JP2022149212A - Travel control device and travel control method - Google Patents

Travel control device and travel control method Download PDF

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JP2022149212A
JP2022149212A JP2021051261A JP2021051261A JP2022149212A JP 2022149212 A JP2022149212 A JP 2022149212A JP 2021051261 A JP2021051261 A JP 2021051261A JP 2021051261 A JP2021051261 A JP 2021051261A JP 2022149212 A JP2022149212 A JP 2022149212A
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vehicle
steering amount
lane
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control
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JP7327435B2 (en
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由幸 松倉
Yoshiyuki Matsukura
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Isuzu Motors Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

To provide a travel control device and a travel control method, with which it is possible to avoid a collision with other vehicle even when a preceding vehicle causes large traverse movement during automatic follow-up control.SOLUTION: A travel control device of the present disclosure includes an automatic follow-up control part to control an addition-subtraction speed and a steering amount of one's own vehicle so as to follow a preceding vehicle, and a steering amount reducing part to reduce a steering amount in a reverse direction of a direction in which other vehicle is detected when other vehicle is detected on a rear side of the own vehicle by a detection part to detect a vehicle on the rear side of the own vehicle.SELECTED DRAWING: Figure 1

Description

本開示は、自動追従制御機能を有する車両の走行制御装置及び走行制御方法に関する。 The present disclosure relates to a vehicle cruise control device and a cruise control method having an automatic follow-up control function.

従来、車両においては、自動運転を実現するための種々の機能が搭載されている。その一つに、車線を検知して走行レーンを維持するように操舵を制御する機能（ＬＫＡＳ:Lane Keep Assist System）がある。また別の一つに、先行車の走行軌跡に追従するように操舵を制御する自動追従機能がある（例えば特許文献１参照）。 Conventionally, vehicles are equipped with various functions for realizing automatic driving. One of them is a function (LKAS: Lane Keep Assist System) of detecting a lane and controlling steering so as to maintain the driving lane. Another one is an automatic follow-up function that controls steering so as to follow the travel locus of the preceding vehicle (see Patent Document 1, for example).

自動追従機能を有する車両は、路面状態や天気が悪く車線を検知できない場合でも、先行車が存在すれば、それに追従することで自動運転を行うことができる。 A vehicle with an automatic following function can drive automatically by following a preceding vehicle, even if it cannot detect the lane due to bad road conditions or weather.

また、自動追従機能を有する車両は、渋滞時に先行車によって前方の車線が隠れてしまった場合でも、先行車に追従することで自動運転を行うことができる。特に、渋滞中は車間距離が短く制御され、先行車が大型車である場合には、前方の車線が先行車によって隠れてしまう可能性が高いので、レーンキープ制御よりも自動追従制御が有効であることが多い。 In addition, a vehicle with an automatic following function can automatically drive by following the preceding vehicle even if the preceding vehicle blocks the lane ahead during traffic jams. In particular, in traffic jams, the distance between vehicles is controlled to be short, and if the preceding vehicle is a large vehicle, there is a high possibility that the lane ahead will be hidden by the preceding vehicle, so automatic follow-up control is more effective than lane-keeping control. There are many.

特開２０００－３２２６９７号公報JP-A-2000-322697

ところで、渋滞中に自動追従制御が実行されている状況において、追従対象である先行車が車線変更のような大きな横移動をした場合、自車もそれに追従して大きな横移動を行うことになる。この際、自車がトラック等のオーバーハングの長い車両の場合には、車輪からオーバーハング部分が操舵方向と逆方向に大きく飛び出すことになるので、後側方や真横に車両にいる他車両に衝突する可能性がある。 By the way, in a situation where the automatic follow-up control is being executed in a traffic jam, if the preceding vehicle to be followed makes a large lateral movement such as changing lanes, the own vehicle also follows it and makes a large lateral movement. . At this time, if the vehicle is a vehicle with a long overhang, such as a truck, the overhang will protrude from the wheels in the direction opposite to the steering direction. There is a possibility of collision.

本開示は、以上の点を考慮してなされたものであり、自動追従制御中に先行車が大きな横移動を行った場合でも、他車両への衝突を回避できる、走行制御装置及び走行制御方法を提供する。 The present disclosure has been made in consideration of the above points, and a cruise control device and cruise control method that can avoid a collision with another vehicle even when the preceding vehicle makes a large lateral movement during automatic follow-up control. I will provide a.

本開示の走行制御装置の一つの態様は、
先行車に追従するように、自車の加減速度及び操舵量を制御する自動追従制御部と、
自車の後側方の車両を検知する検知部によって自車の後側方に他車両が検知された場合、前記他車両が検知された方向と逆方向への操舵量を抑制する操舵量抑制部と、
を備える。 One aspect of the travel control device of the present disclosure is
an automatic follow-up control unit that controls the acceleration/deceleration and steering amount of the own vehicle so as to follow the preceding vehicle;
Steering amount suppression for suppressing a steering amount in a direction opposite to the direction in which the other vehicle is detected when another vehicle is detected behind the own vehicle by a detection unit that detects a vehicle behind the own vehicle. Department and
Prepare.

本開示の走行制御方法の一つの態様は、
先行車に追従するように、自車の加減速度及び操舵量を制御するステップと、
自車の後側方に他車両が検知された場合、前記他車両が検知された方向と逆方向への操舵量を抑制するステップと、
を含む。 One aspect of the travel control method of the present disclosure is
a step of controlling the acceleration/deceleration and steering amount of the own vehicle so as to follow the preceding vehicle;
a step of suppressing a steering amount in a direction opposite to the direction in which the other vehicle is detected when another vehicle is detected behind the own vehicle;
including.

本開示によれば、自動追従制御中に先行車が大きな横移動を行った場合でも、他車両への衝突を回避できるようになる。 According to the present disclosure, even if the preceding vehicle makes a large lateral movement during automatic follow-up control, it is possible to avoid collision with another vehicle.

実施の形態の走行制御装置の要部構成を示すブロック図1 is a block diagram showing the configuration of a main part of a travel control device according to an embodiment; 実施の形態の走行制御装置の動作の説明に供する図FIG. 4 is a diagram for explaining the operation of the cruise control device according to the embodiment;

以下、本発明の一実施の形態について、図面を参照して詳細に説明する。 BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described in detail below with reference to the drawings.

図１は、本実施の形態の走行制御装置１００の要部構成を示すブロック図である。走行制御装置１００は、車両に搭載されている。 FIG. 1 is a block diagram showing the main configuration of a travel control device 100 according to this embodiment. The cruise control device 100 is mounted on the vehicle.

走行制御装置１００は、自動追従制御部１０１を有する。自動追従制御部１０１は、前方レーダー１０２及び前方カメラ１０３からの先行車のレーダー情報及び画像情報に基づいて、先行車に追従するための操舵量（操舵角と言ってもよい）及び目標加減速度を出力する。 The travel control device 100 has an automatic follow-up control section 101 . Based on the radar information and image information of the preceding vehicle from the front radar 102 and the front camera 103, the automatic follow-up control unit 101 calculates the steering amount (which may be referred to as the steering angle) and the target acceleration/deceleration for following the preceding vehicle. to output

目標加減速度は、エンジン及びブレーキ１０６に送られ、エンジン及びブレーキが目標加減速度に基づいて制御される。 The target acceleration/deceleration is sent to the engine and brake 106, and the engine and brake are controlled based on the target acceleration/deceleration.

一方、操舵量は、操舵量抑制部１０４を介して操舵部１０５に送られる。 On the other hand, the steering amount is sent to the steering section 105 via the steering amount suppression section 104 .

操舵量抑制部１０４は、自車の後側方の車両を検知する後側方車両検知部１０８によって自車の後側方に他車両が検知された場合、他車両が検知された方向と逆方向への操舵量を抑制する。 When another vehicle is detected behind the own vehicle by the rear side vehicle detection unit 108 that detects a vehicle behind the own vehicle, the steering amount suppressing unit 104 controls the steering amount control unit 104 to rotate the vehicle in the direction opposite to the direction in which the other vehicle was detected. Control the amount of steering in the direction.

ここで、後側方車両検知部１０８は、後側方レーダー１０７からのレーダー情報に基づいて、自車の後側方に他車両が存在するか否かを検知するとともに、後側方に他車両が存在する場合には、他車両と自車両との相対位置関係を検知する。相対位置関係には、他車両と自車両の横方向の距離が含まれる。 Here, based on the radar information from the rear side radar 107, the rear side vehicle detection unit 108 detects whether or not there is another vehicle behind the own vehicle, and detects whether or not there is another vehicle behind the own vehicle. If the vehicle is present, the relative positional relationship between the other vehicle and the own vehicle is detected. The relative positional relationship includes the lateral distance between the other vehicle and the own vehicle.

操舵量抑制部１０４は、後側方車両検知部１０８によって検知された他車両と自車との相対位置関係に基づいて、操舵量を抑制することが好ましい。例えば、他車両と自車両の横方向の距離が近いほど、抑制量を大きくする。 It is preferable that the steering amount suppressing section 104 suppresses the steering amount based on the relative positional relationship between the vehicle and the other vehicle detected by the rear side vehicle detecting section 108 . For example, the smaller the lateral distance between the other vehicle and the host vehicle, the greater the suppression amount.

また、走行制御装置１００は、レーンキープ支援制御部１１０を有する。レーンキープ支援制御部１１０は、車線検知部１１１によって検知された自車前方の車線情報に基づいて、自車１が車線内走行を維持するための操舵量を操舵部１０５に出力する。 The cruise control device 100 also has a lane keep assist control unit 110 . Lane-keeping support control unit 110 outputs to steering unit 105 a steering amount for keeping vehicle 1 in the lane based on information on the lane ahead of the vehicle detected by lane detection unit 111 .

ここで、操舵部１０５は、車線検知部１１１によって車線が検知され、レーンキープ支援制御部１１０から操舵量の情報が出力されているときには、レーンキープ支援制御部１１０からの操舵量に基づいて制御される。 Here, when the lane is detected by the lane detection unit 111 and the steering amount information is output from the lane keeping support control unit 110, the steering unit 105 performs control based on the steering amount from the lane keeping support control unit 110. be done.

一方で、車線検知部１１１によって車線が検知されず、レーンキープ支援制御部１１０から操舵量の情報が出力されていないときには、操舵部１０５は、自動追従制御部１０１及び操舵量抑制部１０４により得られた操舵量に基づいて制御される。 On the other hand, when the lane detection unit 111 does not detect the lane and the steering amount information is not output from the lane keeping support control unit 110 , the steering unit 105 receives the information obtained by the automatic follow-up control unit 101 and the steering amount suppression unit 104 . is controlled based on the steering amount obtained.

また、自動追従制御部１０１及びレーンキープ支援制御部１１０のどちらからも操舵量が出力されない場合には、自動操舵は行われない。 Further, when neither the automatic follow-up control unit 101 nor the lane keeping support control unit 110 outputs a steering amount, automatic steering is not performed.

次に、図２を用いて、本実施の形態の走行制御装置１００の動作について説明する。 Next, the operation of traveling control device 100 of the present embodiment will be described using FIG.

図２は、走行制御装置１００を搭載した車両１が、渋滞中の高速道路を走行していることを想定している。自車両１は、車線が検知できている場合には、レーンキープ支援制御部１１０の制御を優先してレーン内走行を維持する。一方、先行車Ｃ１に隠れて車線を検知できない場合（特に先行車Ｃ１が大型車の場合には車線を検知できない可能性が高まる）や路面状態が悪く車線を検知できないには、自動追従制御部１０１による自動追従制御を行う。 FIG. 2 assumes that the vehicle 1 equipped with the cruise control device 100 is traveling on a congested expressway. When the lane can be detected, the own vehicle 1 gives priority to the control of the lane keep assist control unit 110 and maintains running in the lane. On the other hand, if the lane cannot be detected because it is hidden behind the preceding vehicle C1 (especially if the preceding vehicle C1 is a large vehicle, the possibility that the lane cannot be detected increases) or if the road surface conditions are poor and the lane cannot be detected, the automatic follow-up control unit 101 performs automatic follow-up control.

自動追従制御を行っているときに、先行車Ｃ１が矢印の方向に車線変更したとすると、自車両１もこれに追従して大きく左側に横移動する。すると、自車両１の右後端のオーバーハング部分が右方向に大きく突き出てしまい、右側車線を走行している他車両Ｃ２に衝突するおそれがある。特に、渋滞時のような低速走行時には、操舵量が大きくなる可能性があるので、オーバーハング部分の突き出し量も大きくなる可能性がある。 If the preceding vehicle C1 changes lanes in the direction of the arrow while the automatic follow-up control is being performed, the own vehicle 1 also follows this and laterally moves largely to the left. Then, the overhang portion of the right rear end of the own vehicle 1 protrudes greatly to the right, and there is a possibility of colliding with the other vehicle C2 traveling in the right lane. In particular, when the vehicle is traveling at low speed, such as in a traffic jam, the amount of steering may increase, so the protrusion amount of the overhang portion may also increase.

これを考慮して、本実施の形態の走行制御装置１００は、操舵量抑制部１０４によって操舵量を抑制する。 In consideration of this, the traveling control device 100 of the present embodiment suppresses the steering amount by the steering amount suppressing section 104 .

様々な抑制方法を採用し得る。一つの方法として、操舵量が所定値よりも大きくならないように制限する方法を採用し得る。例えば、操舵量（操舵角）を１０°以下に制限する。つまり、操舵量抑制部１０４は、自動追従制御部１０１から１０°よりも大きい操舵量を入力した場合に、操舵量を１０°に制限して、操舵部１０５に出力する。 Various suppression methods may be employed. As one method, it is possible to adopt a method of restricting the steering amount so that it does not exceed a predetermined value. For example, the steering amount (steering angle) is limited to 10° or less. In other words, when a steering amount greater than 10° is input from the automatic follow-up control unit 101 , the steering amount suppression unit 104 limits the steering amount to 10° and outputs it to the steering unit 105 .

本実施の形態では、後側方車両検知部１０８によって検知された他車両Ｃ２と自車両１との相対位置関係に基づいて、操舵量を抑制する。 In the present embodiment, the steering amount is suppressed based on the relative positional relationship between the other vehicle C2 detected by the rear side vehicle detection unit 108 and the own vehicle 1 .

具体的に説明する。自車両１のサイズは決まっているので、各操舵量に対応するオーバーハング部分の突き出し量は一意に決まる。操舵量抑制部１０４は、各操舵量と、オーバーハング部分の突き出し量との関係を表すテーブルを有する。操舵量抑制部１０４は、後側方車両検知部１０８によって検知された自車両１と他車両Ｃ２の横方向距離（図２の例の場合、自車両１の右側端から他車両Ｃ２の左側端までの距離）に基づき、オーバーハング部分の突き出し量がこの横方向距離を超えないような操舵量をテーブル引きにより求め、その操舵量を出力する。 A specific description will be given. Since the size of the own vehicle 1 is determined, the amount of projection of the overhang portion corresponding to each steering amount is uniquely determined. The steering amount suppression unit 104 has a table showing the relationship between each steering amount and the amount of protrusion of the overhang portion. The steering amount suppression unit 104 calculates the lateral distance between the own vehicle 1 and the other vehicle C2 detected by the rear side vehicle detection unit 108 (in the case of FIG. 2, from the right end of the own vehicle 1 to the left end of the other vehicle C2). ), a steering amount that does not exceed the lateral distance of the protrusion of the overhang portion is obtained by table lookup, and the steering amount is output.

このようにすることで、自車両１は、自動追従制御時に先行車Ｃ１が大きな横移動をした場合でも、移動方向と逆の後側方に存在する他車両Ｃ２との位置関係に基づいて操舵量を抑制するので、他車両Ｃ２との衝突を防止できる。 By doing so, even if the preceding vehicle C1 makes a large lateral movement during the automatic follow-up control, the own vehicle 1 can be steered based on the positional relationship with the other vehicle C2 existing on the rear side opposite to the moving direction. Since the amount is suppressed, a collision with the other vehicle C2 can be prevented.

また、自車両１は、自動追従制御部１０１及び操舵量抑制部１０４の制御によって、レーンチェンジする先行車Ｃ１への追従を操舵量を抑制しながら行っているときに、車線検知部１１１によって自車前方の車線が検知された場合、自動追従制御部１０１及び操舵量抑制部１０４の制御によるレーンチェンジを中断して、レーンキープ支援制御部１１０による制御に切り替えてレーンキープを行う。 Further, when the host vehicle 1 follows the preceding vehicle C1 that is changing lanes while suppressing the steering amount under the control of the automatic follow-up control unit 101 and the steering amount suppression unit 104, the lane detection unit 111 When the lane ahead of the vehicle is detected, the lane change under the control of the automatic follow-up control unit 101 and the steering amount suppression unit 104 is interrupted, and the control is switched to the lane keeping support control unit 110 to keep the lane.

ここで、自車両１は、操舵量を抑制しながら自動追従制御によるレーンチェンジを行おうとするので、先行車Ｃ１によって隠れていた車線をレーンチェンジ中に検知できる可能性が高まる。よって、大きく蛇行することなく、レーンキープ制御に復帰できるといったメリットもある。 Here, the own vehicle 1 tries to perform a lane change by automatic follow-up control while suppressing the steering amount, so the possibility that the lane hidden by the preceding vehicle C1 can be detected during the lane change increases. Therefore, there is also the advantage that it is possible to return to lane keep control without making a large meander.

以上説明したように、本実施の形態によれば、先行車Ｃ１に追従するように自車１の加減速度及び操舵量を制御する自動追従制御部１０１と、自車両１の後側方の車両Ｃ２を検知する検知部１０８によって自車両１の後側方に他車両Ｃ２が検知された場合、他車両Ｃ２が検知された方向と逆方向への操舵量を抑制する操舵量抑制部１０４と、を設けたことにより、自動追従制御中に先行車Ｃ１が大きな横移動を行った場合でも、他車両Ｃ２への衝突を回避できる、走行制御装置１００を実現できる。 As described above, according to the present embodiment, the automatic follow-up control unit 101 that controls the acceleration/deceleration and the amount of steering of the own vehicle 1 so as to follow the preceding vehicle C1, and the rear and lateral vehicles of the own vehicle 1 a steering amount suppressing unit 104 that suppresses a steering amount in a direction opposite to the direction in which the other vehicle C2 is detected when the other vehicle C2 is detected behind the host vehicle 1 by the detecting unit 108 that detects C2; is provided, it is possible to realize the cruise control device 100 that can avoid a collision with the other vehicle C2 even when the preceding vehicle C1 makes a large lateral movement during the automatic follow-up control.

本開示の走行制御装置１００は、左右方向への操舵時にオーバーハング量が大きい車両に搭載すると非常に有用である。 The traveling control device 100 of the present disclosure is very useful when mounted on a vehicle with a large overhang amount when steering in the left-right direction.

上述の実施の形態は、本発明を実施するにあたっての具体化の一例を示したものに過ぎず、これらによって本発明の技術的範囲が限定的に解釈されてはならないものである。すなわち、本発明はその要旨、またはその主要な特徴から逸脱することの無い範囲で、様々な形で実施することができる。 The above-described embodiments are merely examples of specific implementations of the present invention, and the technical scope of the present invention should not be construed to be limited by these. That is, the present invention can be embodied in various forms without departing from its spirit or essential characteristics.

本開示の技術は、自動追従制御機能を有する車両に適用可能であり、特にオーバーハングの長い大型車に有用である。 The technology of the present disclosure is applicable to vehicles having an automatic follow-up control function, and is particularly useful for large vehicles with long overhangs.

１ 車両
１００ 走行制御装置
１０１ 自動追従制御部
１０２ 前方レーダー
１０３ 前方カメラ
１０４ 操舵量抑制部
１０５ 操舵部
１０６ エンジン及びブレーキ
１０７ 後側方レーダー
１０８ 後側方車両検知部
１１０ レーンキープ支援制御部
１１１ 車線検知部
1 vehicle 100 travel control device 101 automatic follow-up control unit 102 front radar 103 front camera 104 steering amount suppression unit 105 steering unit 106 engine and brake 107 rear side radar 108 rear side vehicle detection unit 110 lane keep support control unit 111 lane detection Department

Claims (5)

先行車に追従するように、自車の加減速度及び操舵量を制御する自動追従制御部と、
自車の後側方の車両を検知する検知部によって自車の後側方に他車両が検知された場合、前記他車両が検知された方向と逆方向への操舵量を抑制する操舵量抑制部と、
を備える走行制御装置。 an automatic follow-up control unit that controls the acceleration/deceleration and steering amount of the own vehicle so as to follow the preceding vehicle;
Steering amount suppression for suppressing a steering amount in a direction opposite to the direction in which the other vehicle is detected when another vehicle is detected behind the own vehicle by a detection unit that detects a vehicle behind the own vehicle. Department and
A travel control device comprising: 前記操舵量抑制部は、
前記検知部によって検知された前記他車両と自車との相対位置関係に基づいて、前記操舵量を抑制する、
請求項１に記載の走行制御装置。 The steering amount suppressing section
suppressing the steering amount based on the relative positional relationship between the vehicle and the other vehicle detected by the detection unit;
The traveling control device according to claim 1. 自車前方の車線を検知する車線検知部による検知結果に基づいて、レーンキープするように操舵量を制御するレーンキープ支援制御部を、さらに備え、
前記自動追従制御部及び前記操舵量抑制部の制御によって、レーンチェンジする先行車への追従を操舵量を抑制しながら行っているときに、前記車線検知部によって自車前方の車線が検知された場合、前記自動追従制御部及び前記操舵量抑制部の制御によるレーンチェンジを中断して、前記レーンキープ支援制御部による制御に切り替えてレーンキープを行う、
請求項１又は２に記載の走行制御装置。 Further comprising a lane keeping support control unit that controls the steering amount to keep the lane based on the detection result of the lane detection unit that detects the lane ahead of the vehicle,
A lane ahead of the vehicle is detected by the lane detection unit while following the preceding vehicle that is changing lanes while suppressing the steering amount under the control of the automatic follow-up control unit and the steering amount suppression unit. In this case, the lane change under the control of the automatic follow-up control unit and the steering amount suppression unit is interrupted, and the lane keeping is performed by switching to the control by the lane keeping support control unit.
The traveling control device according to claim 1 or 2. 先行車に追従するように、自車の加減速度及び操舵量を制御するステップと、
自車の後側方に他車両が検知された場合、前記他車両が検知された方向と逆方向への操舵量を抑制するステップと、
を含む走行制御方法。 a step of controlling the acceleration/deceleration and steering amount of the own vehicle so as to follow the preceding vehicle;
a step of suppressing a steering amount in a direction opposite to the direction in which the other vehicle is detected when another vehicle is detected behind the own vehicle;
travel control method including; 前記他車両と自車との相対位置関係に基づいて、前記操舵量を抑制する、
請求項４に記載の走行制御方法。
suppressing the steering amount based on the relative positional relationship between the other vehicle and the own vehicle;
The traveling control method according to claim 4.
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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10258649A (en) * 1997-03-19 1998-09-29 Tochigi Fuji Ind Co Ltd Relative rotation restraint device between wheels
JP2019192043A (en) * 2018-04-26 2019-10-31 株式会社デンソー Driving support device
JP2020144782A (en) * 2019-03-08 2020-09-10 三菱自動車工業株式会社 Tow vehicle operation support system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10258649A (en) * 1997-03-19 1998-09-29 Tochigi Fuji Ind Co Ltd Relative rotation restraint device between wheels
JP2019192043A (en) * 2018-04-26 2019-10-31 株式会社デンソー Driving support device
JP2020144782A (en) * 2019-03-08 2020-09-10 三菱自動車工業株式会社 Tow vehicle operation support system

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