RU2773993C1 - Method for traffic control and traffic control device for vehicle - Google Patents

Abstract

FIELD: traffic control methods.

SUBSTANCE: method for controlling the movement of a vehicle is proposed. Providing the vehicle moving along the route to the preset destination with overtaking information regarding whether to accept the execution of the overtaking assistance function to overtake the preceding vehicle by changing lanes by autonomous traffic control. When the route guidance function of driving the vehicle for autonomous driving along the route is executed, the first view inhibition distance is set as the view inhibition distance for overtaking information, the second view inhibition distance is set to be shorter than the first view inhibition distance. The location of the vehicle on the route is determined. The presence or absence of a point of change of direction of movement on the route in front of the location of the vehicle is determined. When the distance from the vehicle to the reversing point is shorter than the presentation prohibition distance, the overtaking information presentation is not performed. A motion control device is also proposed.

EFFECT: effect is achieved when the lane change suggestion is not executed at the time when the route is difficult.

4 cl, 12 dwg

Description

[Technical field]

[0001]

The present invention relates to a motion control method and a motion control apparatus for a vehicle, which include autonomous motion control.

[Prior Art]

[0002]

Known automated (autonomous) driving system installed on the vehicle, which is configured to offer the driver a lane change to the next lane. In the automated driving system described in Patent Document 1, for example, when the density of vehicles in a lane adjacent to a lane is lower than a threshold density, the driver is prompted to change lanes to the adjacent lane.

[Prior art document]

[Patent Document]

[0003]

[Patent Document 1] JP2018-025989A

[Summary of the Invention]

[Problems solved by the invention]

[0004]

However, according to the aforementioned prior art, near a branch point or a confluence point on a route to a predetermined destination, a vehicle traveling along the route may be prompted to change lanes. For example, when a lane change is performed near a branch point or the like according to the proposal, and the branch point or the like is in the lane before the lane change, it may not be possible to return to the lane including the branch point or the like. depending on traffic congestion, etc.

[0005]

The problem to be solved by the present invention is to provide a traffic control method and a traffic control apparatus for a vehicle with which a lane change proposal is not performed for a vehicle traveling on a route to a preset destination during the time when traffic on the route is difficult.

[Troubleshooting Tools]

[0006]

In the present invention, a vehicle traveling on a route to a preset destination is provided with overtaking information regarding whether to accept the execution of the overtaking assistance function to overtake the preceding vehicle by changing lane by autonomous traffic control. The above problem is solved by not performing overtaking information presentation when the distance from the vehicle to the reversing point is shorter than the preset presentation prohibition distance.

[Invention effect]

[0007]

According to the present invention, the presentation prohibition distance is properly set, and thus it is possible to prohibit the presentation of overtaking information at a time when the route is difficult. This can prevent the driver from inadvertently accepting overtaking information near a redirection point, such as a branch point, to be unable to return to the lane including the redirection point.

[Brief Description of Drawings]

[0008]

FIG. 1 is a block diagram illustrating an embodiment of a motion control device for a vehicle according to the present invention.

FIG. 2 is a front view illustrating part of the input device of FIG. one.

FIG. 3 is a plan view illustrating automatic (autonomous) lane change control using the lane change assist function.

FIG. 4 is a plan view illustrating automatic (autonomous) lane change control using the overtaking assist function.

FIG. 5 is a plan view illustrating the automatic (autonomous) lane change control to the original lane using the lane change assist function.

FIG. 6 is a plan view illustrating automatic (autonomous) lane change control using the route guidance function.

FIG. 7 is a block diagram illustrating the state transition of the control device of FIG. one.

FIG. 8 is a flowchart illustrating a basic motion control process of a motion control device for a vehicle according to the present invention.

FIG. 9 is a plan view illustrating a technical problem caused by a main motion control process of a motion control device for a vehicle according to the present invention.

FIG. 10 is a plan view illustrating the first embodiment in which the presentation inhibition distance is set to solve the technical problem illustrated in FIG. 9.

FIG. 11 is a flowchart illustrating a motion control process of a motion control device for a vehicle according to the first embodiment.

FIG. 12 is a flowchart illustrating a procedure for setting a presentation inhibition distance according to the presence or absence of a route setting or the like in the second embodiment.

[Embodiment(s) of the present invention]

[0009]

FIG. 1 is a block diagram illustrating the configuration of a motion control device 1 for a vehicle (also referred to as "subject vehicle" hereinafter) according to an embodiment of the present invention. The motion control device 1 for a vehicle according to the present embodiment is an embodiment for executing the motion control method for a vehicle according to the present invention. As shown in FIG. 1, the traffic control device 1 for a vehicle according to the present embodiment includes sensors 11, a device 12 for determining the position of the vehicle in question, a map database 13, an on-board equipment 14, a navigation device 15, a presentation device 16, an input device 17, a device 18 driving control and control device 19 . These devices are connected to each other, for example, via a controller network (CAN) or other on-board LAN for the mutual exchange of information.

[0010]

The sensors 11 detect the driving state of the vehicle in question. The sensors 11 include, for example, cameras such as a front camera that captures images in front of the vehicle in question, a rear camera that captures images behind the vehicle in question, and side cameras that capture images of the right and left sides of the vehicle in question. Additionally or alternatively, the sensors 11 include radar devices such as a front radar that detects obstacles in front of the vehicle in question, a rear radar that detects obstacles behind the vehicle in question, and side radars that detect obstacles existing to the right and the left side of the object of the vehicle in question. Additionally or alternatively, the sensors 11 include a vehicle speed sensor that detects the vehicle speed of the vehicle in question, a touch sensor (capacitance sensor) that detects a driver holding the steering wheel, a driver monitor that captures images of the driver, and so on. . The sensors 11 may be one of the various sensors described above, or may also be configured as a combination of two or more sensors. The detection results of the sensors 11 are output to the control device 19 at predetermined time intervals.

[0011]

The device 12 for determining the position of the vehicle in question includes a GPS unit, a gyroscope, a vehicle speed sensor, and so on. The subject vehicle location device 12 detects radio waves transmitted from a plurality of communication satellites using a GPS unit to periodically acquire position information of the target vehicle (the subject vehicle). In addition, the subject vehicle locating device 12 determines the current location of the target vehicle based on the received target vehicle position information, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. The subject vehicle location device 12 outputs the detected location information of the target vehicle to the control device 19 at predetermined time intervals.

[0012]

The map database 13 is a memory that stores three-dimensional high-precision map information, including information about the location of various objects and specific points, and is accessible from the control device 19. The 3D high-precision map information is 3D map information based on the shape of a road detected while driving on a real road using a data collection vehicle. 3D high-precision map information is map information in which detailed and high-precision positional information items such as curved route and curvature size (such as curvature or radius of curvature), confluence point and branch point of the road, toll point, location where the number of stripes are reduced, are associated with cartographic information as with three-dimensional information.

[0013]

On-board equipment 14 includes various modules equipped in the vehicle and controlled by the driver. Examples of such on-board equipment include a steering wheel, accelerator pedal, brake pedal, direction indicators, wipers, lights, horn, and other specialty switches. When the driver controls the onboard equipment 14, information about his work is displayed on the control device 19.

[0014]

The navigation device 15 obtains current position information of the subject vehicle from the subject vehicle location device 12, and superimposes the position of the subject vehicle on the map information for navigation to display the position of the subject vehicle and the map information on a display or the like. In addition, the navigation device 15 has a function of navigating to set a route to a destination and guide the driver along a predetermined route when a destination is set. This navigation function is used to show the route on the display map and inform the driver about the route by voice, etc. The route set by the navigation device 15 is also used in the route assistance function of the control device 19 . The route assistance function is a function used to control the vehicle it is on to autonomously navigate to a destination based on a given route.

[0015]

The presentation device 16 includes, for example, one or more displays such as a display of the navigation device 15, a rear-view mirror integral display, a gauge integral display, and a head-up display projected onto the windshield. Additionally or alternatively, the presentation device 16 includes one or more devices other than displays, such as an audio device speaker and a seat with embedded vibrating bodies. The presentation device 16 informs the driver about various presentation information items under the control of the control device 19 .

[0016]

The input device 17 is, for example, a device such as a button switch or a touch panel located on the display screen, with which the driver can input information by manual operation, or a microphone with which the driver can input information by voice. In the present embodiment, the driver can control the input device 17, thereby inputting setting information in response to the presentation information that is presented by the presentation device 16. FIG. 2 is a front view illustrating a part of the input device 17 of the present embodiment, and is an example including a set of pushbutton switches disposed on a spoke portion or the like of a steering wheel. The illustrated input device 17 is a push button switch used for turning on/off or the like. autonomous driving control functions (autonomous speed control function and autonomous steering control function) of the control device 19 . The input device 17 includes a main switch (MAIN SW) 171, a resume/accelerate switch (RES+) 172, a set/coast switch (SET-) 173, a cancel switch (CANCEL) 174, a vehicle-to-vehicle distance control (DISTANCE) switch ) 175 and lane change assist switch (L/C) 176.

[0017]

The main switch 171 is a switch for turning on/off the power supply of the system, which performs the function of autonomous speed control and the function of autonomous steering control of the control device 19. The resume/accelerate switch 172 is a switch for turning off the operation of the autonomous speed control function, and then resuming the autonomous speed control function at the set speed before the OFF state, to increase the set speed, and/or to follow the preceding vehicle to stop and then restart . The set/coast switch 173 is a switch for starting the autonomous speed control function at traveling speed and/or lowering the set speed. The cancel switch 174 is a switch for turning off the autonomous speed control function. The inter-vehicle distance control switch 175 is a switch for setting a distance between vehicles from a preceding vehicle, and, for example, a switch for selecting one of a plurality of setting steps such as short distance/medium distance/long distance. The lane change assist switch 176 is a switch for commanding (receiving) the start of a lane change when the control device 19 confirms the start of a lane change with the driver. By operating the lane change assist switch 176 for a longer time than a predetermined time after accepting the start of the lane change, acceptance of the lane change suggested by the control device 19 can be cancelled.

[0018]

Additionally or as an alternative to the set of pushbutton switches shown in FIG. 2, a turn signal lever for turn indicators or a switch of other on-board equipment 14 can be used as an input device 17 . For example, in the case where the control device 19 proposes whether or not to automatically change lane when the driver operates the turn signal lever, the lane change is performed in the direction in which the turn signal lever is actuated rather than the suggested lane change. The input device 17 outputs input setting information to the control device 19 .

[0019]

The driving control device 18 controls the movement of the vehicle in question. For example, when the subject vehicle is running at a constant predetermined speed using the autonomous speed control function, the driving control device 18 controls the operation of the drive mechanism and the operation of the brake to achieve acceleration/deceleration and traveling speed so that the speed of the subject vehicle becomes the set speed. Additionally or alternatively, also when the subject vehicle is moving to follow the preceding vehicle using the autonomous speed control function, the driving control device 18 controls the operation of the drive mechanism and the brake in the same manner as described above. The operation control of the drive mechanism includes operation control of an internal combustion engine in the case of an engine-powered vehicle, and control of an operation of an electric motor for driving in the case of an electric vehicle. In the case of a hybrid vehicle, the driving mechanism operation control includes torque distribution control for an internal combustion engine and an electric motor for driving.

[0020]

The driving control device 18 controls the operation of the steering actuator using the autonomous steering control function in addition to the above-described control of the operation of the drive mechanism and the brake, and thus performs the steering control of the subject vehicle. For example, when executing the lane keeping control using the autonomous steering control function, the driving control device 18 detects the lanes of the subject vehicle for the subject vehicle to travel, and controls the driving location of the subject vehicle in the road width direction so that the subject vehicle moves at a specific location in the lane of the vehicle in question. Additionally or alternatively, when executing the lane change assist function, the overtaking assistance function, or the route assistance function to be described later using the autonomous steering control function, the driving control device 18 controls the driving location of the vehicle in question. in the direction of the width of the road so that the vehicle in question changes lanes. Additionally or alternatively, when performing the right or left turn assist function using the autonomous steering control function, the driving control device 18 performs right or left turn traffic control at an intersection or the like. The driving control device 18 controls the movement of the vehicle in question in accordance with commands from the control device 19, which will be described below. Any of the other known methods can also be used as the motion control method performed by the driving control device 18 .

[0021]

The control device 19 includes a read-only memory (ROM) that stores programs for controlling the motion of the vehicle in question, a central processing unit (CPU) that executes the programs stored in the ROM, a random access memory (RAM) that serves as an accessible storage device. etc. A microprocessor (MPU), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), and the like can be used as a replacement for or in addition to a CPU. as a working plan.

[0022]

The control device 19 executes the programs stored in the ROM using the CPU, thereby providing a driving information collection function for obtaining information regarding the driving state of the vehicle in question, and an autonomous driving function for autonomously controlling the driving speed and/or steering the vehicle. the vehicle in question. The driving information acquisition function of the control device 19 is a function used to obtain driving information regarding the driving state of the subject vehicle. For example, the control device 19 uses a motion information collection function to obtain, as motion information, external image information around the vehicle captured by the front camera, rear camera, and side cameras included in the sensors 11. Additionally or alternatively, the control device 19 uses the function collecting motion information to obtain, as motion information, the detection results of the front radar, the rear radar, and the side radars included in the sensors 11. Additionally or alternatively, the control device 19 uses a motion information acquisition function to acquire information as motion information about the speed of the vehicle of the vehicle itself, determined by the vehicle speed sensor included in the sensors 11, and/or information of the image of the driver's face captured by the on-board camera included in the sensors 11.

[0023]

Additionally or alternatively, the control device 19 uses a traffic information collection function to obtain, as traffic information, current position information of the subject vehicle from the subject vehicle location device 12 . Additionally or alternatively, the control device 19 uses a traffic information collection function to obtain a set destination and a route to the destination from the navigation device 15 as traffic information. Additionally or alternatively, the control device 19 uses a traffic information collection function, to obtain as traffic information information about the location of curved routes and the size of the curvature (for example, curvature or radius of curvature), merge points, branch points, toll points, locations where the number of lanes decreases, etc. from the map database 13. In addition, the control device 19 uses a motion information acquisition function to obtain, as motion information, driver operation information on the on-board equipment 14 from the on-board equipment 14.

[0024]

The autonomous driving function of the control device 19 is a function used to autonomously control the movement of the subject vehicle without depending on the actions of the driver. The autonomous motion control function of the control device 19 includes an autonomous speed control function used to autonomously control the running speed of the subject vehicle and an autonomous steering control function used to autonomously control the steering of the subject vehicle. The autonomous speed control function and the autonomous steering control function of the present embodiment will be described below.

[0025]

"Autonomous speed control function"

The autonomous speed control function is a function used when detecting the predecessor vehicle to move, to follow the predecessor vehicle when performing vehicle-to-vehicle distance control, so as to maintain the distance between vehicles according to the speed of the vehicle with the upper limit of the vehicle speed, set by the driver. On the other hand, when the preceding vehicle is not detected, the autonomous speed control function is used to perform constant speed driving at a vehicle speed that is set by the driver. The former is also referred to as vehicle-to-vehicle distance control, and the latter is also referred to as constant speed control. The autonomous speed control function may include a function of detecting the speed limit of the traffic sign using the sensors 11 or obtaining the speed limit from the map information in the map database 13 to automatically set the speed limit to set the vehicle speed.

[0026]

To activate the autonomous speed control function, the driver first operates the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 illustrated in FIG. 2 to enter the desired driving speed. For example, when the set/coast switch 173 is pressed when the subject vehicle is traveling at 70 km/h, the current traveling speed is set without any change, but if the speed desired by the driver is 80 km/h, resume The resume switch 172 / acceleration can be pressed several times to increase the set speed. On the contrary, if the speed desired by the driver is 60 km/h, the set/coast switch 173 can be pressed a plurality of times to decrease the set speed. The distance between vehicles desired by the driver can be selected, for example, from a plurality of setting steps such as short distance/medium distance/long distance by operating the vehicle distance control switch 175 of the input device 17 illustrated in FIG. 2.

[0027]

The constant speed control is performed when the front radar or the like of the sensors 11 does not detect any preceding vehicle in front of the subject vehicle in its lane. In constant speed control, the driving control device 18 controls the operation of a driving mechanism such as a motor and a brake, while simultaneously returning vehicle speed data received by the vehicle speed sensor to maintain a predetermined traveling speed.

[0028]

The vehicle-to-vehicle distance control is performed when the front radar or the like of the sensors 11 detects the preceding vehicle in front of the subject vehicle in its lane. In vehicle-to-vehicle distance control, the driving control device 18 controls the operation of a drive mechanism such as a motor and a brake while simultaneously returning vehicle-to-vehicle distance data detected by the forward radar to maintain a set vehicle-to-vehicle distance with an upper vehicle speed limit set by the driver. . If the preceding vehicle stops while the subject vehicle is moving under control of the inter-vehicle distance, the subject vehicle also stops following the preceding vehicle. Additionally or alternatively, if the predecessor vehicle is started within 30 seconds after the vehicle in question stops, the vehicle in question also starts moving to follow the predecessor vehicle again by controlling the distance between vehicles. If the vehicle in question stops for more than 30 seconds, the vehicle in question does not start automatically or autonomously even when the predecessor vehicle starts, and after the predecessor vehicle starts, the vehicle in question starts moving to follow the predecessor vehicle again by controlling the distance between vehicles when the resume/acceleration switch 172 or the accelerator pedal is depressed.

[0029]

"Autonomous Steering Control Function"

The autonomous steering control function is a function used when a predetermined condition is satisfied during execution of the above-described autonomous speed control function to control the operation of the steering actuator, thereby performing steering control of the subject vehicle. This autonomous steering control function includes, for example, a lane keeping function, a lane change assist function, an overtaking assist function, a route assist function, and other functions. The lane keeping function is a function used to control the steering actuator so as to move closer to the center of the lane, for example, to assist the driver in steering the vehicle. The lane keeping function is also referred to as a lane keeping function or the like.

[0030]

"Lane change assist function"

The lane change assist function is to turn on the turn signals when the driver operates the turn signal lever, as shown in FIG. 3, and also serves to start a lane change execution (hereinafter abbreviated as LCP), which is a series of processes for automatic or autonomous lane change when a predetermined lane change start condition is satisfied. The lane change assist function is used to determine whether or not a lane change start condition is satisfied based on various traffic information items obtained using the traffic information acquisition function. Examples of a lane change start condition include, but are not limited to, a condition where all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made the definition of manual mode;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more; and

- The time elapsed after the driver presses the turn signal lever does not exceed one second.

[0031]

The manual lane keeping mode, which will be described in detail below, refers to a state in which the autonomous speed control function and the lane keeping function of the autonomous steering control function are executed and the steering wheel holding by the driver is detected. The definition of manual mode refers to the state in which the driver continues to hold the steering wheel.

[0032]

The lane change assist function is used to start the LCP when the lane change start condition is met. The LCP includes lateral movement of the vehicle in question to the adjacent lane and a lane change maneuver (hereinafter abbreviated as LCM) to actually move into the adjacent lane. During the execution of the LCP, the lane change assistance function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment. Upon completion of the LCM, the lane change assist function is used to turn off the turn signals and initiate the lane keeping function in the adjacent lane.

[0033]

"Overtaking assistance function"

The overtaking assist function is used to control the presentation device 16 to provide the driver with overtaking information when a preceding vehicle slower than the subject vehicle is ahead of the subject vehicle in its lane, as illustrated in FIG. 4, and the predetermined overtaking suggestion condition that is predetermined is satisfied. In this case, the overtaking information refers to information prompting the driver to overtake the preceding vehicle. The overtaking assist function is for starting the above-described LCP when the driver operates the lane change assist switch 176 of the acceptance input device 17 (corresponding to the acceptance input signal) in response to the overtaking information presentation and the overtaking start condition that has been previously set, satisfied. The overtaking assistance function serves to determine, based on various driving information items obtained using the driving information acquisition function, whether the overtaking suggestion condition and the overtaking start condition are satisfied.

[0034]

Examples of an overtake offer condition include, but are not limited to, a condition where all of the following conditions are met:

- Lane keeping mode is carried out in the mode without the participation of the driver;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible after 5 seconds;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more;

- The speed of the vehicle in question is lower than the established one by 5 km/h or more;

- The speed of the previous vehicle is 10 km / or more less than the set one;

- The distance between the vehicle in question and the preceding vehicle is less than a threshold value which is preset based on the speed difference between the vehicle in question and the preceding vehicle; and

- The speed of the preceding vehicle in the lane as the lane change destination satisfies the predetermined condition.

[0035]

The lane keeping mode in the driverless mode, which will be described in detail below, refers to a mode in which the autonomous speed control function and the lane keeping function of the autonomous steering control function are performed, and the driver does not need to hold the steering wheel. The condition that the speed of the preceding vehicle present in the lane as the lane change destination satisfies the predetermined condition is applied differently depending on the type of lane as the lane change destination. For example, when changing lanes from the left to the right lane on a multi-lane left-hand traffic road, the condition is that the speed of the considered vehicle in the left lane is higher than the speed of the preceding vehicle in the right lane by about 5 km/h In contrast, when changing lanes from the right to the left lane on a multi-lane left-hand traffic road, the condition is that the speed difference between the vehicle in question and the preceding vehicle in the left-lane is within 5 km/h. The conditions regarding the relative speed difference between the vehicle in question and the preceding vehicle are reversed on a right-hand traffic road.

[0036]

The overtaking assistance function is used to turn on the direction indicators to start the LCP when the driver receives the overtaking information presentation and the pre-set overtaking start condition is satisfied. Examples of an overtaking start condition include, but are not limited to, a condition under which all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made the definition of manual mode;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The radius of curvature of the road is 250 m or more;

- The speed of the vehicle in question is lower than the established one by 5 km/h or more (when moving from the lane to the right lane in left-hand traffic);

- The speed of the previous vehicle is 10 km / or more lower than the set speed (when changing lanes to the right lane in left-hand traffic);

- The speed of the preceding vehicle in the lane as the lane change destination satisfies the predetermined condition; as well as

- The time elapsed after the lane change assist switch 176 is actuated is less than 10 seconds.

[0037]

The condition that the speed of the preceding vehicle is 10 km/or more lower than the set speed can be changed by the driver's setting, and the set speed after the change is the overtaking start condition. As the speed that can be changed, you can select, for example, 15 km/h and 20 km/h in addition to 10 km/h. The condition under which the speed of the preceding vehicle in the lane as the lane change destination satisfies the predetermined condition is the same as the overtaking suggestion condition described above.

[0038]

The overtaking assistance function is used to start the LCP when the overtaking start condition is met, and to carry out lateral movement to the adjacent lane and the LCM. During the execution of the LCP, the overtaking assistance function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment. Once the LCM is complete, the overtaking assist function is used to turn off the turn signals and initiate the lane keeping function in the adjacent lane. When the overtaking suggestion condition is satisfied again after overtaking the preceding vehicle, the overtaking assistance function is used to control the presentation device 16 to prompt the driver to return to the original lane. When the driver accepts this suggestion by actuating the lane change assist switch 176 of the input device 17 and the overtaking start condition is satisfied, the overtaking assist function serves to start the LCP so that the vehicle in question returns to its original lane.

[0039]

"Route assistance function"

The route guidance function is to control the presentation device 16 to present traffic information on a route when there is a reversal point, such as a branch point, a confluence point, an exit or a toll point on a given route, the distance to the reversal point is within the predetermined distance, and the predetermined route suggestion condition is satisfied, and also serves to suggest a lane change at the change direction point. In addition, the route assist function serves to trigger the LCP when a lane change proposal is received by operation of the lane change assistance switch 176 and a predetermined route start condition is satisfied. The route guidance function is used to determine, based on various traffic information items obtained using the traffic information collection function, whether a route suggestion condition and a route start condition are satisfied.

[0040]

When a route is set by the navigation device 15, but the route assistance function is not performed or disabled in the installation, the navigation device 15 performs the normal navigation function that serves to guide the route.

[0041]

FIG. 6 illustrates an example in which, when driving on the right lane on a left-hand traffic road with three lanes on each side, the vehicle in question changes lane twice towards a branch point existing on the left lane, and moves from the branch point to the road with branch, running along the left side of the left lane. When the location is within the first predetermined distance to the branch point (for example, about 2.5 km to 1.0 km to the branch point) and the route suggestion condition is met, the route guidance function serves to suggest a lane change right - side lane to center lane based on driving route information. The first predetermined distance (also referred to as the lane change suggestion section) is preset according to the number of lane changes required to move to the lane where the change direction point is present. For example, as shown in FIG. 6, when it is necessary to change lane twice from the right lane to the left lane through the center lane, the section from 2.5 km to 1.0 km to the branch point is the first predetermined distance (lane change proposal section).

[0042]

Examples of a route proposal condition include, but are not limited to, a condition where all of the following conditions are met:

- The destination is set by the navigator 15;

- The lane keeping mode is carried out in the mode without the participation of the driver;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of a lane change;

- The type of lane markers indicates that lane changes are allowed; and

- The radius of curvature of the road is 250 m or more.

In the route suggestion condition, even if the lane as the lane change destination does not include the space to which the lane change is possible, the route traffic information is presented to notify the driver to change the lane along the route.

[0043]

The route guidance function is used to turn on the turn signals to start the LCP when the driver accepts a lane change to travel to a branch point and the condition to start the route is met. Examples of a route start condition include, but are not limited to, a condition where all of the following conditions are met:

- Lane keeping mode is carried out in manual mode;

- Made the definition of manual mode;

- The vehicle is moving at a speed of 60 km/h or more;

- There is a lane in the direction of lane change;

- The lane as the destination of the lane change includes the space to which the lane change is possible;

- The type of lane markers indicates that lane changes are allowed;

- The vehicle is moving in the lane change suggestions section; as well as

- The radius of curvature of the road is 250 m or more.

[0044]

The route guidance function is used to start the LCP when a route start condition is met, as well as to perform lateral movement to the center lane and LCM. Once the LCM is completed, the route guidance function is used to turn off the turn signals and initiate the lane keeping function in the center lane. During the execution of the LCP, the route assistance function serves to control the presentation device 16 to provide the driver with information indicating that the lane change is automatic or autonomous, and also serves to draw attention to the environment.

[0045]

As shown in FIG. 6, during the execution of the lane keeping function on the center lane, when the location is within the second predetermined distance to the branch point (for example, about 2.3 km to 700 m to the branch point) and the route start condition is satisfied, the function Route Assist is used to turn on the turn signals to start the second LCP and perform a lane change from the center lane to the left lane. After the completion of the second LCM, the route guidance function is used to turn off the turn signals and initiate the lane keeping function in the left lane.

[0046]

During the execution of the lane keeping function in the left lane, when the location is within the third predetermined distance to the branch point (for example, about 800 m to 150 m to the branch point) and the route start condition is satisfied, the lane guidance function route is used to turn on the direction indicators. In addition, the route assistance function is used to initiate autonomous steering from point by point to the branch road and perform a lane change from the left lane to the branch road. When the lane change to the branch road is completed, the route guidance function is used to turn off the turn signals and start the lane keeping function of the branch road.

[0047]

FIG. 7 is a flowchart illustrating the transition between the states of each function installed in the control device 19. The system shown in the drawing means an autonomous motion control system implemented by the control device 19 . When the main switch 171 in FIG. 2 is turned on from the system OFF state shown in the figure, the system enters the standby state. From this standby state, autonomous speed control is activated by turning on the set/coast switch 173 or the resume/boost switch 172 of FIG. 2. This makes it possible to start the above-described constant speed control or vehicle-to-vehicle distance control, and the driver can control the vehicle in question simply by operating the steering wheel without pressing the accelerator or brake.

[0048]

During the execution of autonomous speed control, when condition (1) in FIG. 7 is executed, the mode enters the lane keeping mode of autonomous steering control/manual mode. Examples of condition (1) include, but are not limited to, a condition where all of the following conditions are met:

- Lane markers are detected on both sides of the vehicle in question;

- The driver holds the steering wheel;

- The vehicle is moving near the center of the lane;

- Direction indicators do not work;

- The wiper does not work at high speed (HI); and

- If a high-precision map is provided, there will be no toll plaza, exit, junction point, intersection, or point where the number of lanes decreases at a distance of approximately 200 m.

[0049]

Manual mode refers to a mode in which autonomous steering does not work unless the driver is holding the steering wheel, while driverless mode refers to a mode in which autonomous steering operates even when the driver releases the steering wheel. Holding the steering wheel by the driver is recognized by the touch sensor 11.

[0050]

During the execution of the autonomous steering/manual mode lane keeping mode, when the condition (2) in FIG. 7 is executed, the mode enters the lane keeping mode of autonomous steering control/driverless mode. Examples of condition (2) include a condition under which all of the following conditions are met:

- The vehicle in question is moving on a highway;

- The vehicle is moving on a road that is structurally separated from the oncoming lane;

- The vehicle is moving on a road for which a high-precision map has been prepared;

- The vehicle is moving at a speed not exceeding the set;

- GPS signals are effective;

- The driver holds the steering wheel;

- The driver looks ahead;

- About 800 m ahead, there is no toll booth, ramp, merge point, intersection or point where the number of lanes is reduced;

- No sharp turn 100R or less within 500m ahead;

- The vehicle does not drive through a tunnel exceeding 500 m from the tunnel entrance; as well as

- The accelerator pedal is not depressed.

Whether the driver is facing forward or not is determined, for example, based on an image captured by the driver monitor camera of the sensors 11.

[0051]

On the contrary, during the execution of the lane keeping mode of autonomous steering/driverless mode, when condition (3) in FIG. 7 is executed, the mode enters the lane keeping mode of autonomous steering control/manual mode. Examples of condition (3) include, but are not limited to, a condition under which any of the following conditions is met:

- The vehicle in question is moving on a road other than a road;

- The vehicle is moving on a two-way street;

- The vehicle is driving on a road for which a high-precision map has not been prepared;

- The vehicle is moving at a speed higher than the set one;

- GPS signals are no longer received;

- The driver does not turn forward within 5 seconds after the forward looking alarm is triggered;

- The driver monitor camera can no longer detect the driver;

- There is any one of the tolls, ramps, confluences, intersections or reduced lanes within approximately 800m ahead;

- When driving at a speed of less than 40 km/h, there is a sharp turn of 100R or less ahead at a distance of about 200 m;

- When driving at a speed of about 40 km/h or more, there is a sharp turn of 170R or less in a radius of 200 m ahead;

- The vehicle is moving through a tunnel exceeding 500 m from the tunnel entrance;

- The driver presses the accelerator pedal while holding the steering wheel; and

- When the proximity alarm works.

[0052]

During the execution of the lane keeping mode of autonomous steering/driverless mode, when condition (4) in FIG. 7 is satisfied, autonomous steering control is terminated and transitions to autonomous speed control. Examples of condition (4) include, but are not limited to, a condition under which any of the following conditions is met:

- Lane markers on either side of the vehicle in question are no longer detected for a certain period of time;

- The driver controls the steering wheel; as well as

- The wiper operates at high speed (HI).

The driver's work on the steering wheel is determined by determining the torque applied to the steering wheel.

[0053]

During the execution of the lane keeping mode of the autonomous steering/driverless mode, when the condition (5) in FIG. 7, autonomous steering control and autonomous speed control stop and enter the standby state. Examples of condition (5) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat';

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system has been activated;

- Included snow mode;

- The emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- The front camera has detected poor visibility, such as the inability to correctly recognize the object due to dirt, backlight, rain/fog, etc.;

- Forward radar detected shielding or radio interference;

- Front radar detected axle deviation;

- Lateral radar detected shielding or radio interference; as well as

- Lateral radar detected axle deviation.

[0054]

During autonomous steering/manual operation, when condition (6) in FIG. 7 is satisfied, autonomous steering control is terminated and transitions to autonomous speed control. Examples of condition (6) include, but are not limited to, a condition under which any of the following conditions are met:

- Lane markers on both sides of the vehicle in question are no longer detectable;

- The driver was driving;

- The driver has activated the turn signal lever;

- The windshield wiper has operated at high speed (HI).

- The vehicle has arrived at the toll station when a high-precision map has been prepared; as well as

- The front camera has detected poor visibility, such as the inability to properly recognize the subject due to dirt, backlight, rain/fog, etc.

[0055]

During the execution of autonomous steering control/manual mode, when condition (7) in FIG. 7, autonomous steering control and autonomous speed control stop and enter the standby state. Examples of condition (7) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat;

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system has been activated;

- Included snow mode;

- the emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- Forward radar detected shielding or radio interference; as well as

- Front radar detected axle deviation.

[0056]

During the execution of autonomous speed control, when condition (8) in FIG. 7 is executed, the control enters the waiting state. Examples of condition (8) include, but are not limited to, a condition under which any of the following conditions is met:

- The driver pressed the brakes;

- The driver has actuated the override switch 174 in FIG. 2;

- One or more doors of the vehicle in question have been opened;

- The driver's seat belt has been released;

- The seat sensor has determined that the driver is no longer in the driver's seat';

- The selection lever has moved to a position other than "D" or "M";

- The parking brake has been activated;

- Disabled anti-skid braking system of the vehicle;

- The anti-slip brake system has been activated;

- Included snow mode;

- The emergency brake has been activated;

- The stop state continues for about 3 minutes after the vehicle stops due to vehicle speed control;

- Forward radar detected shielding or radio interference; and

- Front radar detected axle deviation.

[0057]

During the execution of the lane keeping mode of the autonomous steering/driverless mode, when the condition (9) in FIG. 7 is executed, the mode shifts to the lane change mode of autonomous steering control/manual mode. Examples of condition (8) include, but are not limited to, a condition under which any of the following conditions is met:

- The system suggested a lane change based on the overtaking assist function or the route assist function, and the driver actuated the lane change assist switch 176; as well as

- The driver has actuated the turn signal lever to perform the lane change assist function.

[0058]

During the execution of the lane change mode of autonomous steering/manual mode, when condition (10) in FIG. 7 is executed, the mode enters the lane keeping mode of autonomous steering control/manual mode. Examples of condition (10) include, but are not limited to, a condition under which any of the following conditions is met:

-The speed limit was exceeded before the start of the LCM;

- The driver has pressed the accelerator pedal while holding the steering wheel until the LCM starts;

- LCP can no longer be started within 10 seconds after the lane change assist switch 176 is pressed during a lane change suggestion when a slow moving vehicle is in front;

- The LCP no longer starts and the vehicle has come too close to the branch point after pressing the lane change assist switch 176 during a lane change offer for en-route travel;

- LCM can no longer be launched within 5 seconds after LCP is triggered;

- Vehicle speed dropped below 50 km/h after LCP start and before LCM start;

- There is no more room in the adjacent lane to change lanes after working with the LCP and before starting the LCM;

- The driver performed a cancel operation before starting the LCM;

- Lane markers can no longer be detected before LCM starts;

- Before starting the LCM, it was determined that there is no adjacent lane in the direction of the lane change or that there will be no adjacent lane at a certain distance ahead;

- Before launching the LCM, it was determined that there is a curve with a radius of curvature of 250 m or more ahead at a certain distance;

- Before launching the LCM, it was determined that there is a section at a certain distance ahead in which the type of lane marking prohibits changing lanes to an adjacent lane;

- Lateral radar detected shielding or radio interference before launching LCM;

- Lateral radar detected axle deviation before launching LCM;

- The manual alarm has been triggered;

- the driver stopped the direction indicators; as well as

- Improved LCM.

[0059]

The manual mode alarm is triggered when any of the following conditions are met:

- the driver does not hold the steering wheel for about 2 seconds after the LCP is activated;

- The driver does not hold the steering wheel for about 2 seconds after pressing the lane change assist switch 176 at the time of lane change suggestion when a slow moving vehicle is in front; as well as

- The driver does not hold the steering wheel for about 2 seconds after pressing the lane change assist switch 176 at the time of lane change suggestion for route travel.

[0060]

The system is turned off when the main switch 171 is turned off in any of autonomous steering/unassisted mode, autonomous steering/manual, autonomous speed control, and standby.

[0061]

Next, the motion control process according to the present embodiment will be described with reference to FIG. 8. FIG. 8 is a flowchart illustrating a motion control process according to the present embodiment. The control device 19 executes the motion control process to be described later at predetermined intervals. The following description will be made on the assumption that the control device 19 uses the autonomous driving function to perform autonomous speed control and autonomous steering control, and uses the lane change assistance function, the overtaking assistance function, and the route guidance. a function for executing lane change assist control, overtaking assistance control, and route guidance control, respectively.

[0062]

First, in step S1 of FIG. 8, it is determined whether the main switch 171 of the control device 19 is turned on, and when the main switch 171 is turned off, step S1 is repeated until the main switch 171 is turned on. When the main switch 171 is turned on, the process proceeds to step S2 in which it is determined whether the driving speed is set by the driver. If the running speed is not set, the process returns to step S1, from which steps S1 and S2 are repeated until the running speed is set. The driving speed setting is performed by the driver operating the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 illustrated in FIG. 2 to enter the desired driving speed.

[0063]

When the driving speed is set, autonomous speed control starts. In step S3, the front radar (of the sensors 11) that detects an obstacle ahead of the subject vehicle is used to determine if there is a preceding vehicle ahead of the subject vehicle in its lane, and when there is a preceding vehicle, the process proceeds to step S4 , at which the vehicle-to-vehicle distance control is performed. When there is no preceding vehicle, the process proceeds to step S5 in which constant speed control is performed. This allows the driver to drive the vehicle in question at the desired speed by simply operating the steering wheel without pressing the accelerator or brake.

[0064]

During the execution of the vehicle-to-vehicle distance control in step S4 or the constant speed control in step S5, in step S6, a determination is made as to whether the above condition (1) is met to enter the lane keeping mode of the autonomous steering control/manual mode. When condition (1) is satisfied, the process proceeds to step S7, and when condition (1) is not satisfied, the process returns to step S3.

[0065]

In step S7, the forward radar (of the sensors 11) that detects an obstacle in front of the subject vehicle is used to detect whether there is a preceding vehicle in front of the subject vehicle in its lane. When there is a preceding vehicle, the process proceeds to step S8 in which the vehicle-to-vehicle distance control/lane keeping mode is executed. When there is no predecessor vehicle, the process proceeds to step S9 in which the constant speed control/lane keeping mode is executed.

[0066]

During the execution of the vehicle-to-vehicle distance control/lane-keeping mode in step S8 or the constant speed control/lane-keeping mode in step S9, a determination is made in the subsequent step S10 whether the above condition (2) is satisfied for shifting to the autonomous driving mode steering/driverless mode. When condition (2) is satisfied, the process proceeds to step S11, and when condition (2) is not satisfied, the process returns to step S3. In step S11, in which the autonomous steering/driverless mode transition condition (2) is met, the front radar (of the sensors 11) that detects an obstacle in front of the subject vehicle is used to determine whether or not the vehicle ahead of the subject is indeed vehicle in its lane is the previous vehicle. When there is a preceding vehicle, the process proceeds to step S12 in which the vehicle-to-vehicle distance control/lane keeping mode/driverless mode is performed. When there is no predecessor vehicle, the process proceeds to step S13 in which constant speed control/lane keeping mode/driverless mode is performed.

[0067]

In step S14, it is determined whether the driver has operated the turn signal lever. When the turn signal lever has been actuated, the autonomous steering/manual lane changing mode transition condition (9) is satisfied, and the process proceeds to step S15. In step S15, lane change assistance control is performed. When the lane change assist control in step S15 is completed, the process returns to step S3. When the turn signal lever was not used by the driver in step S14, the process proceeds to step S16.

[0068]

In step S16, it is determined whether the predecessor vehicle has a slower speed than the set speed. When the speed of the preceding vehicle is lower than the set one, a determination is made as to whether condition (9) is satisfied, and when condition (9) is satisfied, the mode shifts to the lane change mode of the autonomous steering control/manual mode, and the process proceeds to step S17. In step S17, overtaking assistance control is performed. When the overtaking assistance control in step S17 ends, the process returns to step S3. When there is no preceding vehicle whose speed is lower than that set in step S16, the process proceeds to step S18.

[0069]

In step S18, it is determined whether the route to the destination is set in the navigation device 15. If the route is not set, the process returns to step S1. When the route to the destination is set in the navigation device 15 in step S18, the process proceeds to step S19. In step S19, it is determined whether a predetermined distance to a reversal point such as a branch point existing on the route has been reached. When the predetermined distance to the change direction point is reached in step S19, a determination is made as to whether the condition (9) is satisfied, and when the condition (9) is satisfied, the mode shifts to the lane change autonomous steering/manual mode, and the process shifts to step S20. In step S20, route assistance control is performed. When the route assistance control in step S20 is completed, the process returns to step S3. When the predetermined distance to the change direction point is not reached in step S19, the process returns to step S1.

[0070]

In the block diagram of FIG. 8, the need for lane change assist control, overtaking assist control, and route assist control are determined in this order, but in practice, the need for these control procedures is determined in parallel, and when, during any of the assistance control procedures in progress, it becomes necessary perform another assistance control procedure, the need to execute is decided between the assistance control procedures, and the assistance control to be performed preferably is determined.

[0071]

"First Embodiment"

Next, description will be directed to the first embodiment for solving a problem that may occur in the main motion control processing described in the flowchart in FIG. 8. In the route assist control of the traffic control process described in the flowchart of FIG. 8 as shown in FIG. 9, for example, when the subject vehicle is traveling on the left lane including the lane change point, to perform a lane change from the branch point to the branch road using the route guidance function, if the preceding vehicle which is ahead of the subject vehicle If a speed exceeds the setting for autonomous speed control, the overtaking assistance function can be performed. When an overtaking offer with overtaking assistance is received near a branch point and the driver accepts the overtaking offer, the vehicle in question may perform a lane change from the left lane to the center lane or to the right lane. to overtake the previous vehicle. Thus, when a lane change is performed using the overtaking assistance function near the branch point, it may not be possible to return to the left lane and head towards the branch point depending on traffic or the like.

[0072]

In the present embodiment, in order to prevent the above problem from occurring, as shown in FIG. 10, the presentation inhibition point for overtaking information is set to locations ahead of the branch point by the presentation inhibition distance Dv. In addition, when the distance from the subject vehicle to a reversing point such as a branch point is shorter than the predetermined presentation prohibition distance Dv, control is performed so as not to perform overtaking information presentation using the overtaking assistance function. In the embodiment shown in FIG. 6, for example, the presentation inhibition distance Dv may be set to a first predetermined distance (eg, about 2.5 km to a reversal point) at which route information is presented when driving from the right to the left lane. - side strip of a three-lane road.

[0073]

Next, the motion control process according to the present embodiment will be described with reference to FIG. 11. FIG. 11 is a flowchart illustrating a motion control process according to the present embodiment. When the overtaking assistance function of the control device 19 is used to determine in step S30 that the preceding vehicle whose speed is lower than the set speed of the autonomous speed control is in front of the subject vehicle, the process proceeds to step S31. In step S31, the location information of the subject vehicle is obtained from the sensors 11, the map information is obtained from the map database 13, and the predetermined route information is obtained from the navigation device 15. The overtaking assistance function of the control device 19 is used to calculate the distance from the considered vehicle to the nearest point of change of direction based on the received information elements. The overtaking assistance function of the control device 19 serves to compare the calculated distance to the point of change of direction with the demonstration prohibition distance Dv. When the distance to the reversing point is shorter than the presentation inhibition distance Dv, the process proceeds to step S32 in which presentation of the overtaking information is inhibited. On the contrary, when the distance to the reversing point is larger than the presentation inhibition distance Dv in step S31, the process proceeds to step S33 in which the control device 19 executes the overtaking assistance control.

[0074]

"Second Embodiment"

In the first embodiment, a predetermined distance is used as the presentation inhibition distance Dv, but the presentation inhibition distance Dv can be changed according to whether a route is set and/or whether the route assistance function is enabled/disabled. The motion control process according to the present embodiment will be described below with reference to FIG. 12. FIG. 12 is a flowchart illustrating a procedure for setting a presentation inhibition distance Dv in the present embodiment.

[0075]

In step S40, the overtaking assistance function of the control device 19 is used to confirm whether the route to the destination is set in the navigation device 15. device 19 is used to confirm whether the setting of the route assistance function is activated. When the setting of the route assistance function is enabled, the process proceeds to step S42, in which the overtaking assistance function of the control device 19 is to set the view prohibition distance Dv to the first view prohibition distance da.

[0076]

When the setting of the route guidance function is turned off in step S41, the process proceeds to step S43 in which the overtaking assistance function of the control device 19 is to set the view inhibition distance Dv to the second view inhibition distance db. When the route to the destination is not set in the navigation device 15 in step S40, the process proceeds to step S44 in which the overtaking assistance function of the control device 19 is to set the view inhibition distance Dv to the third view inhibition distance dc.

[0077]

The ratios between the first view inhibition distance da, the second view inhibition distance db, and the third view inhibition distance dc are da>db>dc, for example, da=2500 m, db=300 m and dc=0 m. using the route assistance function, and therefore the first presentation inhibition distance da is set to the same as the presentation inhibition distance of the first embodiment, so as to allow the vehicle in question to reliably navigate to the redirection point. The second view inhibition distance db is set significantly shorter than the first view inhibition distance da because the driver is steering in accordance with the route guidance provided by the navigation function of the navigation device 15, and therefore even when overtaking information is presented at the location close to the point of change of direction, the lane change can be performed from a short distance. The third presentation prohibition distance dc is set such that overtaking information is possible even at the point of change of direction, since the route is not set and the route guidance function is disabled; therefore, the driver performs the control of the subject vehicle with his own intention, and may not necessarily perform a lane change at the point of change of direction.

[0078]

In the second embodiment, the presentation inhibition distance Dv is set according to whether a route is set and/or the route guidance function is enabled/disabled, but the presentation inhibition distance Dv may be set according to the number of lane changes required to change from lane of the vehicle in question per lane, including the point of change of direction. Also in this case, the introduction inhibition distance Dv is preferably set to the above-described second introduction inhibition distance db or more, so that the lane change can be safely performed towards the change direction point.

[0079]

As described above, according to the traffic control device 1 and the traffic control method for a vehicle according to the present embodiments, in the case where overtaking information is provided to the driver as to whether to accept the execution of the overtaking assistance function for the vehicle that is traveling on the route to a preset destination, to overtake the previous vehicle by changing lanes with autonomous traffic control, when the distance from the vehicle to the redirection point is less than the preset display prohibition distance, no overtaking information is displayed; therefore, the presentation inhibition distance is properly set, and thus it is possible to inhibit the presentation of overtaking information at a time when the route is difficult. This can prevent a situation in which the driver unintentionally receives the presentation of the overtaking information to perform a lane change and cannot navigate to the change point due to a traffic jam or the like.

[0080]

In addition, in the case where a navigation function for presenting a route and guiding to a destination and a route guidance function enabling a vehicle to be driven to navigate a route by autonomous traffic control are provided, when the route assistance function is executed, the first the view inhibition distance is set as a presentation inhibition distance, and when the navigation function is executed, the second presentation inhibition distance is shorter than the first presentation inhibition distance is set as the presentation inhibition distance; therefore, in the case where the driver steers the vehicle based on the route guidance provided by the navigation function, even when the overtaking information is presented at a location close to the redirection point, the driver's intention can be reflected as much as possible to perform overtaking assistance functions.

[0081]

In addition, when neither the navigation function nor the route guidance function are executed, a third presentation inhibition distance that is shorter than the second presentation inhibition distance is set as a presentation inhibition distance; therefore, even when the overtaking information is presented at a location close to the redirection point, the driver's intention can be reflected as much as possible to perform the overtaking assistance function. In addition, the redirection point includes at least one of the following: a branch point, a confluence point, a road exit, or a toll station; therefore, even when it is necessary to change lanes at various reversing points in order to travel along the route, it can be prevented from occurring in which the driver unintentionally receives the overtaking information presentation and fails to navigate to the redirecting point.

[Description of tags]

[0082]

1 Motion controller

11 Sensors

12 Device for determining the location of the vehicle in question

13 Cartographic database

14 Onboard equipment

15 Navigation device

16 Presentation device

17 Input device

171 Main switch

172 Resume/accelerate switch

173 Switch installation / coasting

174 Cancel switch

175 Switch control distance between vehicles

176 Lane change assist switch

18 Driving control device

19 Control unit

Claims (15)

1. A method for controlling vehicle traffic for presenting overtaking information to a vehicle traveling on a route to a preset destination regarding whether to accept execution of an overtaking assistance function to overtake a preceding vehicle by changing lanes by means of autonomous traffic control, wherein the method motion control contains: when the route guidance function of driving the vehicle for autonomous route guidance is executed, setting the first presentation inhibition distance as the presentation inhibition distance for overtaking information; when the navigation function for presenting the route and direction to the destination is executed, setting the second presentation inhibition distance shorter than the first presentation inhibition distance as the presentation inhibition distance; determining the location of the vehicle on the route; and determining the presence or absence of a change direction point on the route in front of the location of the vehicle, and the change direction point is the point at which the vehicle must change direction, wherein, when the distance from the vehicle to the reversing point is shorter than the presentation prohibition distance, the overtaking information presentation is not performed. 2. A motion control method for a vehicle according to claim 1, comprising: when neither the navigation function nor the route guidance function is executed, setting the third view inhibition distance is shorter than the second view inhibition distance as the view inhibition distance. 3. The vehicle traffic control method according to any one of claims 1, 2, wherein the redirection point includes at least one of a branch point, a confluence point, a road exit, or a toll point. 4. A traffic control device for a vehicle, configured to present to a vehicle traveling on a route to a preset destination overtaking information regarding whether to accept the execution of an overtaking assistance function to overtake a preceding vehicle by changing lanes by autonomous motion control, wherein the motion control device is configured to: when the route guidance function of driving the vehicle for autonomous route guidance is executed, set the first presentation inhibition distance as the presentation inhibition distance for the overtaking information; when the navigation function for presenting the route and direction to the destination is executed, setting the second presentation inhibition distance shorter than the first presentation inhibition distance as the presentation inhibition distance; determine the location of the vehicle on the route and determine if there is a reversal point on the route ahead of the vehicle's location, where the redirection point is the point at which the vehicle should change its direction of travel, wherein, when the distance from the vehicle to the reversing point is shorter than the presentation prohibition distance, the overtaking information presentation is not performed.

Images