JP7062782B2 - 車両制御方法及び車両制御装置 - Google Patents
車両制御方法及び車両制御装置 Download PDFInfo
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Description
図3において、x軸方向は車幅方向であり、y軸方向は車両の進行方向である。なお、以下の説明では、複数の他車両の間のスペースに車線変更を行うシーンを一例として挙げた上で制御フローを説明するが、車線変更先となる目標地点の前方には他車両が位置しなくてもよい。また、制御装置180による制御処理は、自車両が対象車両の後方から対象車両に近づいて、対象車両の前方で車線変更を行うようなシーンにも適用できる。
、隣接車線上に位置する4台の他車両の車間距離は、前方車両Pと後方車両Qとの間で最も長いため、制御装置180は、後方車両Qの前方に目標地点mを設定する。
110…センサ群
120…自車位置検出装置
130…地図データベース
140…ナビゲーションシステム
150…駆動制御装置
160…駆動機構
170…方向指示器
180…制御装置
Claims (8)
- 自車両を制御するプロセッサに実行させる車両制御方法であって、
前記自車両の周囲の状態を検出するセンサから、前記自車両が走行する走行車線に対して隣接する隣接車線を走行する他車両の検出データを取得し、
前記自車両と前記他車両の位置関係に基づき、前記自車両が前記走行車線から前記隣接車線に車線変更するための目標地点を前記隣接車線上に設定し、
前記目標地点よりも後方に位置する前記他車両を後方車両として特定し、
前記自車両が前記後方車両よりも前方に移動するように、前記自車両の車速を制御し、
前記自車両が前記後方車両よりも前方に移動した後、前記自車両が前記後方車両に対して相対的に減速し、前記自車両の後端が前記後方車両の前端よりも前方に位置する場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1記載の車両制御方法において、
前記後方車両の車速が高いほど、又は、前記後方車両に対する前記自車両の相対速度が高いほど、前記後方車両の乗員により前記方向指示器の点滅を認識可能な距離を示す認識距離が長くなるように、前記認識距離を演算し、
前記自車両と前記後方車両との間の車間距離が前記認識距離以上である場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1又は2記載の車両制御方法において、
前記後方車両に対する前記自車両の相対加速度が負である場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1~3のいずれか一項に記載の車両制御方法において、
前記自車両の加速度が前記後方車両の加速度より高い場合には、前記自車両の加速度を低くし、
前記自車両の加速度が低下した後に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1記載の車両制御方法において、
前記目標地点よりも前方に位置する前記他車両を前方車両として特定し
前記前方車両の車両状態及び前記自車両の車両状態に基づき、所定時間経過時の前記前方車両と前記自車両の位置関係を予測し、
前記所定時間経過時の前記自車両の後端が、前記所定時間経過時の前記前方車両の後端より後方に位置するか否かを判定し、
前記所定時間経過時の前記自車両の後端が、前記所定時間経過時の前記前方車両の後端より後方に位置すると判定した場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1記載の車両制御方法において、
前記目標地点よりも前方に位置する前記他車両を前方車両として特定し
前記前方車両の車両状態及び前記自車両の車両状態に基づき、所定時間経過時の前記前方車両と前記自車両の位置関係を予測し、
前記所定時間経過時の前記自車両の前端から、前記所定時間経過時の前記前方車両の後端までの距離が、所定の距離閾値以上であるか否かを判定し、
前記所定時間経過時の前記自車両の前端から、前記所定時間経過時の前記前方車両の後端までの距離が、所定の距離閾値以上であると判定した場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 請求項1又は2に記載の車両制御方法において、
前記自車両が前記後方車両よりも前方に移動した後、前記自車両の後端が前記後方車両の前端よりも前方に位置する否か、及び、前記後方車両に対する前記自車両の相対加速度が負であるか否かを判定し、
前記自車両の後端が前記後方車両の前端よりも前方に位置し、前記後方車両に対する前記自車両の相対加速度が負であると判定された場合に、前記自車両の方向指示器の点滅を開始する車両制御方法。 - 自車両の周囲の状態を検出するセンサと、
前記自車両を制御する制御装置とを備え、
前記センサは、前記自車両が走行する走行車線に対して隣接する隣接車線を走行する他車両を検出し、
前記制御装置は、
前記自車両と前記他車両の位置関係に基づき、前記自車両が前記走行車線から前記隣接車線に車線変更するための目標地点を前記隣接車線上に設定し、
前記目標地点よりも後方に位置する前記他車両を後方車両として特定し、
前記自車両が前記後方車両よりも前方に移動するように、前記自車両の車速を制御し、
前記自車両が前記後方車両よりも前方に移動した後、前記自車両が前記後方車両に対して相対的に減速し、前記自車両の後端が前記後方車両の前端よりも前方に位置する場合に、前記自車両の方向指示器の点滅を開始する車両制御装置。
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