the actuator of the steering mechanism based on the control of the automatic driving control unit 22C.

The ECU 22 is responsible for the automatic driving control of the host vehicle, and includes a CPU, a ROM that stores and stores a control program, a RAM as an operation area of the control program, a storage unit such as an EEPROM that holds various data in a rewritable manner, An interface unit that interfaces with peripheral circuits and the like is included.
The ECU 22 functions as a traffic jam information acquisition unit 22A, a travel route information acquisition unit 22B, and an automatic driving control unit 22C by executing the control program.

The traffic jam information acquisition unit 22A acquires traffic jam information ahead of the host vehicle.
The traffic jam information acquisition unit 22A receives traffic jam information provided from the traffic jam information providing server 54 via the roadside device 50, for example. In addition, the traffic information acquisition unit 22A uses, for example, an image photographed by the camera unit 2602, a traveling behavior of the host vehicle (running speed and acceleration / deceleration history), and the like on a road on which the host vehicle travels (particularly in the forward direction). It may be determined whether or not there is traffic.

The travel route information acquisition unit 22B acquires travel route information from a preceding vehicle that travels ahead of the host vehicle. The travel route information is information indicating the travel route of the preceding vehicle, and includes the position of a branch point that is an entry point to the branch road that branches from the currently traveling road.
The travel path information acquisition unit 22B acquires travel path information from a traffic lane traveling vehicle that travels in the traffic lane (lined up in the traffic jam lane), particularly when there is a traffic lane in front of the host vehicle. To do. At this time, the traveling route information may be acquired from a plurality of congested lane traveling vehicles traveling in front of the immediately preceding traveling vehicle in addition to the immediately preceding traveling vehicle that is a congested lane traveling vehicle traveling immediately before the host vehicle.
A branch point is a point away from the currently traveling lane, such as an intersection, an entrance to a facility beside a road, or a branch of a highway.
The travel route information includes position information (latitude and longitude information, etc.) and travel direction information of a preceding vehicle (congested lane traveling vehicle), an identifier for identifying the preceding vehicle, and the like in addition to the position information of the branch point. .

The travel route information acquisition unit 22B receives the travel route information through inter-vehicle communication via the communication unit 32 from, for example, a congested lane traveling vehicle.
More specifically, the travel route information acquisition unit 22B receives travel route information from, for example, other vehicles located within the communication range of the communication unit 32. Then, position information is extracted from the received traveling route information of the other vehicle, and it is determined whether or not the other vehicle is located on a traffic jam lane ahead of the host vehicle.
When the other vehicle is not located on the traffic jam lane in front of the host vehicle, the traveling route information of the other vehicle is ignored. On the other hand, when the other vehicle is located on the traffic lane ahead of the host vehicle, the other vehicle is recognized as a traffic lane traveling vehicle, and a branch point is extracted from the travel route information.

Further, the travel route information acquisition unit 22B may receive the travel route information through road-to-vehicle communication via the communication unit 32, for example.
More specifically, the travel route information acquisition unit 22B is connected to the wide area network NW via the communication unit 32, for example, and requests the route information providing server 52 to receive travel route information of a traffic lane traveling vehicle. At the time of requesting the reception of the travel route information, for example, the location information of the own vehicle and the information specifying the traffic lane are transmitted to the route information providing server 52.
The route information providing server 52 sequentially receives and accumulates the traveling route information from each vehicle traveling on the road. The route information providing server 52 extracts a vehicle located on a traffic lane ahead of the host vehicle as a traffic lane traveling vehicle based on the position information and travel route information of the host vehicle, and obtains the travel route information of the traffic lane traveling vehicle. Send to your vehicle.
Note that the method of acquiring the travel route information by the travel route information acquiring unit 22B described above is an example, and various conventionally known methods can be applied.

  The automatic driving control unit 22C controls the automatic driving of the host vehicle. More specifically, the automatic driving control unit 22C controls the host vehicle based on the situation around the host vehicle detected by the in-vehicle sensor 26, map information stored in the navigation device 28, position information of the host vehicle, and the like. The content is determined, and the control content is given to the drive ECU 34, the brake ECU 36, and the steering ECU 38, whereby automatic driving control is performed.

Here, when there is a traffic lane that is congested in front of the host vehicle, the automatic driving control unit 22C determines that the branch point of the traffic lane traveling vehicle traveling in the traffic lane is included in the travel path of the host vehicle. If they match, the vehicle travels following the traffic lane traveling vehicle, and if the branch point does not match, the vehicle travels avoiding the traffic lane.
That is, when the own vehicle encounters a traffic jam, the automatic driving control unit 22C determines that the traffic jam is due to waiting for entering the branch road (on the traveling path of the own vehicle) that the host vehicle should enter, or to the branch road. Judge whether the traffic is unrelated to the approach. If the vehicle is congested due to waiting for entry to the branch road to which the vehicle should enter, the vehicle cannot travel to the branch road unless the vehicle train is followed. In addition, when there is a traffic jam that is unrelated to the branch road to which the host vehicle should enter, the traffic can be avoided and the destination can be reached in a shorter time.
At this time, whether or not the traffic jam occurring in front of the host vehicle is a traffic jam waiting to enter the branch road to which the host vehicle should enter is determined by traveling in the traffic jam lane, that is, the traffic jam lane Judgment is made from the travel route information of a vehicle traveling in a traffic lane. In other words, if the travel route of the traffic lane traveling vehicle matches the travel route of the host vehicle, it is determined that there is traffic jam due to entering the branch road on the route toward the destination of the host vehicle. If the traveling route does not match the traveling route of the host vehicle, it is determined that the traffic is unrelated to entering the branch road. Note that whether the traveling route of the traffic jam lane and the own vehicle coincides is not whether the travel routes all coincide, but the next branch point between the traffic jam lane running vehicle and the subject vehicle (currently traveling) It is sufficient to determine whether or not the points away from the road match.

  In the first embodiment, the travel route information is acquired from a plurality of congested lane traveling vehicles traveling in front of the host vehicle, and if there is one or more vehicles having the same branch point among the congested lane traveling vehicles, the traffic jam occurs. The host vehicle is driven following the lane-traveling vehicle, and when there is no vehicle having a matching branch point, the host vehicle is driven while avoiding a traffic jam lane.

2 and 3 are explanatory diagrams schematically showing control by the automatic operation control unit 22C.
2 and 3, the symbol L is a road including a traffic jam lane L1, and is a multi-lane road composed of lanes L1 and L2. Moreover, code | symbol B1, B2 is a branch road branched from the road L, for example, is a passage for entrance to a store. Reference signs P1 and P2 are branch points between the road L and the passage B1 or B2.

First, the case where the host vehicle C0 is traveling on the traffic jam lane L1 will be described with reference to FIG.
<A> When there are one or more vehicles having the same branch point In FIG. 2A, four congested lane traveling vehicles C1 to C4 are stopped in front of the host vehicle C0. The travel route of the traffic lane traveling vehicles C1 to C4 is assumed to be a route (P1 route) that enters the passage B1 through the branch point P1.
Further, the traveling route of the host vehicle C0 is also a route (P1 route) that enters the passage B1 through the branch point P1, but when the host vehicle C0 finds a traffic jam, this traffic jam (the traffic vehicle running in the traffic lane) It cannot be determined whether or not the train of C1 to C4 is connected to the branch point P1.
Here, the traffic lane traveling vehicles C1 to C4 transmit traveling route information using vehicle-to-vehicle communication or road-to-vehicle communication, respectively. Therefore, the automatic driving control device 10 acquires the traveling route information of the traffic congestion lane traveling vehicles C1 to C4 by the traveling route information acquisition unit 22B, and the automatic driving control unit 22C acquires the branch point P1 among the traffic congestion lane traveling vehicles C1 to C4. It is determined whether or not there is a vehicle (a vehicle whose branch point coincides with the host vehicle) for which a route entering the passage B1 is set.
When there is at least one vehicle whose branch point coincides with the own vehicle, the automatic driving control apparatus 10 determines that the forward traffic jam is a traffic jam waiting to enter the passage B1. In other words, in FIG. 2A, the travel routes of the traffic lane traveling vehicles C1 to C4 are all routes that enter the passage B1 through the branch point P1, so that the traffic jam ahead is determined as traffic jam waiting to enter the passage B1, and the vehicle C0 is The vehicle travels in the lane L1 as it is, and is tracked to the last traffic jam lane vehicle C4 in the traffic jam.

<B> When there is no vehicle having the same branch point In FIG. 2B, four traffic lane traveling vehicles C1 to C4 are stopped in front of the host vehicle C0. It is assumed that the travel route of the traffic lane traveling vehicles C1 to C4 is a route that enters the passage B1 through the branch point P1.
On the other hand, the traveling route of the host vehicle C0 is a route that enters the passage B2 through the branch point P2 ahead of the branch point P1. When the own vehicle C0 finds a traffic jam, the host vehicle C0 cannot determine whether this traffic jam (the train of vehicles in the traffic jam lanes C1 to C4) is connected to the branch point P2.
As in the case of FIG. 2A, the automatic driving control device 10 acquires the traveling route information of the traffic lane traveling vehicles C1 to C4 by the traveling route information acquisition unit 22B, and each of the traffic lane traveling vehicles C1 to C1 by the automatic driving control unit 22C. It is determined whether or not there is a vehicle (a vehicle having a branch point that coincides with the host vehicle) that has entered a path B2 through the branch point P2 in C4.
When there is no vehicle whose own vehicle and the branch point coincide with each other, the automatic driving control apparatus 10 determines that the traffic jam ahead is a traffic jam unrelated to the vehicle branch point P2. That is, in FIG. 2B, the travel routes of the traffic lane traveling vehicles C1 to C4 are all routes that pass through the branch point P1 and enter the passage B1, so that the traffic jam ahead is determined as a traffic jam that is unrelated to the branch point P2 of the own vehicle. The vehicle C0 is changed to the adjacent lane L2, and traffic is avoided and the vehicle C0 is directed to the branch point P2.

Next, a case where the host vehicle C0 is traveling on a lane L2 where there is no traffic jam will be described with reference to FIG.
<A> When there are one or more vehicles with matching branch points In FIG. 3A as well, four traffic lane traveling vehicles C1 to C4 are stopped in front of the host vehicle C0. The travel route of the traffic lane traveling vehicles C1 to C4 is assumed to be a route (P1 route) that enters the passage B1 through the branch point P1.
The traveling route of the host vehicle C0 is also a route (P1 route) that enters the passage B1 through the branch point P1.
As in the case of FIG. 2A, the automatic driving control device 10 acquires the traveling route information of the traffic lane traveling vehicles C1 to C4 by the traveling route information acquisition unit 22B, and each of the traffic lane traveling vehicles C1 to C1 by the automatic driving control unit 22C. It is determined whether or not there is a vehicle (a vehicle having a branch point that coincides with the host vehicle) set in C4 through the branch point P1 and entering the passage B1.
When there is at least one vehicle whose branch point coincides with the own vehicle, the automatic driving control apparatus 10 determines that the forward traffic jam is a traffic jam waiting to enter the passage B1. That is, in FIG. 3A, the travel routes of the traffic lane traveling vehicles C1 to C4 are all routes that pass through the branch point P1 and enter the passage B1, and therefore, the traffic jam ahead is determined as traffic jam waiting to enter the passage B1, and the own vehicle C0 is determined. The lane is changed and the vehicle enters the traffic jam lane L1 to track the traffic vehicle C4 at the tail of the traffic jam.

<B> When there is no vehicle with the same branch point In FIG. 3B as well, the four congested lane traveling vehicles C1 to C4 are stopped in front of the host vehicle C0. It is assumed that the travel route of the traffic lane traveling vehicles C1 to C4 is a route that enters the passage B1 through the branch point P1.
On the other hand, the traveling route of the host vehicle C0 is a route that enters the passage B2 through the branch point P2 ahead of the branch point P1. When the own vehicle C0 finds a traffic jam, the host vehicle C0 cannot determine whether this traffic jam (the train of vehicles in the traffic jam lanes C1 to C4) is connected to the branch point P2.
Similarly to the case of FIG. 3A, the automatic driving control device 10 acquires the traveling route information of the traffic lane traveling vehicles C1 to C4 by the traveling route information acquisition unit 22B, and each of the traffic lane traveling vehicles C1 to C1 by the automatic driving control unit 22C. It is determined whether or not there is a vehicle (a vehicle having a branch point that coincides with the host vehicle) that has entered a path B2 through the branch point P2 in C4.
When there is no vehicle whose own vehicle and the branch point coincide with each other, the automatic driving control apparatus 10 determines that the traffic jam ahead is a traffic jam unrelated to the vehicle branch point P2. That is, in FIG. 3B, the travel routes of the traffic lane traveling vehicles C1 to C4 are all routes that enter the passage B1 through the branch point P1, and therefore, the forward traffic jam is determined to be a traffic jam unrelated to the branch point P2 of the own vehicle. The vehicle C0 is allowed to travel in the lane L2 as it is, and is directed to the branch point P2 while avoiding traffic congestion.

  As described above, according to the automatic driving control device 10, when a traffic jam occurs in front of the host vehicle (particularly, a specific lane among a plurality of lane roads), whether to follow the traffic jam or to change the lane is determined. This makes it possible to appropriately determine and improve the convenience of automatic driving control.

FIG. 4 is a flowchart showing a processing procedure of the automatic operation control apparatus 10.
The automatic driving control device 10 acquires the traffic information on the road ahead of the host vehicle by the traffic information acquisition unit 22A (step S300).
The automatic driving control unit 22C determines whether or not there is a traffic lane in front of the host vehicle based on the traffic jam information acquired in step S300 (step S302). If there is no traffic jam (step S302: No), the process returns to step S300.

  On the other hand, when a traffic jam has occurred (step S302: Yes), the travel route information acquisition unit 22B acquires the travel route information of the traffic vehicle in the traffic lane (the vehicle following the traffic jam) (step S304). When there is at least one vehicle in which the next branch point coincides with the branch point included in the traveling route of the own vehicle among the traffic lane traveling vehicles (step S306: Yes), the automatic operation control unit 22C enters the own vehicle. It is determined that there is a traffic jam waiting to enter the branch road to be made, and an announcement is made to the user that the vehicle follows the traffic lane traveling vehicle (step S308).

Announcement to the user is, for example, a message such as “Follow the traffic jam line. There is a possibility of traffic jam ahead. If you want to cancel the tracking, please press the cancel button.” Displayed on a display (for example, the display of the navigation device 28) or by outputting sound from a speaker.
The user who received such an announcement waits as it is when following the determination of the automatic driving control unit 22C. In addition, when it is desired to travel without following a congested vehicle train, a predetermined cancel button (operation unit 30) is operated.

If there is no canceling operation within a predetermined time after the announcement (step S310: No), the automatic driving control unit 22C causes the host vehicle to travel following the traffic lane traveling vehicle (step S318). At this time, if the traveling lane of the host vehicle is a traffic lane, the vehicle immediately follows the preceding vehicle, and if the traveling lane of the host vehicle is a lane different from the traffic lane, the lane is changed. It will follow the last car in the traffic jam above.
On the other hand, if there is a canceling operation within a predetermined time after the announcement (step S310: Yes), the process proceeds to step S316 and travels avoiding the traffic lane (step S316). In other words, if the vehicle's travel lane is a traffic lane, the lane is changed to drive an adjacent lane without traffic, and if the vehicle's travel lane is a lane different from the traffic lane, the current lane is traveling as it is. To advance.
At this time, for example, “Change lane to avoid traffic congestion. This route may be changed. Please be careful.” If you cannot enter the branch road due to traffic congestion, change the route. Announce that there is a possibility to do.

  In step S306, when there is no traffic jam lane vehicle in which the next branch point coincides with the branch point included in the traveling route of the host vehicle (step S306: No), the automatic driving control unit 22C It is determined that the traffic jam is not a traffic jam waiting for entry into the branch road to which the host vehicle should enter, and an announcement is made to the user that the vehicle travels while avoiding the traffic jam (step S312).

For example, in the situation shown in Fig. 2B, a message such as "There is a possibility of traffic congestion in the future and the lane will be changed. To cancel the lane change, press the cancel button." This is performed by displaying on a display (for example, a display of the navigation device 28) provided in the vehicle or by outputting sound from a speaker.
Further, for example, as shown in FIG. 3B, the announcement may be omitted in the case of continuing the travel in the lane that has been traveled so far.
The user who received such an announcement waits as it is when following the determination of the automatic driving control unit 22C. In addition, when it is desired to follow the traffic jam train without avoiding traffic jam, a predetermined cancel button (operation unit 30) is operated.

If there is no cancel operation within a predetermined time after the announcement (step S314: No), the automatic operation control unit 22C travels while avoiding traffic jam (step S316).
On the other hand, if there is a cancel operation within a predetermined time after the announcement (step S314: Yes), the process proceeds to step S318, and the host vehicle is driven following the traffic lane traveling vehicle (step S318). At this time, for example, "I will follow the congested train. There is a possibility of a traffic jam ahead. Please be careful." Announce that there is.

As described above, when there is a traffic lane ahead of the host vehicle, the automatic driving control device 10 determines that the branch point of the vehicle traveling on the traffic lane coincides with the branch point included in the travel route of the host vehicle, that is, the traffic jam. When the traveling route of the lane traveling vehicle and the own vehicle is predicted to be the same, the traveling vehicle follows the traffic congestion lane traveling vehicle, and when the branch point does not coincide, that is, the traveling route of the traffic congestion lane traveling vehicle and the own vehicle If the vehicle is predicted to be different, the vehicle will run avoiding traffic lanes.
As a result, when the traffic jam that is occurring is a traffic jam waiting to enter the branch road where the vehicle should enter, it is possible to follow the traffic jam and enter the branch road without fail. When the vehicle is not related to the approach to the branch road, it is possible to avoid the traffic jam and shorten the time required to reach the destination.
In particular, according to the first embodiment, when there are one or more vehicles with matching branch points (traveling paths) in a traffic lane traveling vehicle, the vehicle travels following the traffic lane traveling vehicle. This is advantageous for reliably entering the branch road.

(Embodiment 2)
In the first embodiment, when there is at least one vehicle having a branch point that coincides with the own vehicle among a plurality of traffic lane traveling vehicles constituting a traffic lane, the vehicle travels following the traffic lane. did.
In the second embodiment, the vehicle travels following a congested vehicle train when there is a predetermined percentage or more of vehicles having a branch point that coincides with the own vehicle among a plurality of congested lane traveling vehicles constituting the congested vehicle train. That is, when the road on which the vehicle is traveling is congested, the automatic driving control unit 22C determines that a traffic congestion lane traveling vehicle is present when there are more than a predetermined percentage of vehicles having matching branch points among a plurality of congested lane traveling vehicles. Following the vehicle, the vehicle travels. When the number of vehicles having the same branch point is less than a predetermined ratio, the vehicle travels while avoiding a traffic jam lane. As a result, it is possible to achieve a balance between the priority for avoiding traffic jams and the priority for avoiding mistakes at branches.
In addition, since the structure of the automatic driving | operation control apparatus 10 in Embodiment 2 is the same as that of Embodiment 1, description is abbreviate | omitted.

  In Embodiment 2, the automatic driving control device 10 further includes a setting unit that receives the setting of the predetermined ratio from the user of the host vehicle. In the present embodiment, it is assumed that the operation unit 30 is a setting unit. The user sets a predetermined ratio prior to the start of traveling of the host vehicle. The setting method of the predetermined ratio is arbitrary, but is specified by a percentage such as “50%” or “80%”.

5 and 6 are explanatory diagrams schematically showing the control in the second embodiment.
Reference numerals in FIGS. 5 and 6 are the same as those in FIG.
First, the case where the host vehicle C0 is traveling on the traffic jam lane L1 will be described with reference to FIG.
In FIG. 5A, four traffic lane traveling vehicles C1 to C4 are stopped in front of the host vehicle C0. Here, the travel route of the traffic lane traveling vehicles C1 to C3 is a route (P1 route) that enters the passage B1 through the branch point P1, and the travel route of the traffic lane travel vehicle C4 enters the passage B2 through the branch point P2. It is assumed that this is a route (P2 route).
Further, it is assumed that the traveling route of the host vehicle C0 is a route (P1 route) that enters the passage B1 through the branch point P1.
In this case, among the traffic jam lane traveling vehicles C1 to C4, the vehicle whose branch point coincides with the own vehicle C0 is “75%”.
For example, when the user has set the predetermined ratio to the setting unit as “50%”, a vehicle whose branch point coincides with the own vehicle among a plurality of congested lane traveling vehicles is equal to or higher than the predetermined ratio (50%). Therefore, the automatic driving control unit 22C causes the host vehicle C0 to travel on the lane L1 as it is, and to follow the immediately preceding traveling vehicle C4 located at the tail end of the congested lane traveling vehicle.
On the other hand, when the user sets the predetermined ratio to “80%” for the setting unit, the number of vehicles having a branch point that coincides with the own vehicle among a plurality of congested lane traveling vehicles is less than the predetermined ratio (80%). Therefore, the automatic operation control unit 22C changes the travel lane of the host vehicle C0 to the lane L2 and travels in order to avoid the traffic congestion lane L1.

Further, in FIG. 5B, four traffic lane traveling vehicles C1 to C4 stop in front of the host vehicle C0, and the travel path of the traffic congestion lane traveling vehicles C1 to C3 enters the passage B1 through the branch point P1. The route (P1 route) and the traveling route of the traffic lane traveling vehicle C4 are assumed to be a route (P2 route) that enters the passage B2 through the branch point P2.
It is assumed that the traveling route of the host vehicle C0 is a route (P2 route) that enters the passage B2 through the branch point P2.
In this case, among the traffic lane traveling vehicles C1 to C4, the vehicle whose branch point coincides with the own vehicle C0 is “25%”.
For example, when the user has set the predetermined ratio to the setting unit as “50%”, the number of vehicles having a branch point that coincides with the own vehicle among a plurality of congested lane traveling vehicles is less than the predetermined ratio (50%). Therefore, the automatic driving control unit 22C changes the traveling lane of the host vehicle C0 to the lane L2 to avoid the traffic congestion lane L1.
On the other hand, when the user has set the predetermined ratio to “20%” for the setting unit, a vehicle whose branch point coincides with the own vehicle among a plurality of congested lane traveling vehicles is a predetermined ratio (20%) or more. Therefore, the automatic operation control unit 22C continues traveling in the lane L1, and causes the host vehicle C0 to travel following the vehicle C4 located at the tail end of the congested lane traveling vehicle.

Next, the case where the host vehicle C0 is traveling in the lane L2 where there is no traffic jam will be described with reference to FIG.
6A, as in FIG. 5A, among the four traffic lane traveling vehicles C1 to C4, the travel route of the traffic congestion lane traveling vehicles C1 to C3 passes through the branch point P1 and enters the passage B1 (P1 route). The travel route of the traffic lane traveling vehicle C4 is assumed to be a route (P2 route) that enters the passage B2 through the branch point P2.
Further, it is assumed that the traveling route of the host vehicle C0 is a route (P1 route) that enters the passage B1 through the branch point P1.
In this case, among the traffic jam lane traveling vehicles C1 to C4, the vehicle whose branch point coincides with the own vehicle C0 is “75%”.
For example, when the user has set the predetermined ratio to the setting unit as “50%”, a vehicle whose branch point coincides with the own vehicle among a plurality of congested lane traveling vehicles is equal to or higher than the predetermined ratio (50%). Therefore, the automatic driving control unit 22C changes the host vehicle C0 to the lane L1 and follows the vehicle C4 located at the tail end of the congested lane traveling vehicle.
On the other hand, when the user sets the predetermined ratio to “80%” for the setting unit, the number of vehicles having a branch point that coincides with the own vehicle among a plurality of congested lane traveling vehicles is less than the predetermined ratio (80%). Therefore, the automatic driving control unit 22C causes the host vehicle C0 to travel on the lane L2 as it is without following the congested vehicle train.

In FIG. 6B, as in FIG. 5A, among the four traffic lane traveling vehicles C1 to C4, the travel route of the traffic congestion lane traveling vehicles C1 to C3 passes through the branch point P1 and enters the passage B1 (P1 route). It is assumed that the traveling route of the traffic lane traveling vehicle C4 is a route (P2 route) that enters the passage B2 through the branch point P2.
Further, the traveling route of the host vehicle C0 is a route (P2 route) that enters the passage B2 through the branch point P2.
In this case, among the traffic lane traveling vehicles C1 to C4, the vehicle whose branch point coincides with the own vehicle C0 is “25%”.
For example, when the user has set the predetermined ratio to the setting unit as “50%”, the number of vehicles having a branch point that coincides with the own vehicle among a plurality of congested lane traveling vehicles is less than the predetermined ratio (50%). Therefore, the automatic driving control unit 22C causes the host vehicle C0 to travel on the lane L2 as it is without following the congested vehicle train.
On the other hand, when the user has set the predetermined ratio to “20%” for the setting unit, a vehicle whose branch point coincides with the own vehicle among a plurality of congested lane traveling vehicles is a predetermined ratio (20%) or more. Therefore, the automatic operation control unit 22C changes the own vehicle C0 to the traffic congestion lane L1, and causes the own vehicle C0 to travel following the vehicle C4 located at the tail end of the traffic congestion lane traveling vehicle.

  As described above, in the second embodiment, by making it possible to set the predetermined ratio, it is possible to determine the vehicle behavior at the time of traffic congestion reflecting the user's driving preference. That is, priority is given to avoiding traffic congestion as the size of the predetermined ratio is larger, and priority is given to avoiding entry mistakes at branches as the size of the predetermined ratio is smaller. .

  Note that the processing procedure of the automatic driving control apparatus 10 in the second embodiment is to accept a setting of a predetermined ratio from the user before entering the processing of the flowchart of FIG. It may be read as “whether there are more than a predetermined percentage of vehicles whose next branch point coincides with a branch point included in the travel route of the host vehicle”.

(Embodiment 3)
In Embodiments 1 and 2, the travel route information acquisition unit 22B acquires the travel route information from a plurality of congested lane traveling vehicles traveling in front of the host vehicle.
In the third embodiment, the travel route information acquisition unit 22B acquires travel route information only from the immediately preceding traveling vehicle that is a traffic jam lane traveling vehicle just before the host vehicle, and the automatic operation control unit 22C When the branch point matches the branch point included in the travel route of the host vehicle, the host vehicle is driven following the immediately preceding traveling vehicle, and when the branch point does not match, the host vehicle travels avoiding the traffic jam lane. Let
In other words, when there is a traffic jam ahead of the host vehicle, if the traveling route of the immediately preceding vehicle and the host vehicle coincides with each other, the host vehicle travels following the immediately preceding traveling vehicle, and When the travel route with the vehicle is different, it was made to run avoiding traffic jams.
Note that the immediately preceding traveling vehicle with respect to the host vehicle C0 refers to the congested lane traveling vehicle C4 in FIGS. 2, 3, 5, and 6.
In the third embodiment, although the route selection determination accuracy is lower than in the first and second embodiments, it is only necessary to be able to communicate with the immediately preceding traveling vehicle. Therefore, the communication unit 32 can perform inter-vehicle communication at a relatively short distance. It is only necessary to be able to do this, and the processing load of the automatic operation control unit 22C can be reduced, and the cost of the system can be reduced.

10 Automatic operation control device 22 ECU
22A Traffic jam information acquisition unit 22B Travel route information acquisition unit 22C Automatic operation control unit 26 On-vehicle sensor 28 Navigation device 30 Operation unit 32 Communication unit 34 Drive ECU
36 Brake ECU
38 Steering ECU
50 Roadside machine 52 Route information providing server 54 Congestion information providing server C0 Own vehicle C1-C4 Congested lane traveling vehicle CX Other vehicle NW Wide area network

Claims (5)

An automatic driving control unit for controlling the automatic driving of the own vehicle;
A traffic information acquisition unit for acquiring traffic information in front of the host vehicle;
A travel route information acquisition unit for acquiring travel route information of the preceding vehicle from a preceding vehicle traveling in front of the host vehicle,
The travel route information includes a position of a branch point that is an entry point to a branch road that branches from a currently traveling road,
When there is a traffic jam lane ahead of the host vehicle, the automatic driving control unit includes a branch point of the traffic jam lane vehicle traveling in the traffic jam lane included in the travel route of the host vehicle. When the vehicle accords, the vehicle travels following the traffic lane traveling vehicle, and when the branch point does not coincide, the vehicle lane is avoided and the vehicle travels.
An automatic operation control device characterized by that. The travel route information acquisition unit acquires the travel route information from a plurality of the traffic lane traveling vehicles traveling in front of the host vehicle,
The automatic driving control unit causes the host vehicle to travel following the traffic congestion lane traveling vehicle when there is one or more vehicles having the same branching point among a plurality of the traffic congestion lane traveling vehicles, If there is no vehicle with the same, avoid the traffic lane and drive the vehicle
The automatic operation control device according to claim 1. The travel route information acquisition unit acquires the travel route information from a plurality of the traffic lane traveling vehicles traveling in front of the host vehicle,
When the traffic lane ahead of the host vehicle is congested, the automatic driving control unit determines that the traffic jam occurs when a plurality of vehicles traveling at the traffic lane have a predetermined percentage or more at the same branch point. Following the lane traveling vehicle, traveling the host vehicle, and when the vehicle whose branch point coincides is less than the predetermined ratio, avoiding the traffic jam lane and traveling the host vehicle,
The automatic operation control device according to claim 1. A setting unit that receives the setting of the predetermined ratio from the user of the host vehicle;
The automatic operation control device according to claim 3. The travel route information acquisition unit acquires the travel route information from the immediately preceding traveling vehicle that is the traffic jam lane traveling vehicle traveling immediately before the host vehicle,
When the branch point of the immediately preceding traveling vehicle coincides with a branch point included in the travel route of the own vehicle, the automatic driving control unit follows the immediately preceding traveling vehicle to travel the host vehicle, and If the points do not match, avoid the traffic lane and drive the vehicle
The automatic operation control device according to claim 1.

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