JP2018169830A - Driving support method, driving support device using the same, automatic driving control device, vehicle, program, driving support system - Google Patents

Abstract

Provided is a technique for executing a lane change according to a road condition when there is another vehicle traveling in a platoon. An operation signal input unit 50 passes between two other vehicle objects in an image notified from a notification device 2 and moves from the first lane to the third lane via the second lane. An operation signal is input by the operation of an occupant who moves the object. When the lane change indicated by the operation signal is included in the normal section, the command output unit 55 outputs to the automatic driving control device 30 a command for traveling along a route that avoids between two other vehicles. When the lane change indicated by the operation signal is included in the exceptional section, the command output unit 55 outputs a command for causing the automatic driving control device 30 to travel on a route that interrupts between two other vehicles. [Selection] Figure 4

Description

  The present invention relates to a vehicle, a driving support method provided in the vehicle, a driving support device using the same, an automatic driving control device, a program, and a driving support system.

  Techniques for vehicle group traveling control in which a plurality of vehicles travel in a row have been proposed. The leading vehicle transmits vehicle speed control information to the outside, and the following vehicle receives the vehicle speed control information of the leading vehicle and controls the vehicle speed of the host vehicle based on the vehicle speed control information. In order for other people to grasp at a glance that the vehicle is in the vehicle group traveling control, the entire light emitting units of all the vehicles constituting the vehicle group emit light in one light emission pattern (see, for example, Patent Document 1).

JP 2003-123180 A

  In recent years, development related to automatic driving of automobiles has been promoted. In one form of automatic driving, a specific driving such as lane change, overtaking, and follow-up driving is performed by issuing a command to the vehicle instead of the driver operating an existing driving operation unit such as a steering wheel or an accelerator pedal. Operation is instructed to the vehicle side. In the lane change, automatic driving is controlled so as to interrupt between vehicles traveling in adjacent lanes. However, when a vehicle platooning is executed in the adjacent lanes, it cannot be interrupted between the lanes. Therefore, the vehicle has to change the lane by overtaking the forefront of the platoon, or change the lane by being overtaken by the end of the platoon. However, it may be required to change lanes immediately depending on the road conditions.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which performs a lane change according to the condition of a road, when the other vehicle which is carrying out platooning exists.

  In order to solve the above-described problem, a driving support device according to an aspect of the present invention provides a first input unit to which host vehicle information related to the host vehicle traveling in the first lane is input, and a second lane different from the first lane. On the road including the second lane for inputting other vehicle information related to two other vehicles traveling in the lane and the first lane, the second lane, and the third lane, a lane change that interrupts the lane is prohibited. A third input unit for inputting road information indicating a normal section and an exception section in which a lane change to be interrupted in the platoon is permitted, own vehicle information input to the first input unit, and input to the second input unit An image that is generated based on the other vehicle information that has been generated and that shows an image of the host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles on the road Output from the image output unit and the notification device An operation signal input unit through which an operation signal is input by an occupant's operation for moving the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image; When the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit, the vehicle travels along a route that avoids between two other vehicles. And a command output unit that outputs a command to the automatic driving control device that controls the automatic driving of the host vehicle. The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  Another aspect of the present invention is an automatic operation control device. In this device, there is a first input unit for inputting own vehicle information relating to the own vehicle traveling in the first lane, and other vehicle information relating to two other vehicles traveling in a second lane different from the first lane. On the road that includes the second input part that is input, the first lane, the second lane, and the third lane, the normal section in which the lane change that interrupts the platoon is prohibited, and the exception that the lane change that interrupts the platoon is permitted It is an image generated based on the third input unit to which road information indicating a section is input, the own vehicle information input to the first input unit, and the other vehicle information input to the second input unit. In addition, an image output unit that outputs an image of a host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles to the notification device, and an image that is notified from the notification device Between the two other vehicle objects in An operation signal input unit to which an operation signal is input by an occupant's operation for moving the own vehicle object from the first lane to the third lane via the second lane, and a lane indicated by the operation signal input to the operation signal input unit When the change is included in the normal section indicated by the road information input to the third input unit, automatic driving control for controlling automatic driving of the host vehicle so as to travel along a route that avoids between two other vehicles A part. When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the automatic driving control unit is between the two other vehicles. Drive along the route to interrupt.

  Yet another embodiment of the present invention is a vehicle. This vehicle is a vehicle provided with a driving support device, and the driving support device is different from the first lane and the first input unit to which the host vehicle information related to the host vehicle traveling in the first lane is input. On the road including the second lane for inputting other vehicle information related to two other vehicles traveling in the lane and the first lane, the second lane, and the third lane, a lane change that interrupts the lane is prohibited. A third input unit for inputting road information indicating a normal section and an exception section in which a lane change to be interrupted in the platoon is permitted, own vehicle information input to the first input unit, and input to the second input unit An image that is generated based on the other vehicle information that has been generated and that shows an image of the host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles on the road Output from the image output unit and the notification device An operation signal input unit through which an operation signal is input by an occupant's operation for moving the host vehicle object from the first lane to the third lane through the second lane through the two other vehicle objects in the image. When the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit, a route that avoids between two other vehicles is selected. A command output unit that outputs a command for running to an automatic driving control device that controls automatic driving of the host vehicle; The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  Yet another embodiment of the present invention is a driving support method. In this method, the step of inputting own vehicle information relating to the own vehicle traveling in the first lane and the other vehicle information relating to two other vehicles traveling in a second lane different from the first lane are input. Road information indicating a step, a normal section in which a lane change interrupted in the platoon is prohibited, and an exceptional section in which a lane change interrupted in the platoon is permitted in a road including the first lane, the second lane, and the third lane Is an image generated based on the input step, the input own vehicle information, and the input other vehicle information, and represents the own vehicle object representing the own vehicle and two other vehicles. A step of outputting an image of two other vehicle objects displayed on the road to the notification device, and passing between the two other vehicle objects in the image notified from the notification device, from the first lane to the second lane. Via second When the operation signal by the operation of the occupant moving the own vehicle object to the lane and the lane change indicated by the input operation signal are included in the normal section indicated by the input road information, A step of outputting a command for traveling along a route that avoids between other vehicles to an automatic driving control device that controls automatic driving of the host vehicle, and a lane change indicated by the input operation signal are input to the input road information. When included in the exceptional section shown, the method includes a step of outputting to the automatic driving control device a command for traveling along a route that interrupts between two other vehicles.

  Yet another embodiment of the present invention is a driving support system. This driving support system includes a notification device and a driving support device. The driving support device includes a first input unit to which own vehicle information related to the host vehicle traveling in the first lane is input, and other vehicle information related to two other vehicles traveling in a second lane different from the first lane. In a road including the second input unit, the first lane, the second lane, and the third lane, a normal section in which lane change interrupting the platoon is prohibited, and a lane change interrupting the platoon are permitted. An image generated based on the third input unit to which road information indicating an exceptional section is input, the own vehicle information input to the first input unit, and the other vehicle information input to the second input unit. An image output unit that outputs an image of a host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles to the notification device, and is notified from the notification device. Between two other vehicle objects in the image Indicated by an operation signal input unit to which an operation signal is input by an occupant's operation for moving the vehicle object from the first lane to the third lane via the second lane, and an operation signal input to the operation signal input unit If the lane change to be included is included in the normal section indicated by the road information input to the third input unit, a command for driving a route that avoids between two other vehicles is automatically controlled to control automatic driving of the host vehicle. A command output unit for outputting to the operation control device. The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  An arbitrary combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium recording the program, a vehicle equipped with the apparatus, and the like are also included in the present invention. It is effective as an embodiment.

  According to the present invention, it is possible to change lanes according to road conditions when there are other vehicles traveling in a row.

It is a figure which shows the structure of the vehicle which concerns on embodiment. It is a figure which shows typically the interior of the vehicle of FIG. It is a figure which shows the lane change by the vehicle of FIG. It is a figure which shows the structure of the driving assistance apparatus of FIG. FIGS. 5A and 5B are diagrams showing operation signals received by the processing unit of FIG. FIGS. 6A to 6B are diagrams illustrating paths determined by the processing unit in FIG. FIGS. 7A and 7B are diagrams showing another route determined in the processing unit of FIG. It is a figure which shows the outline | summary of the process in the process part of FIG. FIGS. 9A to 9C are diagrams illustrating specific examples of processing in the processing unit of FIG. It is a figure which shows another specific example of the process in the process part of FIG. It is a sequence diagram which shows the process sequence by the vehicle of FIG. It is a flowchart which shows the process sequence by the driving assistance device of FIG. It is a flowchart which shows another process sequence by the driving assistance device of FIG.

  Before describing the present invention in detail, an outline will be described. The present embodiment relates to a vehicle that performs automatic driving. In particular, the present embodiment is a device that controls an HMI (Human Machine Interface) for exchanging information related to driving behavior of the vehicle with a vehicle occupant (for example, a driver) (hereinafter also referred to as “driving support device”). .) “Driving behavior” includes the state of operation such as steering and braking during driving or stopping of the vehicle, or control content related to automatic driving control, for example, constant speed driving, acceleration, deceleration, pause, stop, Lane change, course change, left / right turn, parking, etc. In addition, driving behavior includes cruise (maintaining lane keeping, vehicle speed), lane keeping, preceding vehicle follow-up, stop-and-go during follow-up, lane change, overtaking, response to merging vehicles, highway entry and exit Interchange, confluence, response to construction zone, response to emergency vehicles, response to interrupting vehicles, response to right and left turn lanes, interaction with pedestrians and bicycles, avoiding obstacles other than vehicles, signs It may be a response to, a right / left turn / U-turn constraint, a lane constraint, a one-way traffic, a traffic sign, an intersection / roundabout.

  In a vehicle that performs automatic driving, an occupant may want to instruct the vehicle to perform specific driving operations such as lane change, overtaking, and follow-up without operating existing driving operation units such as steering and accelerator pedals. is there. In this case, a user interface that is unlikely to cause an erroneous operation is required. In order to cope with this, the driving support device generates an overhead image showing the situation of the vehicle and its surroundings, and displays the overhead image on the display. At this time, in the overhead image, the vehicle is shown as an object such as an icon (hereinafter referred to as “own vehicle object”). When the display is a touch panel, the occupant performs a drag-and-drop operation on the subject vehicle object to the lane to be changed (hereinafter also referred to as “end position”) in order to change the lane of the vehicle. When receiving such an operation, the driving support device generates a command for moving the route to the terminal position and outputs the command to the automatic driving control device.

  In such a lane change, there is a case where a vehicle is traveling in an adjacent lane. Interrupting between platooned vehicles to change lanes may affect the platoon, so interrupts between platooned vehicles are not allowed. For this reason, as described above, the vehicle has to change the lane by overtaking the forefront of the formation, or change the lane by overtaking the end of the formation. In order to realize this, since it moves to the forefront of the formation or the end of the formation, it takes a long time to complete the lane change. However, in the case of the shape of a road that should cross a plurality of lanes and move to a branch point within a short distance from the merging point, there is a possibility that the lane change as described above cannot move to the branch point.

  In order to cope with this, in the present embodiment, a normal section in which interrupts between vehicles in platooning are prohibited and an exceptional section in which temporary interruptions between vehicles in platooning are permitted are defined. The exceptional section is set in the place as described above, and the normal section is set in the remaining places. The driving support device changes the route according to whether the lane change is instructed in the normal zone or in the prohibited zone, generates a command for moving the route, and outputs the command to the automatic driving control device . Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

  FIG. 1 shows a configuration of a vehicle 100 according to an embodiment, and particularly shows a configuration related to an autonomous driving vehicle. The vehicle 100 can travel in the automatic driving mode, and includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, an automatic driving control device 30, and a driving support device 40. The devices shown in FIG. 1 may be connected by wired communication such as a dedicated line or a CAN (Controller Area Network). Moreover, you may connect by wired communication or wireless communications, such as USB (Universal Serial Bus), Ethernet (trademark), Wi-Fi (trademark), Bluetooth (trademark).

  The notification device 2 notifies the occupant of information related to traveling of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitter such as an LED (Light Emitting Diode) installed around the steering wheel, pillar, dashboard, and meter panel. In addition, the notification device 2 may be a speaker that converts information into sound and notifies the occupant, or a vibration body provided at a position that can be sensed by the occupant (for example, the occupant's seat, steering wheel). There may be. Further, the notification device 2 may be a combination thereof.

  The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof. Receives information on the automatic driving of the vehicle entered by. An operation signal for switching between automatic operation and manual operation may be received. The input device 4 outputs the received information to the driving support device 40 as an operation signal.

  FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided in the steering 11 or the second operation unit 4b provided between the driver seat and the passenger seat, and is a camera that recognizes a gesture. The third operation unit 4c, which is a sensor such as In addition, the alerting | reporting apparatus 2 and the input device 4 may be integrated, for example, may be mounted as a touch panel display. The vehicle 100 may further be provided with a speaker 6 that presents information related to automatic driving to the occupant by voice. In this case, the driving support device 40 may cause the notification device 2 to display an image indicating information related to automatic driving, and output a sound indicating information related to automatic driving from the speaker 6 together with or instead of the information. Returning to FIG.

  The wireless device 8 transmits / receives a signal to / from the wireless device 8 mounted on another vehicle 100 by executing inter-vehicle communication. Moreover, the radio | wireless apparatus 8 receives the signal from the roadside machine which is not shown in figure by performing road-to-vehicle communication. Since a well-known technique should just be used about vehicle-to-vehicle communication and road-to-vehicle communication, description is abbreviate | omitted here. Moreover, the radio | wireless apparatus 8 may respond | correspond to a mobile telephone communication system, WMAN (Wireless Metropolitan Area Network), etc., and performs radio | wireless communication with a data server, an infrastructure, another vehicle, a pedestrian, etc.

  The driving operation unit 10 includes a steering 11, a brake pedal 12, an accelerator pedal 13, and a winker switch 14. The steering 11, the brake pedal 12, the accelerator pedal 13, and the winker switch 14 can be electronically controlled by a steering ECU, a brake ECU, an engine ECU, a motor ECU, and a winker controller. In the automatic operation mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator in accordance with a control signal supplied from the automatic operation control device 30. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the automatic operation control device 30.

  The detection unit 20 detects a surrounding situation and a running state of the vehicle 100. The detection unit 20 includes, for example, the speed of the vehicle 100, the relative speed of the preceding vehicle with respect to the vehicle 100, the distance between the vehicle 100 and the preceding vehicle, the relative speed of the vehicle in the side lane with respect to the vehicle 100, and the vehicle in the vehicle 100 and the side lane. And the position information of the vehicle 100 are detected. The detection unit 20 outputs various detected information (hereinafter referred to as “detection information”) to the automatic operation control device 30. Further, the detection unit 20 may output the detection information to the driving support device 40 via the automatic driving control device 30 or may directly output the detection information to the driving support device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

  The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The sensor 22 is a generic name for various sensors for detecting the situation outside the vehicle and the state of the vehicle 100. For example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle includes a road condition in which the host vehicle includes lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like are mounted.

  The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information around the current position of the vehicle 100 from the map database. The map database may be recorded on a recording medium in the vehicle 100, or may be downloaded from a map server via a network when used. The map information includes information on roads and intersections.

  The automatic driving control device 30 is an automatic driving controller that implements an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving. The automatic operation control device 30 includes a control unit 31, a storage unit 32, and an I / O unit (Input / Output unit, input / output unit) 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources. The storage unit 32 includes a nonvolatile recording medium such as a flash memory. The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 outputs information related to automatic driving to the driving support device 40 and inputs a control command from the driving support device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

  The control unit 31 applies the control command input from the driving support device 40 and various information collected from the detection unit 20 or various ECUs to the automatic driving algorithm, and automatically controls the accelerator throttle opening, steering angle, etc. of the vehicle 100. A control value for controlling the object is calculated. The control unit 31 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The driving support device 40 is an HMI controller that executes an interface function between the vehicle 100 and an occupant, and includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.

  The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I / O unit 43 executes various communication controls according to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / audio output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

  The operation signal input unit 50 receives an operation signal from the input device 4 by an operation of an occupant or a user outside the vehicle made to the input device 4 and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 is a result of the detection process by the detection unit 20, receives detection information indicating the current surrounding state and running state of the vehicle 100 from the detection unit 20, and outputs the detection information to the control unit 41.

  The command IF 53 executes interface processing with the automatic driving control device 30 and includes an action information input unit 54 and a command output unit 55. The behavior information input unit 54 receives information regarding the automatic driving of the vehicle 100 transmitted from the automatic driving control device 30 and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 from the automatic driving control device 30 and transmits the control command to the automatic driving control device 30.

  The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit to the device outside the vehicle. Further, the communication IF 56 receives data from a device outside the vehicle transferred by the wireless device 8 and outputs the data to the control unit 41.

  Here, the automatic driving control device 30 and the driving support device 40 are configured as separate devices. As a modified example, as shown by a broken line in FIG. 1, the automatic driving control device 30 and the driving support device 40 may be integrated into one controller. In other words, one automatic driving control device may be configured to have the functions of both the automatic driving control device 30 and the driving support device 40 of FIG. Furthermore, you may be comprised as the driving assistance system with which the alerting device 2, the input device 4, and the driving assistance device 40 were combined.

  Before describing the configuration of the driving support device 40, an outline of lane change which is a premise of the present embodiment will be described. FIG. 3 is a diagram illustrating a lane change by the vehicle 100. This is a bird's-eye view image generated based on the information acquired from the detection unit 20 and the wireless device 8 in the driving support device 40 and includes the periphery of the vehicle 100. The overhead image is displayed on the center display 2b, for example. As shown in the bird's-eye view image, the road is composed of three lanes. In addition, the host vehicle object 200 in which the position information of the vehicle 100 is reflected is arranged in the leftmost lane. In the center lane, the first other vehicle object 202a, the second other vehicle object 202b, and the third other vehicle object 202c are arranged in order. These are objects reflecting position information of other vehicles 100 (not shown).

  Hereinafter, for the sake of clarity, the operation of the other vehicle 100 may be described as the operation of the other vehicle object 202. The first other vehicle object 202a and the second other vehicle object 202b form an m-1 row 220, and the second other vehicle object 202b and the third other vehicle object 202c form an m row 222. That is, the formation is formed by two other vehicles 100 that run side by side in the front-rear direction. Therefore, when three or more other vehicles 100 travel side by side in the front-rear direction, a plurality of platoons are formed as shown in FIG.

  When the center display 2b is a touch panel, the occupant performs a drag-and-drop operation to the rightmost lane by the moving operation 230 after touching the own vehicle object 200 in order to change the lane of the vehicle 100. That is, the passenger instructs the lane change from the left lane to the right lane. Here, the leftmost lane that is the starting point of the lane change is referred to as “start lane 210”, and the rightmost lane that is the end point of the lane change is referred to as “end lane 214”. A lane between the start lane 210 and the end lane 214 is referred to as a “crossing lane 212”. Further, the position where the host vehicle object 200 is arranged in the start lane 210 is referred to as a “start position”, and the position where the host vehicle object 200 is arranged in the end lane 214 is referred to as a “end position”. Here, the position where the host vehicle object 200 is disposed corresponds to the position where the vehicle 100 is disposed.

  In the following description, it is assumed that there are no platoons in the start lane 210 and the end lane 214 and there are platoons in the crossing lane 212. In other words, the movement operation 230 moves from a lane where no platoon exists to another lane where a platoon exists, to another lane where no platoon exists. Specifically, the move operation 230 is shown as traversing the m-1 column 220, but as described above, interrupts to the m-1 column 220 are prohibited. Therefore, the route 240 moves from the position of the host vehicle object 200 in the start lane 210 to the rear of the m platoon 222, crosses the crossing lane 212 to the terminal lane 214, and further travels forward in the terminal lane 214. Is formed. That is, a route 240 that avoids the formation is formed. The vehicle 100 also moves along the route 240. As described above, traveling on such a route 240 may increase the period until the vehicle 100 completes the lane change. Depending on the road conditions, it is necessary to shorten the period until the vehicle 100 completes the lane change. For this purpose, the driving support device 40 according to the present embodiment executes the following process.

  FIG. 4 shows a configuration of the driving support device 40, and particularly shows a configuration related to a lane change instruction by an occupant. The driving support device 40 includes a control unit 41, an operation signal input unit 50, an image / sound output unit 51, a detection information input unit 52, a command output unit 55, and a communication IF 56. The control unit 41 includes a generation unit 76 and a processing unit. 78. Here, the detection information input unit 52 is connected to the detection unit 20, the communication IF 56 is connected to the wireless device 8, the operation signal input unit 50 is connected to the input device 4, and the image / audio output unit 51 is connected to the notification device 2. The command output unit 55 is connected to the automatic operation control device 30.

  The detection unit 20 detects the current position and current speed of the vehicle 100 as own vehicle information. Here, since the lane change of the vehicle 100 is an object of explanation, it is assumed that the vehicle 100 is traveling in the start lane 210. Further, the detection unit 20 detects the relative speed and distance of the other vehicle 100, in particular the two other vehicles 100 traveling in a platoon, and the present vehicle 100 as other vehicle information. Such another vehicle 100 is traveling in a crossing lane 212, and when the starting lane 210 is called a first lane, the crossing lane 212 is called a second lane. Furthermore, the detection unit 20 acquires map information from the map database. The map information includes road information regarding a normal section in which a lane change interrupting the platoon is prohibited and an exceptional section in which a lane change interrupting the platoon is permitted. The road information may include lane information.

  The wireless device 8 performs vehicle-to-vehicle communication with another wireless device 8 mounted on another vehicle 100, thereby relating to the current position and current speed of the other vehicle 100, and the platooning in the other vehicle 100. Information is acquired as other vehicle information. The information related to the platooning in the other vehicle 100 indicates whether it is the follower side of the platooning or the follower side of the platooning. Moreover, the radio | wireless apparatus 8 may acquire the above-mentioned road information by performing road-vehicle communication between roadside machines.

  The vehicle information, other vehicle information, and road information are input from the detection unit 20 to the detection information input unit 52. In addition, other vehicle information and road information are input to the communication IF 56. Here, the detection information input unit 52 to which the host vehicle information is input is also referred to as a “first input unit 70”, and the detection information input unit 52 to which other vehicle information is input and the communication IF 56 are the “second input unit 72”. Also called. Furthermore, the detection information input unit 52 and the communication IF 56 to which road information is input are also referred to as “third input unit 74”. The detection information input unit 52 and the communication IF 56 output the input information to the control unit 41.

  The generation unit 76 generates an overhead image as shown in FIG. 3 based on the own vehicle information, the other vehicle information, and the road information. For example, the generation unit 76 arranges a road formed by the start lane 210, the crossing lane 212, and the end lane 214 based on information on the lane near the current position of the vehicle 100. Further, the generation unit 76 places the host vehicle object 200 on the start lane 210 based on the current position of the vehicle 100. Further, the generation unit 76 arranges the plurality of other vehicle objects 202 on the crossing lane 212 based on the positions corresponding to the current positions of the plurality of other vehicles 100. A plurality of other vehicle objects 202, that is, a plurality of other vehicles 100, are running in a row as indicated in the other vehicle information. Note that the bird's-eye view image indicates whether it is a normal section or an exceptional section according to the road information. This will be described later. The generation unit 76 outputs the generated overhead image to the image / sound output unit 51. The image / sound output unit 51 outputs the overhead image to the notification device 2, and the notification device 2 displays the overhead image. The displayed bird's-eye view images are shown, for example, in FIGS. 6A to 6B and FIGS. 7A to 7B described later.

  The input device 4 is, for example, a touch panel and passes between two other vehicle objects 202 in the bird's-eye view image displayed on the notification device 2 and automatically moves from the start lane 210 to the end lane 214 via the crossing lane 212. The operation of the occupant who moves the vehicle object 200 is received. This corresponds to the aforementioned movement operation 230 and corresponds to a drag and drop operation. Here, when the start lane 210 is called the first lane, the end lane 214 is called the third lane. The input device 4 outputs an operation signal indicating the accepted operation. The operation signal indicates the coordinates of the start position and the coordinates of the end position. An operation signal is input to the operation signal input unit 50.

  The processing unit 78 receives information related to the overhead view image from the generation unit 76. This corresponds to receiving the positional relationship between the vehicle 100 and the other vehicle 100. Accordingly, the processing unit 78 grasps a platoon including the own vehicle object 200 arranged in the start lane 210, a plurality of other vehicle objects 202 arranged in the crossing lane 212, and the two other vehicle objects 202. Further, the processing unit 78 receives an operation signal from the detection information input unit 52 and extracts the coordinates of the start position and the coordinates of the end position from the operation signal. The processing unit 78 determines a command based on the relationship between the position of the formation, the start position, and the end position. This command is also called a lane change plan. Here, in order to clarify the explanation, it is assumed that a platoon is arranged in the lane between the start position and the end position.

  5A to 5B show operation signals received by the processing unit 78. FIG. FIG. 5A is a table stored in the processing unit 78, and has a data structure of a table showing a relationship between the start position, the end position, and the command. As shown in the figure, commands are determined according to the start position and the end position, and combinations thereof are shown as the first movement operation 230a to the fourth movement operation 230d. FIG. 5B shows each moving operation 230. This is shown similarly to the conventional bird's-eye view images. Further, a part is defined as a normal section 250 and the rest is defined as an exception section 252. Below, each moving operation 230 is demonstrated, using FIG. 5 (a)-(b) together.

  In the fourth movement operation 230 d, the start position is included in the normal section 250 and the end position is included in the normal section 250. This is a lane change within the normal section 250, and is the same as the movement operation 230 in FIG. In the first movement operation 230a, the start position is included in the exception section 252 and the end position is included in the exception section 252. This is a lane change within the exceptional section 252. In the third movement operation 230 c, the start position is included in the normal section 250 and the end position is included in the exception section 252. In the second movement operation 230 b, the start position is included in the exceptional section 252 and the end position is included in the normal section 250. These are lane changes that straddle the normal section 250 and the exceptional section 252.

  Below, the command in each movement operation 230 is demonstrated concretely. 6A to 6B show paths determined by the processing unit 78. FIG. FIG. 6A shows a command for the fourth movement operation 230d. When the lane change indicated by the operation signal is included in the normal section 250, the processing unit 78 determines a route 240 that avoids the m-1 column 220 and the m column 222. This can be said to determine a route 240 that avoids between the two other vehicle objects 202. The route 240 is a route that moves from the start position to the end of the m platoon 222, and moves across the first crossing lane 212a to the second crossing lane 212b. The route 240 may be a route that moves from the start position to the forefront of the m-1 row 220, where the route 240 crosses the first crossing lane 212a and moves to the second crossing lane 212b. Such a process for determining a route is repeated until the host vehicle object 200 reaches the terminal lane 214. A route to reach the terminal lane 214 is also called a route 240.

  FIG. 6B shows a command for the first movement operation 230a. When the lane change indicated by the operation signal is included in the exceptional section 252, the processing unit 78 determines a route 240 that interrupts between the two other vehicle objects 202. Specifically, there is a route 240 that moves to the second crossing lane 212b across the middle portion between the second other vehicle object 202b and the third other vehicle object 202c in the m platoon 222 adjacent to the own vehicle object 200. It is determined. Such processing for determining the route 240 is repeated until the host vehicle object 200 reaches the terminal lane 214.

  FIGS. 7A to 7B show other routes determined by the processing unit 78. FIG. FIG. 7A shows a command for the second movement operation 230b. When the lane change indicated by the operation signal goes from the exceptional section 252 to the normal section 250, the processing unit 78 determines one of the fourth route 240d and the fifth route 240e. Here, the fourth route 240d is a route that travels from the start position along the start lane 210 to the forefront of the m-1 row 220, and moves across the first crossing lane 212a to the second crossing lane 212b. is there. That is, on the fourth route 240d, the vehicle moves from the exceptional section 252 to the normal section 250 so as to avoid the m-1 row 220, and crosses the first crossing lane 212a in the normal section 250.

  On the other hand, the fifth route 240e is a route that moves across the first crossing lane 212a to the second crossing lane 212b by interrupting between the second other vehicle object 202b and the third other vehicle object 202c of the m row 222. It is. That is, in the fifth normal section 250e, the first crossing lane 212a is crossed in the exceptional section 252. Note that the selection of either the fourth route 240d or the fifth route 240e is made in the same manner as a command for the third movement operation 230c described later, and thus the description thereof is omitted here.

  FIG. 7B shows a command for the third movement operation 230c. The processing unit 78 determines one of the first route 240a, the second route 240b, and the third route 240c when the lane change indicated by the operation signal goes from the normal section 250 to the exceptional section 252. Here, the first route 240a moves from the start position along the start lane 210, and enters the first crossing by interposing between the first other vehicle object 202a and the second other vehicle object 202b of the m-1 formation 220. This is a route that crosses the lane 212a and moves to the second crossing lane 212b.

  On the other hand, the second route 240b moves from the start position along the start lane 210 to the exceptional section 252. Further, the second route 240b crosses the first crossing lane 212a by interrupting between the second other vehicle object 202b and the third other vehicle object 202c of the m row 222 in the exceptional section 252 and the second crossing lane 212b. It is a route to move to. That is, in the second normal section 250b, the vehicle moves from the normal section 250 to the exceptional section 252e and crosses the first crossing lane 212a in the exceptional section 252. The third route 240c is a route that moves from the start position along the start lane 210 to the end of the m platoon 222, crosses the first crossing lane 212a, and moves to the second crossing lane 212b. That is, in the third route 240c, the first crossing lane 212a is crossed in the normal section 250 so as to avoid the m platoon 222. Hereinafter, a process for selecting any one of the first route 240a, the second route 240b, and the third route 240c will be described.

  FIG. 8 shows an outline of processing in the processing unit 78. The start lane 210, the first crossing lane 212a, the second crossing lane 212b, the end lane 214, the host vehicle object 200, the first other vehicle object 202a to the third other vehicle object 202c are arranged in the same manner as in FIG. 7B. The The first other vehicle object 202a and the second other vehicle object 202b form an m-1 row 220, and the second other vehicle object 202b and the third other vehicle object 202c form an m row 222. Furthermore, in order to make the processing for each route 240 described above common, it is assumed that m + 1 platoon 224 is formed from the third other vehicle object 202c toward the rear.

Assuming that the interrupt position for each platoon is an intermediate point between two other vehicle objects 202, the own vehicle object 200 runs parallel to the platoon to the intermediate point. Here, the time for completing the parallel running of the host vehicle object 200 with respect to the m-1 column 220, that is, the time for the host vehicle object 200 to reach the midpoint between the first other vehicle object 202a and the second other vehicle object 202b, “T _{parallel running complete (m−1)} ” is indicated. The time during which the host vehicle object 200 can interrupt the m-1 column 220 is indicated as “T _{interrupt possible (m−1)} ”. Similarly, “T _{parallel running complete (m)} ” and “T _{interruptible (m)} ” are indicated for the m team 222, and “T _{parallel running complete (m + 1)} ” and “ T _{interrupt possible (m + 1)} ". Further, the speed of the host vehicle object 200 is indicated as “v”, and the speed of the formation is indicated as “vm”.

Based on such a definition, the processing unit 78 determines the lane change position of the first crossing lane 212a from the start lane 210. First, the time for completing the parallel running of the host vehicle object 200 with respect to the m team row 222 is shown as follows.
T _{parallel running complete (m)} = row coordinate Lm / (own vehicle speed v-row velocity vm)
Moreover, the time when the own vehicle object 200 can interrupt the m team row 222 is indicated as follows.
T _{interrupt possible (m_min)} ≤ T _{interrupt possible (m)} ≤ T _{interrupt possible (m_max)}
Here, T _{interruptible (m_min)} is the time the interrupt position for m platoon 222 enters the exception section 252, T _{interruptible (m_max),} the interrupt position for m platoon 222 is a time out from the exception section 252 .

Moreover, the start time of the interruption of the own vehicle object 200 with respect to the m team row 222 is shown as follows.
T _{interrupt start (m)} = max (T _{parallel running complete (m)} , T _{interrupt possible (m_min)} )
The processing unit 78 derives the T _{interrupt start (m−1)} and the T _{interrupt start (m + 1)} by executing the same calculation for the m−1 train 220 and the m + 1 train 224. Furthermore, the processing unit 78 compares the T _{interrupt start (m−1)} , the T _{interrupt start (m)} , and the T _{interrupt start (m + 1)} to select the minimum interrupt start time. The processing unit 78 selects a platoon corresponding to the selected interrupt start time as an interrupt target for the first crossing lane 212a.

  The processing unit 78 repeats such processing for each crossing lane 212 until the terminal lane 214 is reached. As a result, the processing unit 78 derives the terminal position in the terminal lane 214. For example, the processing unit 78 executes a lane change plan from the start lane 210 to the end lane 214 in advance, and starts the lane change after determining the end position. The processing unit 78 executes the lane change plan from the start lane 210 to the first crossing lane 212a, changes the lane to the first crossing lane 212a, and then executes the lane change plan to the second crossing lane 212b. May be.

9A to 9C show specific examples of processing in the processing unit 78. FIG. FIG. 9A shows a case where the first path 240a for executing an interrupt to the m-1 formation 220 is selected. In this case, T _{interrupt start (m−1)} <T _{interrupt start (m)} , T _{interrupt start (m + 1)} . FIG. 9B shows a case where the second path 240b for executing an interrupt to the m formation 222 is selected. In this case, T _{interrupt start (m)} <T _{interrupt start (m−1)} , T _{interrupt start (m + 1)} . FIG. 9C shows a case where the third path 240c for executing an interrupt to the m + 1 formation 224 is selected. In this case, T _{interrupt start (m + 1)} <T _{interrupt start (m−1)} and T _{interrupt start (m)} . Returning to FIG.

  The processing unit 78 generates a command for traveling the determined route 240. At this time, the coordinates in the overhead image are converted into actual position coordinates. The processing unit 78 outputs a command to the command output unit 55, and the command output unit 55 outputs the command to the automatic operation control device 30. The automatic driving control device 30 controls the automatic driving of the vehicle 100 so as to travel along the route 240 indicated by the command received from the driving support device 40. At that time, the automatic driving control device 30 may use the own vehicle information, other vehicle information, and road information from the detection unit 20 and the wireless device 8. When the automatic driving control device 30 starts the automatic driving control according to the command, the automatic driving control device 30 may notify the driving support device 40 of the start. The generation unit 76 of the driving support device 40 updates the overhead view image in response to the notification. The overhead image is output to the notification device 2 via the image / sound output unit 51, and the notification device 2 displays the overhead image. Further, the processing unit 78 generates a notification signal for notifying the lane change, and outputs the notification signal to the communication IF 56. The communication IF 56 outputs a notification signal to the wireless device 8. The wireless device 8 transmits a notification signal by inter-vehicle communication.

  Hereinafter, two additional processes in the processing unit 78 will be described. The first additional process is a process when a result that does not reach the terminal lane 214 is obtained in the lane change plan. For example, in the following two cases, the processing unit 78 determines that the terminal lane 214 is not reached in the lane change plan. The first is a case where an interruption to the formation becomes impossible by going out of the exceptional section 252 before reaching the terminal lane 214.

The second is the case where the terminal lane 214 disappears when the terminal lane 214 is reached as shown in FIG. FIG. 10 shows another specific example of processing in the processing unit 78. Here, an expressway is assumed as a road, and the start lane 210, the first crossing lane 212a, and the second crossing lane 212b are main lanes, and the terminal lane 214 is a branch lane for leaving the highway. . The position at which the terminal lane 214 branches is indicated by terminal coordinates L _{x_END} , but if the current position of the _host vehicle object 200 is the origin, the terminal coordinates L _{x_END} indicates the distance to the branch. When the time to reach the terminal lane 214 due to the lane change is “T _{terminal position reached} ”, the processing unit 78 determines the following condition.
T _{end position arrival} ≥ end coordinates L _{x_END} / own speed v

  When this condition is not satisfied, the processing unit 78 determines that the terminal lane 214 is reached. On the other hand, when this condition is satisfied, the processing unit 78 determines that the terminal lane 214 is not reached due to the disappearance of the terminal lane 214. Returning to FIG. When the processing unit 78 determines that the terminal lane 214 is not reached in the lane change plan, the processing unit 78 determines a lane change error. The processing unit 78 notifies the generation unit 76 of the lane change error. The generation unit 76 generates an image indicating an error and outputs the image to the image / sound output unit 51. The image / sound output unit 51 outputs the image to the notification device 2, and the notification device 2 displays an image indicating an error. That is, the image / sound output unit 51 outputs an error image to the notification device 2 when the lane change indicated by the operation signal is predicted to be incomplete. The occupant recognizes that the lane cannot be changed by visually recognizing the displayed image.

  The second additional process is a process when a platoon exists in the terminal lane 214. This process will also be described with reference to FIG. In the description so far, interrupts to the platoon are prohibited, but it is permitted to temporarily interrupt the platoon in the exception section 252. In FIG. 10, a row 228 including a first other vehicle object 204 a and a second other vehicle object 204 b exists in the terminal lane 214. Since such interruption to the platoon 228 is prohibited, the lane change to the terminal lane 214 cannot be performed. However, as described above, since the terminal lane 214 to which the lane is changed is a branch lane, if the lane cannot be changed, it is impossible to get out of the highway.

  Therefore, when the interruption to the platoon 228 existing in the terminal lane 214 is expected and the terminal lane 214 is a branch lane, the processing unit 78 interrupts the platoon 228 by changing the lane, and takes a route that leaves the platoon 228 after the branch. decide. More specifically, the processing unit 78 recognizes that the terminal lane 214 is a branch lane by checking the road information. Under such circumstances, when the interrupt to the platoon 228 is predicted by the above-described lane change plan, the processing unit 78 moves to the terminal lane 214 and determines a route to interrupt the platoon 228. At that time, the processing unit 78 also sets a flag indicating an interrupt state. The flag indicating the interrupt state is information for instructing the automatic operation control device 30 to leave the platoon 228 when it can be detached from the platoon 228 after passing through a branch, merger, tollgate, etc. It is.

  The processing unit 78 outputs a command for traveling the determined route and a flag indicating an interrupt state to the command output unit 55. The command output unit 55 outputs these to the automatic operation control device 30. This is equivalent to interrupting the platoon 228 by changing the lane, and outputting a command for running a route that leaves the platoon 228 after branching. The automatic driving control device 30 controls the automatic driving of the vehicle 100 so as to travel along the route indicated by the command received from the driving support device 40. Further, the automatic operation control device 30 leaves the platoon 228 when it can be detached from the platoon 228 based on the own vehicle information, other vehicle information, and road information from the detection unit 20 and the wireless device 8. Thus, the automatic driving of the vehicle 100 is controlled.

  The operation of the vehicle 100 configured as above will be described. FIG. 11 is a sequence diagram illustrating a processing procedure performed by the vehicle 100. The wireless device 8 outputs the other vehicle information to the driving support device 40 (S10), and the detection unit 20 outputs the own vehicle information to the driving support device 40 (S12). The driving support device 40 generates an overhead image (S14). The driving support device 40 outputs an overhead image to the notification device 2 (S16). The input device 4 outputs an operation signal to the driving support device 40 (S18). The driving support device 40 executes a lane change plan (S20). The driving support device 40 issues a control command (S22), and outputs the control command to the automatic driving control device 30 (S24). The wireless device 8 outputs other vehicle information to the automatic driving control device 30 (S26), and the detection unit 20 outputs the own vehicle information to the automatic driving control device 30 (S28). The automatic driving control device 30 determines that control is possible (S30), and outputs a control start notification to the driving support device 40 (S32). The driving support device 40 generates a bird's-eye view image (S34). The driving support device 40 outputs an overhead image to the notification device 2 (S36).

  FIG. 12 is a flowchart illustrating a processing procedure performed by the driving support device 40. This indicates a case where the lane change is executed after the lane change plan up to the terminal lane 214 is completed. The third input unit 74 acquires road information (S50), the first input unit 70 acquires own vehicle information (S52), and the second input unit 72 acquires other vehicle information (S54). The generation unit 76 generates an overhead image (S56). The operation signal input unit 50 receives an operation of the host vehicle object 200 (S58). If the end position is not included in the exception section 252 (N in S60) and the own vehicle object 200 is included in the exception section 252 (Y in S62), if the lane change is not possible in the exception section 252 (N in S64), the processing The unit 78 sets a lane change command for avoiding the formation (S66). Even when the host vehicle object 200 is not included in the exceptional section 252 (N in S62), the processing unit 78 sets a lane change command for avoiding the formation (S66). If the lane change is possible in the exception section 252 (Y of S64), the processing unit 78 sets a lane change command for temporary interruption to the nearest platoon (S70).

  When the end position is included in the exception section 252 (Y in S60) and the host vehicle object 200 is included in the exception section 252 (Y in S68), the processing unit 78 sends a temporary interrupt lane change command to the nearest platoon. Set (S70). When the own vehicle object 200 is not included in the exceptional section 252 (N in S68), the processing unit 78 sets a temporary interrupt lane change command to the platoon that can be interrupted in the minimum time (S72).

  When the adjacent lane does not include the end position of the lane change (N in S74), the processing unit 78 generates an overhead image after interruption to the adjacent lane (S76), and resets the position of the own vehicle object 200. (S78), the process returns to step 60. When the adjacent lane includes the lane change end position (Y in S74), the processing unit 78 issues a lane change command up to the lane change end position (S80). When the lane change is impossible (Y in S82), the notification device 2 displays an error (S84). If the lane change is not impossible (N in S82), the wireless device 8 notifies the other vehicle 100 of the lane change (S86). If no interruption to the platoon occurs in the lane at the terminal position (N in S88), the process is terminated. When an interruption to the platoon occurs in the lane at the terminal position (Y in S88), the processing unit 78 sets a flag indicating an interruption state to the platoon (S90).

  FIG. 13 is a flowchart showing another processing procedure performed by the driving support device 40. This shows a case where a lane change plan is also executed while executing a lane change. The third input unit 74 acquires road information (S100), the first input unit 70 acquires own vehicle information (S102), and the second input unit 72 acquires other vehicle information (S104). The generation unit 76 generates an overhead image (S106). The operation signal input unit 50 receives an operation of the host vehicle object 200 (S108). If the end position is not included in the exception section 252 (N in S110) and the host vehicle object 200 is included in the exception section 252 (Y in S112), if the lane change is not possible in the exception section 252 (N in S114), the processing The unit 78 issues a lane change command for avoiding the formation (S116). Even when the host vehicle object 200 is not included in the exceptional section 252 (N in S112), the processing unit 78 sets a lane change command for avoiding the formation (S116). If the lane change is possible in the exception section 252 (Y of S114), the processing unit 78 issues a temporary interrupt lane change command to the nearest platoon (S120).

  When the end position is included in the exception section 252 (Y in S110) and the host vehicle object 200 is included in the exception section 252 (Y in S118), the processing unit 78 sends a temporary interrupt lane change command to the nearest platoon. Issue (S120). When the own vehicle object 200 is not included in the exception section 252 (N in S118), the processing unit 78 issues a command for temporarily changing the lane to the platoon that can be interrupted in the minimum time (S122). When the lane change is impossible (Y in S124), the notification device 2 displays an error (S126). If the lane change is not impossible (N in S124), the wireless device 8 notifies the other vehicle 100 of the lane change (S128). If it is not the lane at the end position (N in S130), the process returns to Step 110. If it is the lane at the end position (Y in S130), the process ends.

  According to the present embodiment, if the lane change is included in the normal section, the route for avoiding the platoon is determined. Therefore, when there is another vehicle traveling in the platoon, the lane is reduced while reducing the influence on the platoon. You can make changes. Further, if the lane change is included in the exceptional section, the route to be interrupted in the platoon is determined, so that when there is another vehicle traveling in the platoon, the lane change can be executed so as to cross the platoon. In addition, since the lane change is performed so as to cross the platoon, the period until the lane change is completed can be shortened. Moreover, since the period until the lane change is completed is shortened, the lane change can be completed even on a road where the lane must be changed in a short time. Moreover, since one of the normal section and the exceptional section is set, the lane change can be executed according to the road condition.

  Further, since the overhead image includes whether it is a normal section or an exceptional section, it is possible to inform the occupant whether the section is a normal section or an exceptional section. Further, when the lane change spans the normal section and the exceptional section, one of the route that avoids the platoon and the route that interrupts the platoon is selected, so that the lane change can be executed according to the road condition. Further, when it is predicted that the lane change will be incomplete, an error image is output, so that the occupant can be notified of the error. Further, when an interruption to the platoon existing in the terminal lane is anticipated and the terminal lane is a lane that branches from the crossing lane, an interruption to the platoon is instructed, so that it is possible to travel in the branch lane.

  The outline of one embodiment of the present invention is as follows. The driving support device according to an aspect of the present invention includes a first input unit that inputs vehicle information related to the vehicle traveling in the first lane, and two vehicles that travel in a second lane different from the first lane. On the road including the second input section for inputting other vehicle information on other vehicles, the first lane, the second lane, and the third lane, the normal section in which the lane change to be interrupted in the platoon is prohibited, and the lane is interrupted A third input unit for inputting road information indicating an exception section in which lane change is permitted, own vehicle information input to the first input unit, and other vehicle information input to the second input unit. And an image output unit that outputs an image of the host vehicle object representing the host vehicle and two other vehicle objects representing two other vehicles to the notification device. Two other vehicle objects in the image notified from the notification device Between the first lane, the second lane, the third lane, and the operation signal input unit that receives an operation signal input by an occupant's operation that moves the host vehicle object. When the lane change indicated by the operated signal is included in the normal section indicated by the road information input to the third input unit, a command for traveling along a route that avoids between two other vehicles is issued. A command output unit that outputs to an automatic operation control device that controls automatic operation. The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  According to this aspect, if the lane change is included in the normal section, the route to avoid the platoon is determined, and if the lane change is included in the exception section, the route to interrupt the platoon is determined. If it exists, the lane change can be executed according to the road condition.

  The image output from the image output unit may indicate whether it is a normal section or an exceptional section according to the road information input to the third input section. In this case, since the image includes whether it is a normal section or an exceptional section, it is possible to inform the occupant whether the section is a normal section or an exceptional section.

  When the lane change indicated by the operation signal input to the operation signal input unit straddles the normal section and the exceptional section, the command output section includes a route that interrupts between two other vehicles in the exceptional section, and two other You may output the command which drive | works either one of the path | routes avoiding between vehicles to an automatic driving | operation control apparatus. In this case, when the lane change crosses between the normal section and the exceptional section, one of the route that avoids the platoon and the route that interrupts the platoon is selected, so that the lane change can be executed according to the road condition.

  If the lane change indicated by the operation signal input to the operation signal input unit is expected to be incomplete, the image output unit may output an error image to the notification device. In this case, if it is predicted that the lane change will be incomplete, an error image is output, so that the occupant can be notified of the error.

  If the command output unit is expected to be interrupted between two other vehicles traveling in the third lane in the lane, and the third lane is a lane that branches from the second lane, the command output unit may be changed into the lane by changing the lane. You may output the command which makes it drive | work the path | route which leaves | separates from a formation after interruption and a branch to an automatic driving | operation control apparatus. In this case, when an interruption to the platoon existing in the third lane is expected and the third lane is a lane that branches from the second lane, an interruption to the platoon is instructed, so that it is possible to travel in the branch lane.

  Another aspect of the present invention is an automatic operation control device. In this device, there is a first input unit for inputting own vehicle information relating to the own vehicle traveling in the first lane, and other vehicle information relating to two other vehicles traveling in a second lane different from the first lane. On the road that includes the second input part that is input, the first lane, the second lane, and the third lane, the normal section in which the lane change that interrupts the platoon is prohibited, and the exception that the lane change that interrupts the platoon is permitted It is an image generated based on the third input unit to which road information indicating a section is input, the own vehicle information input to the first input unit, and the other vehicle information input to the second input unit. In addition, an image output unit that outputs an image of a host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles to the notification device, and an image that is notified from the notification device Between the two other vehicle objects in An operation signal input unit to which an operation signal is input by an occupant's operation for moving the own vehicle object from the first lane to the third lane via the second lane, and a lane indicated by the operation signal input to the operation signal input unit When the change is included in the normal section indicated by the road information input to the third input unit, automatic driving control for controlling automatic driving of the host vehicle so as to travel along a route that avoids between two other vehicles A part. When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the automatic driving control unit is between the two other vehicles. Drive along the route to interrupt.

  According to this aspect, if the lane change is included in the normal section, the route to avoid the platoon is determined, and if the lane change is included in the exception section, the route to interrupt the platoon is determined. If it exists, the lane change can be executed according to the road condition.

  Yet another embodiment of the present invention is a vehicle. This vehicle is a vehicle provided with a driving support device, and the driving support device is different from the first lane and the first input unit to which the host vehicle information related to the host vehicle traveling in the first lane is input. On the road including the second lane for inputting other vehicle information related to two other vehicles traveling in the lane and the first lane, the second lane, and the third lane, a lane change that interrupts the lane is prohibited. A third input unit for inputting road information indicating a normal section and an exception section in which a lane change to be interrupted in the platoon is permitted, own vehicle information input to the first input unit, and input to the second input unit An image that is generated based on the other vehicle information that has been generated and that shows an image of the host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles on the road Output from the image output unit and the notification device An operation signal input unit through which an operation signal is input by an occupant's operation for moving the host vehicle object from the first lane to the third lane through the second lane through the two other vehicle objects in the image. When the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit, a route that avoids between two other vehicles is selected. A command output unit that outputs a command for running to an automatic driving control device that controls automatic driving of the host vehicle; The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  According to this aspect, if the lane change is included in the normal section, the route to avoid the platoon is determined, and if the lane change is included in the exception section, the route to interrupt the platoon is determined. If it exists, the lane change can be executed according to the road condition.

  Yet another embodiment of the present invention is a driving support method. In this method, the step of inputting own vehicle information relating to the own vehicle traveling in the first lane and the other vehicle information relating to two other vehicles traveling in a second lane different from the first lane are input. Road information indicating a step, a normal section in which a lane change interrupted in the platoon is prohibited, and an exceptional section in which a lane change interrupted in the platoon is permitted in a road including the first lane, the second lane, and the third lane Is an image generated based on the input step, the input own vehicle information, and the input other vehicle information, and represents the own vehicle object representing the own vehicle and two other vehicles. A step of outputting an image of two other vehicle objects displayed on the road to the notification device, and passing between the two other vehicle objects in the image notified from the notification device, from the first lane to the second lane. Via second When the operation signal by the operation of the occupant moving the own vehicle object to the lane and the lane change indicated by the input operation signal are included in the normal section indicated by the input road information, A step of outputting a command for traveling along a route that avoids between other vehicles to an automatic driving control device that controls automatic driving of the host vehicle, and a lane change indicated by the input operation signal are input to the input road information. When included in the exceptional section shown, the method includes a step of outputting to the automatic driving control device a command for traveling along a route that interrupts between two other vehicles.

  Yet another embodiment of the present invention is a driving support system. This driving support system includes a notification device and a driving support device. The driving support device includes a first input unit to which own vehicle information related to the host vehicle traveling in the first lane is input, and other vehicle information related to two other vehicles traveling in a second lane different from the first lane. In a road including the second input unit, the first lane, the second lane, and the third lane, a normal section in which lane change interrupting the platoon is prohibited, and a lane change interrupting the platoon are permitted. An image generated based on the third input unit to which road information indicating an exceptional section is input, the own vehicle information input to the first input unit, and the other vehicle information input to the second input unit. An image output unit that outputs an image of a host vehicle object that represents the host vehicle and two other vehicle objects that represent two other vehicles to the notification device, and is notified from the notification device. Between two other vehicle objects in the image Indicated by an operation signal input unit to which an operation signal is input by an occupant's operation for moving the vehicle object from the first lane to the third lane via the second lane, and an operation signal input to the operation signal input unit If the lane change to be included is included in the normal section indicated by the road information input to the third input unit, a command for driving a route that avoids between two other vehicles is automatically controlled to control automatic driving of the host vehicle. A command output unit for outputting to the operation control device. The command output unit interrupts between two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit. A command for running the route is output to the automatic operation control device.

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  In the present embodiment, the input device 4 is a touch panel, and receives a moving operation 230 by a drag and drop operation. However, the present invention is not limited to this. For example, the third operation unit 4 c may accept the gesture operation by the occupant as the movement operation 230. At this time, it is only necessary that the content of the movement operation 230 is associated with the gesture operation in advance. According to this modification, the degree of freedom of configuration can be improved.

  According to the present invention, it is possible to change lanes according to road conditions when there are other vehicles traveling in a row.

  2 Informing device, 2a Head-up display, 2b Center display, 4 Input device, 4a 1st operation part, 4b 2nd operation part, 4c 3rd operation part, 6 Speaker, 8 Wireless device, 10 Driving operation part, 11 Steering, 12 brake pedal, 13 accelerator pedal, 14 blinker switch, 20 detection unit, 21 position information acquisition unit, 22 sensor, 23 speed information acquisition unit, 24 map information acquisition unit, 30 automatic operation control device, 31 control unit, 32 storage unit , 33 I / O unit, 40 driving support device, 41 control unit, 42 storage unit, 43 I / O unit, 50 operation signal input unit, 51 image / sound output unit, 52 detection information input unit, 53 command IF, 54 Action information input unit, 55 command output unit, 56 communication F, 70 first input unit, 72 second input portion, 74 third input unit, 76 generating unit, 78 unit, 100 vehicle.

Claims (10)

A first input unit for inputting own vehicle information about the own vehicle traveling in the first lane;
A second input unit for inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. A third input unit,
An image generated based on the host vehicle information input to the first input unit and the other vehicle information input to the second input unit, the host vehicle object representing the host vehicle, and two vehicles An image output unit that outputs an image showing two other vehicle objects representing other vehicles on the road to the notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. An operation signal input unit to which is input,
A route that avoids between the two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit. A command output unit that outputs a command for driving the vehicle to an automatic driving control device that controls automatic driving of the host vehicle,
When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the command output unit includes the two other vehicles. A driving support device that outputs a command for running on a route that interrupts between the automatic driving control device.   The image output from the image output unit indicates whether it is a normal section or an exceptional section according to road information input to the third input section. Driving assistance device.   The command output unit, when the lane change indicated by the operation signal input to the operation signal input unit straddles the normal section and the exceptional section, a path that interrupts between the two other vehicles in the exceptional section, The driving support device according to claim 1, wherein a command for driving one of a route that avoids a path between two other vehicles is output to the automatic driving control device.   The image output unit outputs an error image to the notification device when a lane change indicated by the operation signal input to the operation signal input unit is predicted to be incomplete. Or the driving assistance apparatus of 2.   The command output unit is configured to change the lane when an interruption between two other vehicles traveling in a row in the third lane is expected, and the third lane is a lane that branches from the second lane. The driving support device according to any one of claims 1 to 3, wherein a command for interrupting the platoon and running on a route that leaves the platoon after branching is output to the automatic driving control device. A first input unit for inputting own vehicle information about the own vehicle traveling in the first lane;
A second input unit for inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. A third input unit,
An image generated based on the host vehicle information input to the first input unit and the other vehicle information input to the second input unit, the host vehicle object representing the host vehicle, and two vehicles An image output unit that outputs an image showing two other vehicle objects representing other vehicles on the road to the notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. An operation signal input unit to which is input,
A route that avoids between the two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit. And an automatic driving control unit that controls the automatic driving of the host vehicle,
When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the automatic operation control unit An automatic driving control device characterized in that it travels on a route that interrupts between vehicles. A vehicle equipped with a driving support device,
The driving support device includes:
A first input unit for inputting own vehicle information about the own vehicle traveling in the first lane;
A second input unit for inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. A third input unit,
An image generated based on the host vehicle information input to the first input unit and the other vehicle information input to the second input unit, the host vehicle object representing the host vehicle, and two vehicles An image output unit that outputs an image showing two other vehicle objects representing other vehicles on the road to the notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. An operation signal input unit to which is input,
A route that avoids between the two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit. A command output unit that outputs a command for driving the vehicle to an automatic driving control device that controls automatic driving of the host vehicle,
When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the command output unit includes the two other vehicles. A vehicle for outputting a command for running on a route to be interrupted to the automatic driving control device. A step of inputting own vehicle information about the own vehicle traveling in the first lane;
Step of inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. And steps
An image generated based on the input own vehicle information and the input other vehicle information, and an own vehicle object representing the own vehicle and two other vehicle objects representing two other vehicles Outputting an image shown on the road to a notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. A step in which
When the lane change indicated by the input operation signal is included in the normal section indicated by the input road information, a command to drive the route avoiding between the two other vehicles is issued as an automatic driving of the host vehicle. Outputting to the automatic operation control device to be controlled;
When the lane change indicated by the input operation signal is included in the exceptional section indicated by the input road information, a command for driving a route that interrupts between the two other vehicles is output to the automatic driving control device. Steps,
A driving support method comprising: A step of inputting own vehicle information about the own vehicle traveling in the first lane;
Step of inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. And steps
An image generated based on the input own vehicle information and the input other vehicle information, and an own vehicle object representing the own vehicle and two other vehicle objects representing two other vehicles Outputting an image shown on the road to a notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. A step in which
When the lane change indicated by the input operation signal is included in the normal section indicated by the input road information, a command to drive the route avoiding between the two other vehicles is issued as an automatic driving of the host vehicle. Outputting to the automatic operation control device to be controlled;
When the lane change indicated by the input operation signal is included in the exceptional section indicated by the input road information, a command for driving a route that interrupts between the two other vehicles is output to the automatic driving control device. A program for causing a computer to execute steps. A notification device;
A driving support device,
The driving support device includes:
A first input unit for inputting own vehicle information about the own vehicle traveling in the first lane;
A second input unit for inputting other vehicle information related to two other vehicles traveling in a second lane different from the first lane;
Road information indicating a normal section where lane change interrupting the platoon is prohibited and an exceptional section where lane change interrupting the platoon is permitted is input on the road including the first lane, the second lane, and the third lane. A third input unit,
An image generated based on the host vehicle information input to the first input unit and the other vehicle information input to the second input unit, the host vehicle object representing the host vehicle, and two vehicles An image output unit that outputs an image showing two other vehicle objects representing other vehicles on the road to the notification device;
An operation signal generated by an occupant's operation that moves the vehicle object from the first lane to the third lane through the second lane, passing between two other vehicle objects in the image notified from the notification device. An operation signal input unit to which is input,
A route that avoids between the two other vehicles when the lane change indicated by the operation signal input to the operation signal input unit is included in the normal section indicated by the road information input to the third input unit. A command output unit that outputs a command for driving the vehicle to an automatic driving control device that controls automatic driving of the host vehicle,
When the lane change indicated by the operation signal input to the operation signal input unit is included in the exceptional section indicated by the road information input to the third input unit, the command output unit includes the two other vehicles. A driving support system, characterized in that a command for running on a route that interrupts the vehicle is output to the automatic driving control device.

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