JP2006024104A - Road adaptative traveling controller for vehicle - Google Patents

Road adaptative traveling controller for vehicle Download PDF

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JP2006024104A
JP2006024104A JP2004203296A JP2004203296A JP2006024104A JP 2006024104 A JP2006024104 A JP 2006024104A JP 2004203296 A JP2004203296 A JP 2004203296A JP 2004203296 A JP2004203296 A JP 2004203296A JP 2006024104 A JP2006024104 A JP 2006024104A
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vehicle
road
state
curve
traveling
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Hideki Kaseyama
秀樹 加世山
Shinkichi Asanuma
信吉 浅沼
Hideaki Nakamichi
英明 中道
Hiroshi Mashita
博 間下
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Honda Motor Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To appropriately support traveling by adequately grasping a road situation in the progress direction of an own vehicle. <P>SOLUTION: A road shape recognizing part 26 recognizes a road shape in the progress direction of the own vehicle, based on map data which is stored in a map data storage part 14 and the detection result of an external environment monitor device 11. A road situation estimating part 27 estimates the road situation of a road where the own vehicle is scheduled to travel, based on traveling information and a road state, which are extracted by an object traveling information extracting part 21, and on a traveling locus which is calculated by an object traveling locus calculating part 22 with respect to another vehicle which travels in the road shape recognized by the road shape recognizing part 26. A traveling information comparing part 30 compares the road situation which is estimated by the road situation estimating part 27 with a proper passable vehicle state (proper velocity VS) and the traveling state of the own vehicle (current velocity VP). A traveling support determining part 31 operates a controller 16 and an alarm device 17, so as to allow the traveling state of the own vehicle to be the proper vehicle state. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、車両の道路適応走行制御装置に関する。   The present invention relates to a road adaptive travel control device for a vehicle.

従来、例えば自車両の進行方向前方に存在するカーブの形状（曲率等）を検出し、検出したカーブを適正に通過可能な速度まで減速が必要であるか否かを判定し、この判定結果に応じて、運転者に減速操作の実行を促す警報を出力したり、自動的に減速動作を実行するシステムが知られている（例えば、特許文献１参照）。
また、従来、例えば自車両の進行方向前方に存在するカーブの形状（曲率等）を検出すると共に、検出したカーブを通過する際に自車両とすれ違う他車両の走行状態（速度等）を通信により取得し、カーブにおいて他車両とすれ違う際の難易度を自車両の乗員に報知する装置が知られている（例えば、特許文献２参照）。
特開２００１−１９５６９２号公報 特開平７−１２１８００号公報 Conventionally, for example, the shape (curvature, etc.) of a curve existing ahead in the traveling direction of the host vehicle is detected, and it is determined whether or not deceleration is necessary to a speed at which the detected curve can be properly passed. Accordingly, a system is known that outputs a warning that prompts the driver to perform a deceleration operation or automatically performs a deceleration operation (see, for example, Patent Document 1).
Conventionally, for example, the shape (curvature, etc.) of a curve existing ahead of the traveling direction of the host vehicle is detected, and the running state (speed, etc.) of another vehicle passing the detected vehicle by communication is communicated. There is known a device that obtains and notifies the occupant of the own vehicle of the degree of difficulty when passing by another vehicle on a curve (see, for example, Patent Document 2).
Japanese Patent Laid-Open No. 2001-195692 Japanese Unexamined Patent Publication No. 7-121800

ところで、上記従来技術に係るシステムや装置において、例えばカーブや交差点等を含む所定道路領域をサービスエリアとして、このサービスエリア内を走行中の車両に対して各種の情報提供を行う路車間通信システムが設定されていない領域では、例えば車載ナビゲーション装置の地図データや車載カメラの撮影画像等に基づき、自車両の進行方向前方に存在するカーブの形状を検知することになる。
しかしながら、例えば車載カメラの撮影画像に基づきカーブの形状を検知する場合には、車載カメラの撮影可能領域を超える領域や、障害物等により撮影不可能な領域に存在するカーブの形状を検出することができないという問題が生じる。
また、車載ナビゲーション装置の地図データに基づきカーブの形状を検知する場合には、例えば突発的な事故や臨時の工事等による走行路の変更（例えば、走行車線数の減少や仮設迂回路の設置等）を検知することができないという問題が生じる。 By the way, in the system and apparatus according to the above-described prior art, for example, a road-to-vehicle communication system that provides various types of information to a vehicle traveling in the service area using a predetermined road area including a curve, an intersection, and the like as a service area. In a region that is not set, for example, the shape of a curve that exists ahead of the traveling direction of the host vehicle is detected based on map data of the in-vehicle navigation device, a captured image of the in-vehicle camera, or the like.
However, for example, when detecting the shape of a curve based on a photographed image of an in-vehicle camera, it is necessary to detect the shape of the curve that exists in an area that exceeds the shootable area of the in-vehicle camera or that cannot be photographed due to an obstacle or the like. The problem that cannot be done.
In addition, when detecting the shape of a curve based on the map data of the in-vehicle navigation device, for example, a change in the road due to a sudden accident or temporary construction (for example, reduction of the number of lanes to be used, installation of a temporary detour, etc. ) Cannot be detected.

しかも、検出したカーブを適正に通過する際には、このカーブの形状として曲率に係る情報に加えて、勾配に係る情報や路面の摩擦状態に係る情報が必要となる。
しかしながら、車載ナビゲーション装置の地図データやＧＰＳ（Global Positioning System）信号等の測位信号に基づく算出処理によって走行路の勾配に係る情報を算出する場合には、所望の算出精度を確保することが困難であり、さらに、車載カメラの撮影可能領域を超える領域や、障害物等により撮影不可能な領域では、路面の摩擦状態に係る情報を精度良く検知あるいは推定することが困難である。
本発明は上記事情に鑑みてなされたもので、自車両の進行方向の道路状況を的確に把握し、適切な走行支援を行うことが可能な車両の道路適応走行制御装置を提供することを目的とする。 In addition, when passing through the detected curve properly, in addition to the information relating to the curvature, the information relating to the gradient and the information relating to the friction state of the road surface are required as the shape of the curve.
However, it is difficult to ensure a desired calculation accuracy when calculating information related to the gradient of the traveling road by calculation processing based on positioning signals such as map data of a vehicle-mounted navigation device and GPS (Global Positioning System) signal. In addition, it is difficult to accurately detect or estimate information relating to the frictional state of the road surface in an area exceeding the imageable area of the in-vehicle camera or an area incapable of being imaged due to an obstacle or the like.
The present invention has been made in view of the above circumstances, and an object thereof is to provide a road adaptive travel control device for a vehicle capable of accurately grasping the road condition in the traveling direction of the host vehicle and performing appropriate travel support. And

上記課題を解決して係る目的を達成するために、請求項１に記載の本発明の車両の道路適応走行制御装置は、他車両から出力される他車両情報を通信により取得する通信手段（例えば、実施の形態での情報送受信部１２）と、予め道路地図データを記憶する自車両に搭載されたデータ記憶手段（例えば、実施の形態での地図データ記憶部１４）または自車両の外部から道路地図データを取得するデータ取得手段と、前記道路地図データ上での車両の位置を検知する位置検知手段（例えば、実施の形態での道路状況推定部２７）と、自車両の走行状態が自車両の進行方向の道路状況に適応するように支援する走行支援手段（例えば、実施の形態での制動装置１６および警報装置１７）とを備える車両の道路適応走行制御装置であって、前記他車両情報は他車両の少なくとも位置および走行状態を含み、前記位置検知手段は、前記道路地図データおよび前記他車両情報に基づき、前記道路地図データ上における自車両が走行中の道路の進行方向に存在する他車両の位置を検知し、前記走行支援手段は、前記位置検知手段にて検知した自車両が走行中の道路の進行方向に存在する他車両の前記走行状態に基づき、自車両の走行状態が自車両の進行方向の道路状況に適応するように支援することを特徴としている。   In order to solve the above problems and achieve the object, the road adaptive travel control device of the present invention according to claim 1 is a communication means for acquiring other vehicle information output from another vehicle by communication (for example, The information transmission / reception unit 12) in the embodiment and the data storage means (for example, the map data storage unit 14 in the embodiment) mounted in the host vehicle that stores the road map data in advance or the road from the outside of the host vehicle Data acquisition means for acquiring map data, position detection means for detecting the position of the vehicle on the road map data (for example, the road condition estimation unit 27 in the embodiment), and the traveling state of the own vehicle is the own vehicle A road adaptive travel control device for a vehicle comprising travel support means (for example, the braking device 16 and the alarm device 17 in the embodiment) for assisting in adapting to the road conditions in the traveling direction of the vehicle. The information includes at least the position and traveling state of the other vehicle, and the position detecting means is present in the traveling direction of the road on which the own vehicle is traveling on the road map data based on the road map data and the other vehicle information. The position of the other vehicle is detected, and the driving support means detects the traveling state of the own vehicle based on the traveling state of the other vehicle existing in the traveling direction of the road on which the own vehicle is detected by the position detecting means. It is characterized by assisting in adapting to the road conditions in the traveling direction of the host vehicle.

上記構成の車両の道路適応走行制御装置によれば、自車両の進行方向に存在する道路を適正な車両状態にて通過するように支援を行う際に、予め実際にこの道路を通過した他車両から取得した走行状態に基づき、実際の道路状況、例えば、障害物の存在や突発的な事故や臨時の工事等による走行路の変更（例えば、走行車線数の減少や仮設迂回路の設置等）や、降雨や降雪や凍結等に起因する路面の状態や、登坂路や降坂路の路面勾配等に対応した適正な車両状態を的確に把握することができ、自車両の走行状態が実際の道路状況に適応するようにして適切な支援を行うことができる。   According to the road adaptive travel control device for a vehicle having the above-described configuration, when assisting to pass a road existing in the traveling direction of the host vehicle in an appropriate vehicle state, the other vehicle that has actually passed this road in advance. Based on the driving conditions obtained from the actual road conditions, for example, the presence of obstacles, sudden accidents, temporary road changes, etc. (for example, reduction of the number of driving lanes, installation of temporary detours, etc.) In addition, it is possible to accurately grasp the state of the road surface caused by rainfall, snowfall, freezing, etc., and the appropriate vehicle state corresponding to the slope of the uphill road and downhill road, etc. Appropriate support can be provided by adapting to the situation.

さらに、請求項２に記載の本発明の車両の道路適応走行制御装置は、前記他車両情報に含まれる前記他車両の位置に基づき前記他車両の走行軌跡を算出する走行軌跡算出手段（例えば、実施の形態での対象物走行軌跡算出部２２）と、該走行軌跡算出手段により算出された前記走行軌跡に基づき、自車両の進行方向の道路状況を推定する道路状況推定手段（例えば、実施の形態での道路状況推定部２７）とを備えることを特徴としている。   Further, the road adaptive travel control device for a vehicle according to the present invention described in claim 2 is a travel trajectory calculating means for calculating a travel trajectory of the other vehicle based on the position of the other vehicle included in the other vehicle information (for example, Based on the object travel locus calculation unit 22) in the embodiment and the travel locus calculated by the travel locus calculation means, a road condition estimation means (for example, an implementation) And a road condition estimation unit 27) in the form.

上記構成の車両の道路適応走行制御装置によれば、実際の道路状況として、例えば、障害物の存在や突発的な事故や臨時の工事等による走行路の変更（例えば、走行車線数の減少や仮設迂回路の設置等）の有無を精度良く推定することができ、自車両の走行軌跡が実際の道路状況に適応するようにして適切な支援を行うことができる。   According to the road adaptive travel control device for a vehicle having the above-described configuration, as actual road conditions, for example, the presence of obstacles, sudden accidents, temporary construction, etc. The presence or absence of a temporary detour, etc.) can be accurately estimated, and appropriate support can be provided so that the traveling locus of the host vehicle adapts to the actual road conditions.

さらに、請求項３に記載の本発明の車両の道路適応走行制御装置は、自車両の少なくとも速度を含む車両状態を検出する車両状態検出手段（例えば、実施の形態での自車両情報検出部１３）と、前記走行軌跡算出手段により算出された前記走行軌跡に基づき、自車両の進行方向にカーブが存在するか否かを判定し、該判定にてカーブが存在する場合にカーブの半径あるいは曲率を含むカーブの形状を推定するカーブ推定手段（例えば、実施の形態でのステップＳ０４およびステップＳ０５）と、該カーブ推定手段により推定されたカーブの形状に基づき、該カーブを適正に通過可能な少なくとも適正速度を含む適正車両状態を設定する適正車両状態設定手段（例えば、実施の形態での適正車速設定部２８および横加速度算出部２９）と、前記車両状態検出手段が検出した前記車両状態と、前記適正車両状態設定手段が設定した前記適正車両状態とを比較する比較手段（例えば、実施の形態での走行情報比較部３０）とを備え、前記走行支援手段は、前記比較手段による比較結果において前記車両状態と前記適正車両状態とが相違する場合に、前記車両状態が前記適正車両状態と同等になるように自車両の走行状態を制御する、あるいは、前記車両状態が前記適正車両状態と同等になるような運転の実行を促す報知を自車両の乗員に出力することを特徴としている。   Further, the road adaptive travel control device for a vehicle according to the present invention described in claim 3 is a vehicle state detection means for detecting a vehicle state including at least the speed of the host vehicle (for example, the host vehicle information detection unit 13 in the embodiment). ) And the travel trajectory calculated by the travel trajectory calculating means, it is determined whether or not a curve exists in the traveling direction of the host vehicle, and if the curve exists in the determination, the radius or curvature of the curve is determined. Based on the shape of the curve estimated by the curve estimating means (for example, step S04 and step S05 in the embodiment) and estimating the shape of the curve including Appropriate vehicle state setting means for setting an appropriate vehicle state including an appropriate speed (for example, the appropriate vehicle speed setting unit 28 and the lateral acceleration calculation unit 29 in the embodiment), Comparing means for comparing the vehicle state detected by both state detecting means and the appropriate vehicle state set by the appropriate vehicle state setting means (for example, the travel information comparison unit 30 in the embodiment), The traveling support means controls the traveling state of the host vehicle so that the vehicle state is equivalent to the appropriate vehicle state when the vehicle state is different from the appropriate vehicle state in the comparison result by the comparison unit. Alternatively, it is characterized in that a notification that prompts execution of driving so that the vehicle state is equivalent to the appropriate vehicle state is output to a passenger of the host vehicle.

上記構成の車両の道路適応走行制御装置によれば、実際の道路状況として、カーブ形状を精度良く推定することができ、自車両の走行状態が適正車両状態に適応するようにして適切な支援を行うことができる。   According to the road adaptive travel control device for a vehicle having the above configuration, it is possible to accurately estimate a curve shape as an actual road condition, and to provide appropriate support so that the traveling state of the host vehicle is adapted to the appropriate vehicle state. It can be carried out.

さらに、請求項４に記載の本発明の車両の道路適応走行制御装置では、前記他車両情報は、他車両の少なくとも位置および走行状態に加えて、他車両が走行中の道路の少なくとも道路勾配またはタイヤと路面間の摩擦係数を含み、前記適正車両状態設定手段は、少なくとも前記カーブ推定手段により推定されたカーブの形状または前記他車両情報に基づき、前記適正車両状態を設定することを特徴としている。   Furthermore, in the road adaptive travel control device for a vehicle according to the fourth aspect of the present invention, the other vehicle information includes at least a road gradient of a road on which the other vehicle is traveling, or at least a position and a traveling state of the other vehicle. Including a coefficient of friction between a tire and a road surface, wherein the appropriate vehicle state setting means sets the appropriate vehicle state based on at least the shape of the curve estimated by the curve estimation means or the other vehicle information. .

上記構成の車両の道路適応走行制御装置によれば、実際の道路状況として、少なくともカーブ形状または降雨や降雪や凍結等に起因する路面の状態を精度良く推定することができ、自車両の走行状態が適正車両状態に適応するようにして適切な支援を行うことができる。   According to the road adaptive travel control device for a vehicle having the above-described configuration, it is possible to accurately estimate at least a curve shape or a road surface state caused by rainfall, snowfall, freezing, etc. as an actual road condition. It is possible to provide appropriate support by adapting to the appropriate vehicle condition.

さらに、請求項５に記載の本発明の車両の道路適応走行制御装置は、前記道路地図データに基づき、自車両の進行方向にカーブが存在するか否かを判定し、該判定にてカーブが存在する場合にカーブの半径あるいは曲率を含むカーブの形状を認識するカーブ認識手段（例えば、実施の形態での道路形状認識部２６）を備え、前記適正車両状態設定手段は、前記カーブ推定手段により推定されたカーブの形状と、前記カーブ認識手段により認識されたカーブの形状とのうち、カーブの半径が何れか小さい方あるいは曲率が何れか大きい方のカーブの形状に基づき、該カーブを適正に通過可能な少なくとも適正速度を含む適正車両状態を設定することを特徴としている。   Further, the road adaptive travel control device for a vehicle according to the present invention described in claim 5 determines whether or not a curve exists in the traveling direction of the host vehicle based on the road map data. A curve recognizing unit (for example, a road shape recognizing unit in the embodiment) for recognizing the shape of the curve including the radius or curvature of the curve when present, and the appropriate vehicle state setting unit is controlled by the curve estimating unit. Of the estimated curve shape and the curve shape recognized by the curve recognizing means, the curve is properly determined based on the curve shape having the smaller radius or the larger curvature. An appropriate vehicle state including at least an appropriate speed that can pass is set.

上記構成の車両の道路適応走行制御装置によれば、カーブ推定手段により推定されたカーブの形状と、カーブ認識手段により認識されたカーブの形状とのうち、カーブの半径が何れか小さい方あるいは曲率が何れか大きい方のカーブの形状に基づき、該カーブを適正に通過可能な少なくとも適正速度を含む適正車両状態を設定することにより、自車両の走行状態が適正車両状態から逸脱してしまうことを防止することができる。   According to the road adaptive travel control device for a vehicle having the above-described configuration, the curve radius estimated by the curve estimating means and the curve shape recognized by the curve recognizing means, whichever has a smaller radius or curvature. By setting the appropriate vehicle state including at least the appropriate speed that can pass through the curve properly based on the shape of the larger curve, the running state of the host vehicle will deviate from the appropriate vehicle state. Can be prevented.

以上説明したように、請求項１に記載の本発明の車両の道路適応走行制御装置によれば、自車両が走行予定の道路を予め実際に通過した他車両から取得した走行状態に基づき、実際の道路状況に対応した適正な車両状態を的確に把握することができ、自車両の走行状態が実際の道路状況に適応するようにして適切な支援を行うことができる。
さらに、請求項２に記載の本発明の車両の道路適応走行制御装置によれば、実際の道路状況として、例えば、障害物の存在や突発的な事故や臨時の工事等による走行路の変更（例えば、走行車線数の減少や仮設迂回路の設置等）の有無を精度良く推定することができ、自車両の走行軌跡が実際の道路状況に適応するようにして適切な支援を行うことができる。 As described above, according to the road adaptive travel control device for a vehicle of the present invention as set forth in claim 1, the actual vehicle is actually based on the travel state acquired from the other vehicle that has actually passed the planned travel road in advance. Therefore, it is possible to accurately grasp an appropriate vehicle state corresponding to the road condition of the vehicle, and to perform appropriate support so that the traveling state of the host vehicle is adapted to the actual road condition.
Furthermore, according to the road adaptive travel control device for a vehicle of the present invention as set forth in claim 2, as an actual road condition, for example, the change of the travel path due to the presence of obstacles, sudden accidents, temporary construction, etc. For example, it is possible to accurately estimate the presence / absence of a decrease in the number of driving lanes, installation of a temporary detour, etc., and appropriate support can be provided so that the traveling locus of the host vehicle adapts to actual road conditions. .

さらに、請求項３に記載の本発明の車両の道路適応走行制御装置によれば、実際の道路状況として、カーブ形状を精度良く推定することができ、自車両の走行状態が適正車両状態に適応するようにして適切な支援を行うことができる。
さらに、請求項４に記載の本発明の車両の道路適応走行制御装置によれば、実際の道路状況として、少なくともカーブ形状または降雨や降雪や凍結等に起因する路面の状態を精度良く推定することができ、自車両の走行状態が適正車両状態に適応するようにして適切な支援を行うことができる。
さらに、請求項５に記載の本発明の車両の道路適応走行制御装置によれば、自車両の走行状態が適正車両状態から逸脱してしまうことを防止することができる。 Furthermore, according to the road adaptive travel control device for a vehicle of the present invention as set forth in claim 3, the curve shape can be accurately estimated as the actual road condition, and the traveling state of the host vehicle is adapted to the appropriate vehicle state. In this way, appropriate support can be provided.
Further, according to the road adaptive travel control device for a vehicle of the present invention as set forth in claim 4, it is possible to accurately estimate at least a curve shape or a road surface state caused by rainfall, snowfall, freezing, etc. as an actual road condition. Thus, appropriate support can be provided such that the traveling state of the host vehicle is adapted to the appropriate vehicle state.
Furthermore, according to the road adaptive travel control device for a vehicle of the present invention described in claim 5, it is possible to prevent the traveling state of the host vehicle from deviating from the appropriate vehicle state.

以下、本発明の一実施形態に係る車両の道路適応走行制御装置について添付図面を参照しながら説明する。
本実施の形態による車両の道路適応走行制御装置１０は、例えば、外界監視装置１１と、情報送受信部１２と、自車両情報検出部１３と、地図データ記憶部１４と、処理装置１５と、制動装置１６と、警報装置１７とを備えて構成されている。 A vehicle road adaptive travel control apparatus according to an embodiment of the present invention will be described below with reference to the accompanying drawings.
A vehicle road adaptive travel control device 10 according to the present embodiment includes, for example, an external environment monitoring device 11, an information transmission / reception unit 12, a host vehicle information detection unit 13, a map data storage unit 14, a processing device 15, and braking. A device 16 and an alarm device 17 are provided.

外界監視装置１１は、例えば可視光領域や赤外線領域にて撮像可能なＣＣＤカメラやＣ−ＭＯＳカメラ等からなるカメラおよび画像処理部と、例えばレーザ光やミリ波等のレーダおよびレーダ制御部とを備えて構成されている。
カメラは、例えばフロントウィンドウの車室内側でルームミラー近傍の位置に配置され、フロントウィンドウ越しに自車両の進行方向前方の所定検知範囲の外界を撮影する。
画像処理部は、カメラにより撮影して得た画像に対して、例えばフィルタリングや二値化処理等の所定の画像処理を行い、二次元配列の画素からなる画像データを生成して処理装置１５へ出力する。
また、レーダは、例えば自車両のボディのノーズ部や車室内のフロントウィンドウ近傍等に配置され、処理装置１５からレーダ制御部へ入力される制御指令に応じたレーダ制御部の制御により、レーザ光やミリ波等の発信信号を適宜の検知方向（例えば、自車両の進行方向前方等）に向けて発信すると共に、この発信信号が自車両の外部の物体（検知対象物）によって反射されることで生じた反射信号を受信し、反射信号と発信信号とを混合してビート信号を生成して処理装置１５へ出力する。 The external environment monitoring device 11 includes, for example, a camera and an image processing unit such as a CCD camera or a C-MOS camera that can be imaged in the visible light region and the infrared region, and a radar and a radar control unit such as a laser beam and a millimeter wave. It is prepared for.
For example, the camera is disposed at a position near the rear-view mirror on the vehicle interior side of the front window, and images the outside of a predetermined detection range in front of the host vehicle through the front window.
The image processing unit performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera, generates image data including pixels of a two-dimensional array, and supplies the processing device 15 with the image data. Output.
Further, the radar is disposed, for example, near the nose portion of the body of the host vehicle or in the vicinity of the front window in the vehicle interior, and is controlled by the radar control unit according to a control command input from the processing device 15 to the radar control unit. A transmission signal such as a millimeter wave or the like is transmitted in an appropriate detection direction (for example, forward of the traveling direction of the host vehicle), and the transmission signal is reflected by an object (detection target) outside the host vehicle. The reflection signal generated in step S3 is received, the reflection signal and the transmission signal are mixed, and a beat signal is generated and output to the processing device 15.

情報送受信部１２は、他車両に搭載された情報送受信部との間の車車間通信により各種情報の送受信を行う。ここで、他車両から発信される対象物情報は、他車両の車両状態に係る情報、例えば速度および位置に加えて、ヨー角（車両重心の上下方向軸回りの回転角度）や操舵角（運転者が入力した操舵角度の方向と大きさ）や、方向指示器やブレーキのオン／オフ状態や、道路状態（例えば、タイヤに対する路面の摩擦係数や路面勾配等）等である。   The information transmission / reception unit 12 transmits and receives various types of information by inter-vehicle communication with an information transmission / reception unit mounted on another vehicle. Here, the object information transmitted from the other vehicle includes information related to the vehicle state of the other vehicle, such as speed and position, as well as the yaw angle (rotation angle around the vertical axis of the vehicle center of gravity) and the steering angle (driving). The direction and magnitude of the steering angle input by the user, the on / off state of the direction indicator and the brake, the road state (for example, the friction coefficient of the road surface against the tire, the road surface gradient, etc.), and the like.

自車両情報検出部１３は、自車両情報として、例えば自車両の走行速度（車速）を検出する車速センサや、例えば人工衛星を利用して車両の位置を測定するためのＧＰＳ（Global Positioning System）信号等の測位信号や自車両の外部の情報発信装置から発信される位置信号や例えば道路上に配置された基点マーカとの磁気作用等、さらには、適宜のジャイロセンサや加速度センサ等の検出結果に基づいて自車両の現在位置や進行方向を検出する位置センサや、ヨー角（車両重心の上下方向軸回りの回転角度）やヨーレート（車両重心の上下方向軸回りの回転角速度）や操舵角（運転者が入力した操舵角度の方向と大きさ）や各タイヤと路面間の摩擦係数を検出する各センサや、方向指示器やブレーキのオン／オフ状態を検知する各センサ等を備えて構成されている。   The own vehicle information detection unit 13 is, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the own vehicle, or a GPS (Global Positioning System) that measures the position of the vehicle using an artificial satellite, for example. Positioning signals such as signals, position signals transmitted from information transmission devices outside the host vehicle, magnetic action with, for example, a base point marker placed on the road, and further detection results of an appropriate gyro sensor, acceleration sensor, etc. Based on the position sensor that detects the current position and traveling direction of the host vehicle, the yaw angle (rotational angle around the vertical axis of the vehicle center of gravity), yaw rate (rotational angular velocity around the vertical axis of the vehicle center of gravity) and steering angle ( (The direction and magnitude of the steering angle input by the driver), each sensor that detects the friction coefficient between each tire and the road surface, each sensor that detects the on / off state of the turn indicator and brake, etc. It is configured.

地図データ記憶部１４は、例えばハードディスク装置等の磁気ディスク装置や、例えばＣＤ−ＲＯＭやＣＤ−ＲやＭＯやＤＶＤ等の光ディスク装置等のコンピュータ読み取り可能な記憶媒体からなる。そして、地図データ記憶部１４は、例えばナビゲーション装置（図示略）や表示装置において地図を表示するための地図データとして、例えば道路の幅員データや複数の道路の交差角度や交差点の形状や位置等の道路情報を格納している。   The map data storage unit 14 includes a computer-readable storage medium such as a magnetic disk device such as a hard disk device or an optical disk device such as a CD-ROM, CD-R, MO, or DVD. The map data storage unit 14 includes, for example, road width data, intersection angles of a plurality of roads, intersection shapes and positions, and the like as map data for displaying a map on a navigation device (not shown) or a display device. Stores road information.

処理装置１５は、例えば、対象物走行情報抽出部２１と、対象物走行軌跡算出部２２と、自車両位置情報抽出部２３と、自車両走行情報抽出部２４と、道路状態抽出部２５と、道路形状認識部２６と、道路状況推定部２７と、適正車速設定部２８と、横加速度算出部２９と、走行情報比較部３０と、走行支援判定部３１とを備えて構成されている。   The processing device 15 includes, for example, an object travel information extraction unit 21, an object travel locus calculation unit 22, a host vehicle position information extraction unit 23, a host vehicle travel information extraction unit 24, a road state extraction unit 25, A road shape recognition unit 26, a road condition estimation unit 27, an appropriate vehicle speed setting unit 28, a lateral acceleration calculation unit 29, a travel information comparison unit 30, and a travel support determination unit 31 are configured.

対象物走行情報抽出部２１は、情報送受信部１２にて受信した対象物情報から他車両の走行情報、例えば位置や速度やヨー角や操舵角、方向指示器やブレーキのオン／オフ状態、さらに、他車両の走行路の路面勾配や摩擦係数等の道路状態等の各情報を抽出する。
対象物走行軌跡算出部２２は、情報送受信部１２にて受信した対象物情報のうち、例えば他車両の位置の時間変化、あるいは、例えば舵角センサにて検出される他車両の舵角やジャイロセンサにて検出される他車両のヨーレートと、車速センサにて検出される他車両の速度とに基づき、他車両の走行軌跡を算出する。 The object travel information extraction unit 21 uses the object information received by the information transmission / reception unit 12 as travel information of other vehicles, for example, the position, speed, yaw angle, steering angle, turn indicator, brake on / off state, Each information such as the road surface gradient of the traveling road of the other vehicle and the road condition such as the friction coefficient is extracted.
The object travel locus calculation unit 22 includes, for example, a time change of the position of another vehicle in the object information received by the information transmission / reception unit 12, or a steering angle or gyro of the other vehicle detected by, for example, a steering angle sensor. A travel locus of the other vehicle is calculated based on the yaw rate of the other vehicle detected by the sensor and the speed of the other vehicle detected by the vehicle speed sensor.

自車両位置情報抽出部２３は、自車両情報検出部１３にて検出した自車両情報から自車両の現在の位置情報を抽出する。
自車両走行情報抽出部２４は、自車両情報検出部１３にて検出した自車両情報から自車両の走行情報、例えば速度やヨー角や操舵角等を抽出する。
道路状態抽出部２５は、自車両情報検出部１３にて検出した自車両情報から自車両の走行路の摩擦係数や路面勾配に係る情報（例えば、水平面内での自車両の向きや鉛直方向に対する傾斜角度や車両重心の水平軸周りの回転角であるピッチ角等）を抽出する。 The own vehicle position information extraction unit 23 extracts the current position information of the own vehicle from the own vehicle information detected by the own vehicle information detection unit 13.
The own vehicle traveling information extraction unit 24 extracts traveling information of the own vehicle, for example, speed, yaw angle, steering angle, and the like, from the own vehicle information detected by the own vehicle information detection unit 13.
The road state extraction unit 25 uses the vehicle information detected by the vehicle information detection unit 13 to obtain information related to the friction coefficient and road gradient of the traveling path of the vehicle (for example, with respect to the direction and vertical direction of the vehicle in the horizontal plane). The inclination angle and the pitch angle that is the rotation angle around the horizontal axis of the center of gravity of the vehicle are extracted.

道路形状認識部２６は、地図データ記憶部１４に格納された地図データと、外界監視装置１１から入力される画像データまたはビート信号とに基づき、自車両の進行方向の道路形状を認識する。
例えば、自車両の進行方向前方の道路上にカーブ形状が存在する場合、道路形状認識部２６は、地図データに含まれる道路データの基礎となるノードつまり道路形状を把握するための点と、リンクつまり各ノードを結ぶ線とに基づいて、例えば曲率や極性や旋回角や長さ等のカーブの形状を認識する。
道路状況推定部２７は、地図データ記憶部１４に格納された地図データと、対象物走行情報抽出部２１にて抽出された他車両の位置とに基づき、例えばマップマッチング等を行い、地図データ上における他車両の位置を検知し、道路形状認識部２６にて認識した道路形状を走行する他車両に対して、対象物走行情報抽出部２１にて抽出された走行情報や道路状態および対象物走行軌跡算出部２２にて算出された走行軌跡に基づき、自車両が走行予定の道路の道路状況を推定する。 The road shape recognition unit 26 recognizes the road shape in the traveling direction of the host vehicle based on the map data stored in the map data storage unit 14 and the image data or beat signal input from the external environment monitoring device 11.
For example, when a curve shape exists on the road ahead of the traveling direction of the host vehicle, the road shape recognition unit 26 recognizes a node as a basis of road data included in the map data, that is, a point for grasping the road shape, That is, based on the line connecting the nodes, for example, the shape of a curve such as curvature, polarity, turning angle, and length is recognized.
The road condition estimation unit 27 performs, for example, map matching on the map data based on the map data stored in the map data storage unit 14 and the position of the other vehicle extracted by the object travel information extraction unit 21. The other vehicle traveling on the road shape recognized by the road shape recognizing unit 26 by detecting the position of the other vehicle in the vehicle, the traveling information extracted by the object traveling information extracting unit 21, the road state, and the object traveling Based on the travel trajectory calculated by the trajectory calculation unit 22, the road condition of the road on which the host vehicle is scheduled to travel is estimated.

この道路状況は、例えば障害物の存在や突発的な事故や臨時の工事等による走行路の変更（例えば、走行車線数の減少や仮設迂回路の設置等）や、降雨や降雪や凍結等に起因する路面の状態や、登坂路や降坂路の路面勾配等である。そして、例えば他車両が自車両と同等の車線を走行する前走車両である場合には、この前走車両の走行路の道路状況が直接的に自車両の走行予定の道路の道路状況となり、例えば他車両が自車両に対して対向車線を走行する対向車両である場合には、この対向車両の走行路の道路状況に基づき自車両の走行予定の道路の道路状況が推定される。例えば対向車両の旋回走行時の走行軌跡に対しては、車線幅相当の距離の補正を行うことで、自車両の走行予定の道路の走行軌跡や曲率等を推定することができる。   This road condition may be caused by obstacles, sudden accidents, temporary road changes (for example, reduction in the number of lanes or temporary detours), rainfall, snowfall, freezing, etc. It is the state of the resulting road surface, the road slope of the uphill road and the downhill road, and the like. For example, when the other vehicle is a preceding vehicle that travels in the same lane as the own vehicle, the road condition of the road of the preceding vehicle becomes the road condition of the road that the own vehicle is scheduled to travel, For example, when the other vehicle is an oncoming vehicle that travels in the opposite lane with respect to the own vehicle, the road situation of the road on which the own vehicle is scheduled to be traveled is estimated based on the road situation of the running path of the oncoming vehicle. For example, with respect to a travel locus during turning of the oncoming vehicle, a travel locus or curvature of a road on which the host vehicle is scheduled to travel can be estimated by correcting a distance corresponding to the lane width.

適正車速設定部２８は、道路状況推定部２７にて推定された道路状況に基づき、自車両が適正に通過可能な車両の速度（適正速度ＶＳ）を算出する。そして、適正車速設定部２８は設定した適正速度ＶＳのデータを走行情報比較部３０へ出力する。
例えば、適正車速設定部２８は、道路形状認識部２６にて地図データや外界監視装置１１の検知結果に基づき認識されたカーブ形状と、道路状況推定部２７にて車車間通信により取得した他車両情報に基づき推定したカーブ形状とのうち、カーブの半径が何れか小さい方あるいは曲率が何れか大きい方のカーブ形状に基づき、該カーブ形状を適正に通過可能な少なくとも適正速度ＶＳを含む適正車両状態を設定する。 The appropriate vehicle speed setting unit 28 calculates a vehicle speed (appropriate speed VS) through which the host vehicle can pass appropriately based on the road condition estimated by the road condition estimation unit 27. Then, the appropriate vehicle speed setting unit 28 outputs data of the set appropriate speed VS to the travel information comparison unit 30.
For example, the appropriate vehicle speed setting unit 28 uses the curve shape recognized by the road shape recognition unit 26 based on the map data or the detection result of the external environment monitoring device 11, and the other vehicle acquired by the road condition estimation unit 27 through inter-vehicle communication. An appropriate vehicle state including at least an appropriate speed VS that can appropriately pass through the curve shape based on the curve shape with the smaller radius or the larger curvature of the curve shape estimated based on the information Set.

また、この適正車速設定部２８は、例えばカーブ等の道路形状の通過時に自車両の横方向に発生する加速度（横加速度）を算出する横加速度算出部２９を備えている。例えば、横加速度算出部２９は、道路状況推定部２７にて推定された自車両の走行予定の道路の走行軌跡や曲率等に基づいて、この道路を適正に通過する際に許容される適正横加速度ＡＳを算出する。次に、適正車速設定部２８は、この適正横加速度ＡＳを自車両に発生させる速度を算出し、この速度を適正速度ＶＳとして設定する。
なお、旋回走行時に自車両に許容される横加速度は、例えば路面状況、タイヤの状況、積載の状態等により変化するため、これらを更に考慮して適正速度ＶＳを設定するようにしてもよい。 The appropriate vehicle speed setting unit 28 includes a lateral acceleration calculation unit 29 that calculates acceleration (lateral acceleration) generated in the lateral direction of the host vehicle when passing a road shape such as a curve. For example, the lateral acceleration calculation unit 29 determines the appropriate lateral allowance that is allowed when the vehicle appropriately passes through the road based on the travel locus, curvature, and the like of the road that the vehicle is scheduled to travel estimated by the road condition estimation unit 27. An acceleration AS is calculated. Next, the appropriate vehicle speed setting unit 28 calculates the speed at which the appropriate lateral acceleration AS is generated in the host vehicle, and sets this speed as the appropriate speed VS.
Note that the lateral acceleration allowed for the host vehicle during cornering changes depending on, for example, the road surface condition, the tire condition, the loading condition, and the like. Therefore, the appropriate speed VS may be set in consideration of these factors.

走行情報比較部３０は、自車両走行情報抽出部２４にて抽出した自車両情報のうち、例えば自車両の速度（現在速度ＶＰ）と、適正車速設定部２８にて設定した適正速度ＶＳとを比較して、この比較結果を走行支援判定部３１へ出力する。
また、走行情報比較部３０は、自車両の速度（現在速度ＶＰ）と道路状況推定部２７にて推定された道路状況とに基づき、この道路状況を現在速度ＶＰで通過する際に発生する横加速度を推定し、この横加速度の推定値と、適正車速設定部２８の横加速度算出部２９にて設定した適正横加速度ＡＳとを比較して、この比較結果を走行支援判定部３１へ出力する。 The travel information comparison unit 30 uses, for example, the speed of the host vehicle (current speed VP) and the appropriate speed VS set by the appropriate vehicle speed setting unit 28 in the host vehicle information extracted by the host vehicle travel information extraction unit 24. In comparison, the comparison result is output to the driving support determination unit 31.
Further, the travel information comparison unit 30 generates a lateral road that is generated when the vehicle passes through the road condition at the current speed VP based on the speed of the host vehicle (current speed VP) and the road condition estimated by the road condition estimation unit 27. The acceleration is estimated, the estimated value of the lateral acceleration is compared with the appropriate lateral acceleration AS set by the lateral acceleration calculating unit 29 of the appropriate vehicle speed setting unit 28, and the comparison result is output to the driving support determination unit 31. .

走行支援判定部３１は、走行情報比較部３０において、自車両情報検出部１３にて検出した自車両の現在速度ＶＰと適正車速設定部２８にて設定した適正速度ＶＳとを比較した結果として、自車両の現在速度ＶＰが適正速度ＶＳよりも高い状態で、自車両が適正車両状態にない場合には、自車両が適正車両状態になるようにして、制動装置１６および警報装置１７を作動させる。
また、走行支援判定部３１は、横加速度の推定値が適正横加速度ＡＳよりも高い状態で、自車両が適正車両状態にない場合には、自車両の走行状態が適正車両状態になるようにして、制動装置１６および警報装置１７を作動させる。 The travel support determination unit 31 compares the current speed VP of the host vehicle detected by the host vehicle information detection unit 13 with the appropriate speed VS set by the appropriate vehicle speed setting unit 28 in the travel information comparison unit 30. When the current speed VP of the host vehicle is higher than the appropriate speed VS and the host vehicle is not in the proper vehicle state, the braking device 16 and the alarm device 17 are operated so that the host vehicle is in the proper vehicle state. .
In addition, the driving support determination unit 31 causes the traveling state of the host vehicle to be in the proper vehicle state when the estimated value of the lateral acceleration is higher than the appropriate lateral acceleration AS and the host vehicle is not in the proper vehicle state. Then, the braking device 16 and the alarm device 17 are operated.

制動装置１６は、例えばブレーキ制御装置やスロットル制御装置等であって、処理装置１５から入力される制御信号に応じて、例えばブレーキ液圧やスロットル開度等を制御して自車両に制動力を作用させる。   The braking device 16 is, for example, a brake control device, a throttle control device, or the like, and controls the brake fluid pressure, the throttle opening, etc. according to a control signal input from the processing device 15 to apply braking force to the host vehicle. Make it work.

警報装置１７は、例えば、触覚的伝達装置と、視覚的伝達装置と、聴覚的伝達装置とを備えて構成されている。
触覚的伝達装置は、例えばシートベルト装置や操舵制御装置等であって、処理装置１５から入力される制御信号に応じて、例えばシートベルトに所定の張力を発生させて自車両の乗員が触覚的に知覚可能な締め付け力を作用させたり、例えばステアリングホイールに自車両の運転者が触覚的に知覚可能な振動（ステアリング振動）を発生させることによって、自車両が適正車両状態にないことを自車両の乗員に認識させる。
視覚的伝達装置は、例えば表示装置等であって、処理装置１５から入力される制御信号に応じて、例えば表示装置に所定の警報情報を表示したり、所定の警報灯を点滅させることによって、自車両が適正車両状態にないことを自車両の乗員に認識させる。
聴覚的伝達装置は、例えばスピーカ等であって、処理装置１５から入力される制御信号に応じて所定の警報音や音声等を出力することによって、自車両が適正車両状態にないことを自車両の乗員に認識させる。 The alarm device 17 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device, a steering control device, or the like. In response to a control signal input from the processing device 15, for example, a predetermined tension is generated on the seat belt so that an occupant of the own vehicle is tactile. By applying a perceptible tightening force on the steering wheel or by generating vibration (steering vibration) that can be perceived by the driver of the host vehicle on the steering wheel, for example, the host vehicle is not in an appropriate vehicle state. Let the occupant recognize.
The visual transmission device is, for example, a display device or the like, and according to a control signal input from the processing device 15, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light, Let the occupant of the vehicle recognize that the vehicle is not in the proper vehicle state.
The auditory transmission device is, for example, a speaker or the like, and outputs a predetermined warning sound or voice according to a control signal input from the processing device 15 to confirm that the own vehicle is not in an appropriate vehicle state. Let the occupant recognize.

本実施の形態による車両の道路適応走行制御装置１０は上記構成を備えており、次に、この車両の道路適応走行制御装置１０の動作として、例えば自車両の進行方向前方にカーブ形状が存在する場合の動作について添付図面を参照しながら説明する。   The vehicle road adaptive travel control apparatus 10 according to the present embodiment has the above-described configuration. Next, as an operation of the vehicle road adaptive travel control apparatus 10, for example, a curve shape exists in front of the traveling direction of the host vehicle. The operation in this case will be described with reference to the accompanying drawings.

先ず、図２に示すステップＳ０１においては、自車両情報検出部１３にて検出した自車両情報として、自車両の現在位置および現在速度等の情報を取得する。
次に、ステップＳ０２においては、情報送受信部１２にて受信した対象物情報から他車両情報として、位置および速度および走行路の道路状態等を取得する。
次に、ステップＳ０３においては、例えば他車両の位置の時間変化や、例えば他車両の舵角やヨーレートや速度等に基づき、他車両の走行軌跡を算出する。 First, in step S01 shown in FIG. 2, information such as the current position and current speed of the host vehicle is acquired as host vehicle information detected by the host vehicle information detection unit 13.
Next, in step S02, the position and speed, the road condition of the traveling road, and the like are acquired as other vehicle information from the object information received by the information transmitting / receiving unit 12.
Next, in step S03, the travel locus of the other vehicle is calculated based on, for example, the time change of the position of the other vehicle, for example, the steering angle, yaw rate, speed, or the like of the other vehicle.

次に、ステップＳ０４においては、地図データ記憶部１４に格納された地図データや外界監視装置１１の検知結果やに基づいて、自車両の進行方向前方にカーブ形状が存在するか否かを判定する。
この判定結果が「ＮＯ」の場合には、一連処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ０５に進む。
ステップＳ０５においては、検出したカーブ形状に対して、例えばカーブの最小径や最大曲率、カーブの長さ（カーブの深さ）、カーブの通過に要する旋回角等からなるカーブ形状値を推定する。 Next, in step S04, based on the map data stored in the map data storage unit 14 and the detection result of the external environment monitoring device 11, it is determined whether or not there is a curve shape ahead in the traveling direction of the host vehicle. .
If this determination is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 05.
In step S05, for the detected curve shape, a curve shape value including, for example, the minimum diameter and maximum curvature of the curve, the length of the curve (the depth of the curve), the turning angle required for passing the curve, and the like is estimated.

次に、ステップＳ０６においては、推定したカーブ形状値に基づいてカーブ形状を適正に通過可能な適正速度ＶＳ（又は、適正横加速度ＡＳ）を算出する。
次に、ステップＳ０７においては、検出した自車両の現在速度ＶＰが、算出した適正速度ＶＳよりも高いか否か（または、推定した自車両の横加速度が適正横加速度ＡＳよりも高いか否か）を判定する。
この判定結果が「ＮＯ」の場合には、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ０８に進む。 Next, in step S06, an appropriate speed VS (or appropriate lateral acceleration AS) that can appropriately pass through the curve shape is calculated based on the estimated curve shape value.
Next, in step S07, whether or not the detected current speed VP of the own vehicle is higher than the calculated appropriate speed VS (or whether or not the estimated lateral acceleration of the own vehicle is higher than the appropriate lateral acceleration AS). ).
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S08.

ステップＳ０８においては、走行支援つまり制動装置１６および警報装置１７の作動対象となる地点（走行支援作動対象地点）を推定する。この走行支援対象地点は、例えば図３に示すように、道路形状認識部２６や道路状況推定部２７にて認識された自車両Ｐの進行方向前方に存在するカーブ形状Ｃの入口位置ＣＳであったり、例えば道路状況推定部２７にてカーブ形状Ｃ内に、このカーブ形状Ｃの半径Ｒａよりも小さな半径Ｒｂを有する迂回路Ｄの存在が推定された場合には、この迂回路Ｄの入口位置ＤＳとなる。
次に、ステップＳ０９においては、自車位置検出部１２にて検出した自車両の現在位置から走行支援作動対象地点（例えば図３に示すカーブ形状Ｃの入口位置ＣＳ）までの距離、つまり作動対象地点間距離Ｌｎを算出する。 In step S08, a travel support, that is, a point to be actuated by the braking device 16 and the alarm device 17 (a travel support operation target point) is estimated. For example, as illustrated in FIG. 3, the travel support target point is an entrance position CS of a curve shape C that exists in the traveling direction of the host vehicle P recognized by the road shape recognition unit 26 or the road condition estimation unit 27. For example, when the road condition estimation unit 27 estimates the presence of a detour D having a radius Rb smaller than the radius Ra of the curve shape C in the curve shape C, the entrance position of the detour D DS.
Next, in step S09, the distance from the current position of the host vehicle detected by the host vehicle position detection unit 12 to the travel support operation target point (for example, the entrance position CS of the curve shape C shown in FIG. 3), that is, the operation target. A point-to-point distance Ln is calculated.

次に、ステップＳ１０においては、例えば自車両の運転者がブレーキを踏み込んでから実際にブレーキが効き始めるまでの空走時間での走行距離（空走距離ΔＬｓ）と、所定の減速度にて現在速度ＶＰから適正速度ＶＳまで減速するのに要する時間での自車両の走行距離（減速必要距離Ｌｓ）とを加算して得た値を、警報を発して運転者に注意を促してから、実際に運転者が反応してブレーキを踏み込み、自車両を適正速度ＶＳまで減速するのに要する距離（警報必要距離Ｌｗ）として設定する。
次に、ステップＳ１１においては、作動対象地点間距離Ｌｎが警報必要距離Ｌｗ以下であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ１２に進む。 Next, in step S10, for example, the travel distance (idle distance [Delta] Ls) in the idle time from when the driver of the own vehicle depresses the brake until the brake actually starts to be effective and the predetermined deceleration. The value obtained by adding the travel distance of the host vehicle (the required deceleration distance Ls) in the time required to decelerate from the speed VP to the appropriate speed VS is issued after an alarm is issued to alert the driver. Is set as the distance (alarm required distance Lw) required to decelerate the host vehicle to the appropriate speed VS.
Next, in step S11, it is determined whether the distance Ln between operation | movement object points is below the alarm required distance Lw.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S12.

ステップＳ１２においては、警報装置１７を作動させ、自車両の運転者に適正速度ＶＳまで減速するように注意を促す警報を出力する。
次に、ステップＳ１３においては、作動対象地点間距離Ｌｎが減速必要距離Ｌｓ以下であるか否かを判定する。
この判定結果が「ＮＯ」の場合には、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ１４に進む。
ステップＳ１４においては、制動装置１６を作動させ、自車両の速度が適正速度ＶＳになるようにして自車両を自動的に減速させると共に、この制御動作の実行を自車両の運転者に報知する。 In step S12, the alarm device 17 is activated to output an alarm that prompts the driver of the host vehicle to decelerate to the appropriate speed VS.
Next, in step S13, it is determined whether the distance Ln between operation | movement object points is below the deceleration required distance Ls.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S14.
In step S14, the braking device 16 is operated to automatically decelerate the own vehicle so that the speed of the own vehicle becomes the appropriate speed VS, and the execution of this control operation is notified to the driver of the own vehicle.

そして、ステップＳ１５においては、自車両が走行支援作動対象地点（例えば図３に示すカーブ形状Ｃの入口位置ＣＳ）を通過したか否かを判定する。
この判定結果が「ＮＯ」の場合には、一連の処理を終了する。
一方、この判定結果が「ＹＥＳ」の場合には、ステップＳ１６に進み、制動装置１６および警報装置１７の作動を停止し、一連の処理を終了する。 In step S15, it is determined whether or not the host vehicle has passed a travel support operation target point (for example, the entrance position CS of the curve shape C shown in FIG. 3).
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if this determination is “YES”, the flow proceeds to step S 16, the operations of the braking device 16 and the alarm device 17 are stopped, and the series of processes is ended.

なお、上述したステップＳ０１からステップＳ１３の処理では、例えば自車両の進行方向前方に存在するカーブ形状Ｃ（例えば、半径Ｒａ）を適正に通過するように走行支援を行う場合について説明したが、例えば図３に示すように、自車両Ｐと同等の走行車線を走行する前走車両Ｑから通信により取得した情報に基づき、カーブ形状Ｃ内に、このカーブ形状Ｃの半径Ｒａよりも小さな半径Ｒｂを有する迂回路Ｄの存在が推定された場合等のように、カーブ形状値が異なる複数のカーブ形状の存在が推定された場合には、これら全てのカーブ形状を適正に通過するように走行支援を行う。   In the above-described processing from step S01 to step S13, for example, the case where the driving support is performed so as to appropriately pass the curve shape C (for example, the radius Ra) existing ahead in the traveling direction of the host vehicle has been described. As shown in FIG. 3, a radius Rb smaller than the radius Ra of the curve shape C is set in the curve shape C based on information acquired by communication from a preceding vehicle Q traveling in the same lane as the host vehicle P. When the existence of a plurality of curve shapes having different curve shape values is estimated, such as when the existence of the detour D having is estimated, the driving assistance is performed so that all of these curve shapes pass appropriately. Do.

また、例えば図３に示すように、自車両Ｐに対する対向車線を走行する対向車両Ｒ等のように、自車両の走行車線とは異なる走行車線を走行する他車両との間の車車間通信により取得した情報に基づきカーブ形状を推定する場合には、この他車両の走行軌跡に対して、車線幅相当の距離の補正を行うことで、自車両が走行予定の走行路の道路形状を推定することができる。例えば図３に示す対向車両Ｒの走行軌跡からカーブ形状Ｅ（例えば、半径Ｒｃ）を検知した場合には、このカーブ形状Ｅに車線幅相当の距離を加算して、自車両が走行予定のカーブ形状Ｃ（例えば、半径Ｒａ）を推定する。   Further, for example, as shown in FIG. 3, by inter-vehicle communication with another vehicle that travels in a travel lane different from the travel lane of the host vehicle, such as an oncoming vehicle R that travels in the opposite lane to the host vehicle P. When estimating the curve shape based on the acquired information, the road shape of the travel path on which the host vehicle is scheduled to travel is estimated by correcting the distance corresponding to the lane width with respect to the travel locus of the other vehicle. be able to. For example, when a curve shape E (for example, radius Rc) is detected from the travel locus of the oncoming vehicle R shown in FIG. 3, a distance corresponding to the lane width is added to the curve shape E, and the vehicle is scheduled to travel. The shape C (for example, radius Ra) is estimated.

上述したように、本実施の形態による車両の道路適応走行制御装置１０によれば、地図データ記憶部１４に格納された地図データや外界監視装置１１の検知結果に加えて、自車両が走行予定の道路を実際に通過した他車両（例えば、前走車両や対向車両）との車車間通信により取得した情報に基づき、実際の道路状況を認識あるいは精度良く推定することができ、道路状況の変化に適切に対応して自車両を適正に走行させることができる。   As described above, according to the road adaptive travel control device 10 for a vehicle according to the present embodiment, in addition to the map data stored in the map data storage unit 14 and the detection result of the external monitoring device 11, the host vehicle is scheduled to travel. Based on information acquired by inter-vehicle communication with other vehicles (for example, preceding vehicles and oncoming vehicles) that actually passed the road, the actual road situation can be recognized or accurately estimated, and changes in the road situation It is possible to appropriately drive the host vehicle appropriately.

なお、上述した実施の形態において、車両の道路適応走行制御装置１０は、地図データ記憶部１４を備えるとしたが、これに限定されず、例えば自車両の外部に設置された地図データサーバから適宜のタイミングで通信により地図データを取得する地図データ取得部を備えてもよい。   In the above-described embodiment, the vehicle road adaptive travel control device 10 includes the map data storage unit 14. However, the present invention is not limited to this. For example, the vehicle adaptive adaptive travel control device 10 can be appropriately selected from a map data server installed outside the host vehicle. You may provide the map data acquisition part which acquires map data by communication at this timing.

なお、上述した実施の形態においては、対象物走行軌跡算出部２２にて他車両の走行軌跡を算出するとしたが、これに限定されず、予め他車両にて算出された走行軌跡を、情報送受信部１２を介して取得してもよい。   In the above-described embodiment, the object trajectory calculation unit 22 calculates the travel trajectory of the other vehicle. However, the present invention is not limited to this, and the travel trajectory calculated in advance by the other vehicle is transmitted and received. You may acquire via the part 12.

本発明の一実施形態に係る車両の道路適応走行制御装置の構成図である。1 is a configuration diagram of a vehicle road adaptive travel control device according to an embodiment of the present invention. FIG. 図１に示す車両の道路適応走行制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the road adaptive travel control apparatus of the vehicle shown in FIG. 自車両Ｐと、自車両Ｐの進行方向前方のカーブを通過した前走車両Ｑおよび対向車両Ｒとの相対位置の一例を示す図である。It is a figure which shows an example of the relative position of the own vehicle P and the preceding vehicle Q and the oncoming vehicle R which passed the curve ahead of the advancing direction of the own vehicle P.

符号の説明Explanation of symbols

１０ 車両の道路適応走行制御装置
１２ 情報送受信部（通信手段）
１４ 地図データ記憶部（データ記憶手段）
１６ 制動装置（走行支援手段）
１７ 警報装置（走行支援手段）
２２ 対象物走行軌跡算出部（走行軌跡算出手段）
２６ 道路形状認識部（カーブ認識手段）
２７ 道路状況推定部（位置検知手段、道路状況推定手段）
２８ 適正車速設定部（適正車両状態設定手段）
２９ 横加速度算出部（適正車両状態設定手段）
３０ 走行情報比較部（比較手段）
ステップＳ０４およびステップＳ０５ カーブ推定手段

DESCRIPTION OF SYMBOLS 10 Road adaptive travel control apparatus of vehicle 12 Information transmission / reception part (communication means)
14 Map data storage (data storage means)
16 Braking device (running support means)
17 Alarm device (running support means)
22 Object travel locus calculation unit (travel locus calculation means)
26 Road shape recognition unit (curve recognition means)
27 Road condition estimation unit (position detection means, road condition estimation means)
28 Appropriate vehicle speed setting unit (appropriate vehicle state setting means)
29 Lateral acceleration calculation unit (appropriate vehicle state setting means)
30 Travel information comparison unit (comparison means)
Steps S04 and S05 Curve estimation means

Claims (5)

他車両から出力される他車両情報を通信により取得する通信手段と、
予め道路地図データを記憶する自車両に搭載されたデータ記憶手段または自車両の外部から道路地図データを取得するデータ取得手段と、前記道路地図データ上での車両の位置を検知する位置検知手段と、自車両の走行状態が自車両の進行方向の道路状況に適応するように支援する走行支援手段とを備える車両の道路適応走行制御装置であって、
前記他車両情報は他車両の少なくとも位置および走行状態を含み、
前記位置検知手段は、前記道路地図データおよび前記他車両情報に基づき、前記道路地図データ上における自車両が走行中の道路の進行方向に存在する他車両の位置を検知し、
前記走行支援手段は、前記位置検知手段にて検知した自車両が走行中の道路の進行方向に存在する他車両の前記走行状態に基づき、自車両の走行状態が自車両の進行方向の道路状況に適応するように支援することを特徴とする車両の道路適応走行制御装置。 Communication means for acquiring other vehicle information output from another vehicle by communication;
Data storage means mounted on the host vehicle for storing road map data in advance or data acquisition means for acquiring road map data from outside the host vehicle, and position detection means for detecting the position of the vehicle on the road map data A vehicle road adaptive travel control device comprising travel support means for assisting the travel state of the host vehicle to adapt to the road conditions in the traveling direction of the host vehicle,
The other vehicle information includes at least a position and a running state of the other vehicle,
The position detection means detects the position of another vehicle existing in the traveling direction of the road on which the host vehicle is traveling on the road map data based on the road map data and the other vehicle information,
The travel support means is based on the travel state of the other vehicle existing in the traveling direction of the road on which the host vehicle is detected, which is detected by the position detection means, and the traveling state of the own vehicle is the road condition in the traveling direction of the own vehicle. A road adaptive travel control device for a vehicle characterized in that the vehicle is adapted to adapt to the vehicle. 前記他車両情報に含まれる前記他車両の位置に基づき前記他車両の走行軌跡を算出する走行軌跡算出手段と、
該走行軌跡算出手段により算出された前記走行軌跡に基づき、自車両の進行方向の道路状況を推定する道路状況推定手段とを備えることを特徴とする請求項１に記載の車両の道路適応走行制御装置。 A travel locus calculating means for calculating a travel locus of the other vehicle based on the position of the other vehicle included in the other vehicle information;
The road adaptive travel control for a vehicle according to claim 1, further comprising road condition estimation means for estimating a road condition in a traveling direction of the host vehicle based on the travel locus calculated by the travel locus calculation means. apparatus. 自車両の少なくとも速度を含む車両状態を検出する車両状態検出手段と、
前記走行軌跡算出手段により算出された前記走行軌跡に基づき、自車両の進行方向にカーブが存在するか否かを判定し、該判定にてカーブが存在する場合にカーブの半径あるいは曲率を含むカーブの形状を推定するカーブ推定手段と、
該カーブ推定手段により推定されたカーブの形状に基づき、該カーブを適正に通過可能な少なくとも適正速度を含む適正車両状態を設定する適正車両状態設定手段と、
前記車両状態検出手段が検出した前記車両状態と、前記適正車両状態設定手段が設定した前記適正車両状態とを比較する比較手段とを備え、
前記走行支援手段は、前記比較手段による比較結果において前記車両状態と前記適正車両状態とが相違する場合に、前記車両状態が前記適正車両状態と同等になるように自車両の走行状態を制御する、あるいは、前記車両状態が前記適正車両状態と同等になるような運転の実行を促す報知を自車両の乗員に出力することを特徴とする請求項２に記載の車両の道路適応走行制御装置。 Vehicle state detection means for detecting a vehicle state including at least the speed of the host vehicle;
Based on the travel trajectory calculated by the travel trajectory calculation means, it is determined whether or not a curve exists in the traveling direction of the host vehicle. Curve estimation means for estimating the shape of
Based on the shape of the curve estimated by the curve estimation means, appropriate vehicle state setting means for setting an appropriate vehicle state including at least an appropriate speed capable of appropriately passing through the curve;
Comparing means for comparing the vehicle state detected by the vehicle state detecting means with the appropriate vehicle state set by the appropriate vehicle state setting means,
The traveling support means controls the traveling state of the host vehicle so that the vehicle state is equivalent to the appropriate vehicle state when the vehicle state is different from the appropriate vehicle state in the comparison result by the comparing unit. The road adaptive travel control device for a vehicle according to claim 2, wherein a notification that prompts execution of driving so that the vehicle state is equivalent to the appropriate vehicle state is output to an occupant of the host vehicle. 前記他車両情報は、他車両の少なくとも位置および走行状態に加えて、他車両が走行中の道路の少なくとも道路勾配またはタイヤと路面間の摩擦係数を含み、
前記適正車両状態設定手段は、少なくとも前記カーブ推定手段により推定されたカーブの形状または前記他車両情報に基づき、前記適正車両状態を設定することを特徴とする請求項３に記載の車両の道路適応走行制御装置。 The other vehicle information includes, in addition to at least the position and traveling state of the other vehicle, at least a road gradient of a road on which the other vehicle is traveling or a friction coefficient between a tire and a road surface,
4. The vehicle road adaptation according to claim 3, wherein the appropriate vehicle state setting means sets the appropriate vehicle state based on at least the shape of the curve estimated by the curve estimation means or the other vehicle information. Travel control device. 前記道路地図データに基づき、自車両の進行方向にカーブが存在するか否かを判定し、該判定にてカーブが存在する場合にカーブの半径あるいは曲率を含むカーブの形状を認識するカーブ認識手段を備え、
前記適正車両状態設定手段は、前記カーブ推定手段により推定されたカーブの形状と、前記カーブ認識手段により認識されたカーブの形状とのうち、カーブの半径が何れか小さい方あるいは曲率が何れか大きい方のカーブの形状に基づき、該カーブを適正に通過可能な少なくとも適正速度を含む適正車両状態を設定することを特徴とする請求項３または請求項４に記載の車両の道路適応走行制御装置。

Curve recognition means for determining whether or not a curve exists in the traveling direction of the host vehicle based on the road map data, and recognizing the shape of the curve including the radius or curvature of the curve when the curve exists in the determination With
The appropriate vehicle state setting means includes the curve shape estimated by the curve estimation means and the curve shape recognized by the curve recognition means, which has a smaller radius or a larger curvature. 5. The road adaptive travel control device for a vehicle according to claim 3, wherein an appropriate vehicle state including at least an appropriate speed capable of appropriately passing through the curve is set based on a shape of the curve of the other side.

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