JP-7856084-B2 - Vehicle driving assistance system

JP7856084B2JP 7856084 B2JP7856084 B2JP 7856084B2JP-7856084-B2

Inventors

寺林伊織

Assignees

トヨタ自動車株式会社

Dates

Publication Date: 20260511
Application Date: 20231121

Claims (5)

It is equipped with a control device that performs lane change control to automatically change the vehicle's lane, The control device is During the manual lane change period, which is the period in which the operator of the vehicle is manually changing lanes of the vehicle, the characteristics related to the manual lane change are acquired as actual lane change characteristics. The vehicle performs an automatic lane change, which is a lane change, using the lane change control, according to the target lane change characteristics set based on the actual lane change characteristics. It is structured in such a way. In a vehicle driving assistance system, The control device is As the actual lane change characteristics, the actual time required, which is the time it takes for the vehicle to transition from a predetermined state to a state other than the predetermined state, and the actual maximum lateral speed, which is the maximum value of the lateral speed at which the vehicle moves laterally, are obtained. As the target lane change characteristics, the target required time, which is the target value of the time from when the vehicle enters a state corresponding to the predetermined state until the vehicle transitions to a state corresponding to the other state, is set based on the actual required time, and the target maximum lateral speed, which is the target value of the maximum lateral speed, is set based on the actual maximum lateral speed. It is structured in such a way. Vehicle driving assistance system.
In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the time taken from when the lateral movement of the vehicle begins until the lateral speed reaches its maximum value is obtained, and As the target lane change characteristic, the target time for reaching the maximum lateral speed, which is the time from when the vehicle starts moving laterally until the lateral speed reaches its maximum value, is set based on the actual maximum lateral speed. It is structured in such a way. Vehicle driving assistance system.
In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the actual maximum lateral acceleration, which is the maximum value of the lateral acceleration of the vehicle in the lateral direction, and the actual maximum lateral acceleration gradient, which is the maximum value of the lateral acceleration gradient, which is the rate of change of the lateral acceleration, are obtained. As the target lane change characteristics, the target maximum lateral acceleration, which is the target value of the maximum lateral acceleration, is set based on the actual maximum lateral acceleration, and the target maximum lateral acceleration gradient, which is the target value of the maximum lateral acceleration gradient, is set based on the actual maximum lateral acceleration gradient. It is structured in such a way. Vehicle driving assistance system.
In the vehicle driving support device according to claim 1, The control device is As the actual lane change characteristics, the following are obtained: an actual lateral speed change profile, which is the trajectory of the lateral speed that changed during the manual lane change period; an actual lateral acceleration change profile, which is the trajectory of the lateral acceleration of the vehicle that changed during the manual lane change period; and an actual lateral acceleration gradient change profile, which is the trajectory of the lateral acceleration gradient, which is the rate of change of the lateral acceleration of the vehicle that changed during the manual lane change period. As the target lane change characteristics, a target lateral speed change profile, which is the trajectory of the target value of the lateral speed changed by the lane change control, is set based on the actual lateral speed change profile; a target lateral acceleration change profile, which is the trajectory of the target value of the lateral acceleration changed by the lane change control, is set based on the actual lateral acceleration change profile; and a target lateral acceleration gradient change profile, which is the trajectory of the target value of the lateral acceleration gradient changed by the lane change control, is set based on the actual lateral acceleration gradient change profile. It is structured in such a way. Vehicle driving assistance system.
In the vehicle driving support device according to claim 1, The control device is As the actual time required, the following are obtained: the actual lateral movement start time, which is the time taken from when the operator makes an operation indicating their intention to perform the manual lane change until the vehicle begins to move laterally; the actual crossing start time, which is the time taken from when the vehicle begins to move laterally until the vehicle begins to cross the lane markings; and the actual crossing completion time, which is the time taken from when the vehicle begins to cross the lane markings until it finishes crossing the lane markings. As the target required time, the target lateral movement start time, which is the target time from when the operation requesting the execution of the lane change control is made until the vehicle starts moving laterally, is set based on the actual lateral movement start time; the target crossing start time, which is the target time from when the vehicle starts moving laterally until the vehicle starts crossing the lane markings, is set based on the actual crossing start time; and the target crossing completion time, which is the target time from when the vehicle starts crossing the lane markings until the vehicle finishes crossing the lane markings, is set based on the actual crossing completion time. It is structured in such a way. Vehicle driving assistance system.

Description

This invention relates to a vehicle driving assistance system. Vehicle driver assistance systems equipped with a function to automatically change vehicle lanes are known. Furthermore, it has been pointed out that when automatically changing lanes, it is desirable for the vehicle to change lanes in a manner preferred by the driver (see, for example, Patent Document 1). Japanese Patent Publication No. 2018-101400 However, there is room for improvement regarding the specific configuration necessary to automatically change vehicle lanes in a manner preferred by the driver. The objective of this invention is to provide a vehicle driving assistance system that can automatically change vehicle lanes in a manner preferred by the driver, with greater reliability. The vehicle driving assistance system according to the present invention includes a control device that performs lane change control to automatically change the vehicle's lane. The control device is configured to acquire the characteristics related to the manual lane change as actual lane change characteristics during the manual lane change period, which is the period during which the operator of the vehicle is manually changing the vehicle's lane, and to perform an automatic lane change, which is changing the vehicle's lane by lane change control, according to the target lane change characteristics set based on the actual lane change characteristics. Furthermore, the control device is configured to acquire the actual required time, which is the time it takes for the vehicle to transition from a predetermined state to a state other than the predetermined state, and the actual maximum lateral speed, which is the maximum value of the lateral speed of the vehicle's movement in the lateral direction, as the actual lane change characteristics, and to set the target required time, which is the target value of the time it takes for the vehicle to transition from a state corresponding to the predetermined state to a state corresponding to the other state, based on the actual required time, as the target lane change characteristics, and to set the target maximum lateral speed, which is the target value of the maximum lateral speed, based on the actual maximum lateral speed. When an operator manually changes lanes, the time it takes for the vehicle to transition from one state to another (actual time) reflects the operator's preference regarding the lane change. For example, the time from when the turn signal is activated until the vehicle begins to move laterally, or the time from when the vehicle begins to move laterally until it crosses the lane markings. Furthermore, when an operator manually changes lanes, the maximum lateral speed of the vehicle (actual maximum lateral speed) also reflects the operator's preference regarding the lane change. According to the vehicle driving assistance system of the present invention, the actual required time and target required time (the target value of the time from when the vehicle enters a state corresponding to a predetermined state until the vehicle transitions to a state corresponding to another state) are acquired, the target required time (the target value of the maximum lateral speed of the vehicle) are set based on the actual required time, and the target maximum lateral speed (the target value of the maximum lateral speed of the vehicle) is set based on the actual maximum lateral speed. The vehicle then automatically changes lanes according to these target required time and target maximum lateral speed. Therefore, the vehicle can automatically change lanes more reliably in a manner preferred by the operator. Furthermore, in the vehicle driving assistance system according to the present invention, the control device may be configured to acquire the actual maximum lateral speed arrival time, which is the time required from the start of the lateral movement of the vehicle until the lateral speed reaches its maximum value, as the actual lane change characteristic, and to set the target maximum lateral speed arrival time, which is the target value of the time from the start of the lateral movement of the vehicle until the lateral speed reaches its maximum value, as the target lane change characteristic, based on the actual maximum lateral speed arrival time. When an operator manually changes lanes, the time it takes for the vehicle's lateral movement to begin and for the vehicle's lateral speed to reach its maximum value (actual time to reach maximum lateral speed) reflects the operator's preference regarding the lane change. According to the vehicle driving assistance system of the present invention, the actual time to reach the maximum lateral speed is acquired, and the target time to reach the maximum lateral speed (the target value of the time from when the vehicle's lateral movement begins until the vehicle's lateral speed reaches its maximum value) is set based on the actual time to reach the maximum lateral speed.