JP3924775B2 - Vehicle travel support device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicular travel support apparatus that detects a travel lane of a host vehicle and executes travel support control of the host vehicle so as not to deviate from the detected travel lane, and more particularly, an automatic fee installed on a toll road The present invention relates to a vehicle travel support device that changes travel support control when traveling in a travel lane of a toll system.
[0002]
[Prior art]
In recent years, an automatic toll collection (Electronic Toll Collection, ETC) system has been developed for non-stop, toll-free, cashless, and human cost reduction at toll roads on toll roads. Has been started.
[0003]
In this ETC system, an IC card in which contract information is recorded is inserted into an in-vehicle device mounted on a vehicle, and traffic is made by wireless communication between the roadside antenna installed at the toll gate of the toll gate on the toll road and the on-vehicle device. This is a system in which information such as tolls is recorded on both the toll road computer system connected to the roadside antenna and the IC card, and can be traveled without stopping for toll payment.
[0004]
On the other hand, a lane departure avoidance system has been developed that detects a traveling lane of the host vehicle and automatically executes departure avoidance control (steering, braking, warning, etc.) so as not to deviate from the detected traveling lane.
[0005]
[Problems to be solved by the invention]
By the way, when a vehicle equipped with the above lane departure avoidance system travels on an ETC lane, it is determined that a lane departure has occurred because the lane is narrower than the width of a general road, and the vehicle is sensitively intervening in the lane departure avoidance control. There are inconveniences that the automatic steering is activated and the driver feels uncomfortable or hinders smooth running.
[0006]
On the other hand, when a vehicle equipped with the lane departure avoidance system travels on an ETC lane, the lane is narrower than the general road width, so lane departure is likely to occur. There is also a need to prevent.
[0007]
The present invention has been made in view of the above-described problems, and the object thereof is to change the lane departure avoidance control contents between when traveling in the ETC lane and when traveling outside the ETC lane, and the sensitive collision avoidance control. It is an object of the present invention to provide a vehicular driving support device that reduces the inconvenient feeling felt by a driver due to intervention and eliminates the inconvenience of hindering smooth driving.
[0008]
Another object of the present invention is to provide a vehicular travel support apparatus capable of preventing a deviation by quickly intervening in a lane deviation avoidance control when traveling on an ETC lane where lane deviation is likely to occur.
[0009]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, the vehicle travel support device of the present invention detects the travel lane of the host vehicle and controls the travel support of the host vehicle so as not to deviate from the detected travel lane. A determination means for determining whether the vehicle is traveling in a traveling lane of an automatic toll collection system that performs transmission / reception with a roadside device installed on a toll road and collects a fee, Presenting the charging information as a result of communication between the control means for changing the driving support control content and the automatic toll collection system when driving in the driving lane of the automatic toll collection system compared to when driving outside the driving lane and means, wherein the control means turn into enhancing the driving support control when the charging information to a time of traveling of the traveling in the lane of the toll collection system is presented .
[0010]
Further, the vehicle travel support device of the present invention is a vehicle travel support device that detects a travel lane of the host vehicle and executes travel support control of the host vehicle so as not to deviate from the detected travel lane. Judgment means for determining whether the vehicle is traveling in the traveling lane of the automatic toll collection system that transmits and receives with a roadside device installed on the toll road and collects the fee, and when traveling in the traveling lane of the automatic fee collecting system As a result of communication between the automatic toll collection system, control means for controlling the steering angle as the driving support control and not to perform the driving support control when traveling outside the travel lane of the automatic toll collection system and the automatic toll collection system and a presentation means for presenting information, said control means, said accounting information to a time of traveling of the traveling in the lane of the toll collection system Controlling the steering angle as the driving support control when it is presented.
[0014]
Preferably, the control means enhances the driving support control by gradually increasing an operating threshold value of the driving support control from the road width before the driving lane of the automatic toll collection system to the road width of the driving lane. I do.
[0015]
In a preferred embodiment, the apparatus further comprises, the determination unit communication means for communicating with the electronic toll collection system determines the running time or within the traveling lane from the position information from the information or the car navigation system obtained from said communication means .
[0017]
【The invention's effect】
As described above, according to the first aspect of the present invention, when the travel lane of the host vehicle is detected and the travel support control of the host vehicle is executed so as not to deviate from the detected travel lane, installed is determined whether traveling in the traveling lane of an automatic toll collection system for collection rates by performing transmission and reception to and from the road side equipment, and electronic toll collection systems a during traveling of the traveling in the lane of the toll collection system By increasing the driving support control when charging information is presented as a result of this communication, the departure avoidance control is promptly performed when charging information is presented, such as side-view driving, where lane departure is likely to occur. Intervention can be prevented in advance.
[0018]
According to the invention of claim 2, when detecting the travel lane of the host vehicle and executing the travel support control of the host vehicle so as not to deviate from the detected travel lane, the transmitting or receiving is determined whether traveling in the traveling lane of an automatic toll collection system for toll collection rates between, as a result of communication with the electronic toll collection system a during traveling of the traveling in the lane of the toll collection system By controlling the steering angle as driving support control when billing information is presented, it promptly intervenes in departure avoidance control when presenting billing information such as side-view driving that tends to cause lane departure. Deviation can be prevented in advance.
[0021]
According to the invention of claim 3, the driving support control is enhanced by gradually increasing the operating threshold of the driving support control from the road width before the driving lane of the automatic toll collection system to the road width of the driving lane. Can do.
According to the invention of claim 4, it is easy to use existing equipment by determining whether the vehicle is traveling on the traveling lane from information obtained from communication means communicating with the toll road automatic toll collection system or map information of car navigation. Can be determined.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
[0024]
The embodiment described below is an example as means for realizing the present invention, and the present invention can be applied to a modified or modified embodiment described below without departing from the spirit of the present invention.
[ETC system]
First, the ETC system will be described with reference to FIG.
[0025]
FIG. 1 is a plan view of a toll gate including an ETC system as an embodiment according to the present invention.
[0026]
As shown in FIG. 1, the entrance 2 of the toll road 1 is provided with a general gate 3 for issuing a pass ticket and an entrance antenna 4 by an ETC system, and a general lane 5 is provided corresponding to the general gate 3. Corresponding to the entrance antenna 4, an ETC entrance lane 6 is provided.
[0027]
An entrance notification antenna 7 for transmitting an entrance notification signal is provided in front of the toll road entrance 2, and an exit notification antenna 13 for transmitting an exit notification signal is provided in front of the toll road exit 8.
[0028]
Also, at the exit 8 of the toll road 1, a conventional general gate 9 that collects cash as a toll and an exit antenna 10 by an ETC system are installed, and a general lane 11 is provided corresponding to the general gate 9, An ETC exit lane 12 is provided corresponding to the exit antenna 10.
[0029]
The number of lanes at the entrance and exit is not limited to the 6 lanes shown in the figure, and is arbitrarily determined depending on the scale of the toll booth.
[0030]
The ETC system communicates vehicle information between an in-vehicle device mounted on the vehicle and the entrance antenna 4 when the vehicle passes through the entrance 2 of the toll road 1, and the vehicle also exits the exit 8 of the toll road 1. When you pass through the ETC exit lane 12, the toll for the vehicle is calculated and collected using a credit card, prepaid card, or other similar IC card that can be attached to or removed from the card reader of the in-vehicle device. As a result, non-stop, alleviation of traffic congestion, cashlessness, and reduction of human expenses will be achieved.
[Various equipment installed in ETC lane]
FIG. 2 shows an installation example of various devices in a toll gate of the ETC system as an embodiment according to the present invention.
[0031]
At the entrances 2 and 8 of the toll road 1 in FIG. 1, as shown in FIG. 2, only vehicles equipped with the in-vehicle device 21 can pass through the ETC entrance lane 6 and the ETC exit lane 12 at present. 21 has a function of performing wireless communication between the entrance antenna 4 (exit antenna 10) and the entrance announcement antenna 7 (exit announcement antenna 13) as a roadside antenna, and an IC card 22 having a payment settlement function can be attached and detached. Yes. Further, as a result of communication with the roadside antennas 4, 7, 10, and 13, the in-vehicle device 21 normally displays a toll display that also serves as a notification of completion of payment of tolls at the ETC exit lane 12, Notify the user whether it is operating or the like.
[0032]
The IC card 22 specifies a payer of a toll and is issued at the time of use contract. When the IC card 22 is inserted into the in-vehicle device 21, the toll is settled by wireless communication with a roadside antenna. Further, in a lane where a roadside antenna is not provided, a toll person can settle a fee directly by processing the IC card 22 at a toll booth.
[0033]
The entrance antenna 4 (exit antenna 10) is installed in the ETC entrance lane 6 and the ETC exit lane 12, and transmits information such as a toll to the in-vehicle device 21 by wireless communication.
[0034]
The entrance notification antenna 7 (exit notification antenna 13) is installed upstream of the entrance antenna 4 (exit antenna 10) in the ETC entrance lane 6 and the ETC exit lane 12, and whether or not the IC card 22 is normally inserted by wireless communication. In addition, the driver is notified through the human machine interface (HMI) function of the in-vehicle device 21 whether or not the ETC entrance lane 6 and the ETC exit lane 12 can be used.
[0035]
The vehicle detectors 23 are installed on both sides of the ETC entrance lane 6 and the ETC exit lane 12 in the vicinity of the upstream and downstream of the entrance antenna 4 (exit antenna 10), and detect the passage of the vehicle.
[0036]
The roadside indicator 24 is installed in front of the entrance antenna 4 (exit antenna 10), and displays a message such as whether or not the vehicle can enter the entrance vehicle appropriately.
[0037]
The toll gate 25 opens the gate when the toll collection is normally performed by wireless communication, allows the vehicle to pass, and closes the gate when the toll collection cannot be performed for some reason. Is prohibited.
[Driving support system]
Next, a driving support system according to an embodiment of the present invention will be described.
[0038]
In the vehicle according to the present embodiment, as the driving support system, the traveling lane of the own vehicle is detected from the information of the CCD camera and infrared camera mounted on the own vehicle or the information of the roadside antenna and lane marker provided in the infrastructure. A lane departure avoidance system that executes lane departure avoidance control (warning, automatic steering, automatic braking, etc.) so as not to deviate from the detected travel lane is mounted. In addition, the system is configured such that the driver can arbitrarily select the operation / non-operation of the system by an operation switch or the like.
[0039]
FIG. 3 is a control block diagram of the driving support system according to the present embodiment.
[0040]
As shown in FIG. 3, the support control controller 31 that controls the driving support system in an integrated manner receives as input information the toll collection end information from the in-vehicle device 21 of the ETC system and the map information of the car navigation system 41 of the toll road 1. Lane shape information (gate position, etc.) of the entrances 2 and 8, current position information of the own vehicle from the GPS antenna 42, vehicle speed detection information of the own vehicle from the vehicle speed sensor 32, operation information from the operation switch 34, and travel from the lateral position detection device 71 The lateral position detection information of the host vehicle with respect to the lane is input, and image information is output to the display 35, audio information is output to the speaker 36, and steering control information is output to the steering controller 75 as output information.
[0041]
The support control controller 31 that controls the driving support system receives each of the input information, executes a calculation process necessary for the driving support control, and outputs the output information as a calculation result to a control target.
[0042]
The steering controller 75 applies a desired steering force by driving the steering actuator 74 by the control torque from the support control controller 31.
[0043]
The in-vehicle device 21 performs toll collection processing between the in-vehicle antenna 26 mounted on the in-vehicle device 21 and the ETC system computer 27 via the roadside antennas 4, 7, 10, 13.
[Outline of driving support control]
Next, an outline of the travel support control will be described.
<Lane departure avoidance control>
Lane departure avoidance control as driving support control is an automatic steering system that alerts the control content when the vehicle departs from the driving lane, because the degree of emergency of the departure avoidance operation by the driver increases according to the degree of departure. Or it changes in steps to automatic braking.
[0044]
When the lane departure avoidance system is installed, in addition to the vehicle speed sensor 32, a white line detection CCD camera 71 (lateral position detection device 71), a steering angle sensor 72, a yaw rate sensor 73, and a steering actuator 74 shown in FIG. A control block is provided to determine the amount of lane departure of the host vehicle. That is,
As shown in FIG. 4, based on the image captured by the white line detection CCD camera 71, the lateral deviation of the host vehicle with respect to the white line is detected, the lateral speed of the host vehicle is calculated from the vehicle speed and the captured image, and the host vehicle is calculated from the lateral deviation. Estimate the yaw angle. Then, a deviation prediction time TLD until the white line is reached is calculated from the lateral deviation and the lateral speed. Further, the degree of urgency until the alarm is issued is determined depending on whether the time from the predicted departure time TLD and the lateral speed to the lane departure is less than or equal to the first time T1 or the second time T2, and the rudder angle sensor 72 From the rudder angle detected by the driver, the intention of the lane departure by the driver is determined, and it is determined from the lateral deviation, the yaw angle, and the yaw rate detected by the yaw rate sensor 41 whether the driver is performing an lane departure avoidance operation.
[0045]
Based on the determination result, when the estimated departure time is shorter than the first time T1, intermittent steering torque is applied in the opposite direction to the lane edge L where the host vehicle is approaching, and in synchronization therewith. Output intermittent alarm sound (imitation sound). Also, taking into account the driver's reaction delay such as snoozing, when the departure prediction time TLD is shorter than the second time T2, which is shorter than the first time T1, the direction is opposite to the lane edge L where the host vehicle is approaching. Add continuous steering torque.
[0046]
The alarm displays the character information 35a, the symbol information 35b, and the image information 35c as shown in FIG. 5 on the display 35, and informs the driver that the vehicle α has deviated from the driving lane by a voice message from the speaker 36 or the like. It is a control to alarm.
[0047]
In the automatic steering or automatic braking, while the character information 35a as shown in FIG. 6 is displayed on the display 35, the driver is warned by the voice message of the speaker 36 that the own vehicle α is deviating from the driving lane, This is a control with a high degree of urgency in which the steering is automatically steered to avoid further lane departure.
[Contents of driving support control]
Next, the control contents when the ETC exit lane 12 passes when the collision avoidance control is executed as the travel support control will be described.
[0048]
As described above, when a vehicle equipped with the lane departure avoidance system travels on the ETC exit lane 12, it is determined that the lane departure has occurred because the lane 8 is narrower than the general road width, and the lane departure is sensitive. Intervening in the avoidance control, the automatic steering is activated to cause the driver to feel uncomfortable or to prevent smooth running.
[0049]
For this reason, in this embodiment, in order to restrict or prohibit the lane departure avoidance control when traveling in the ETC exit lane 12 compared to when traveling outside the ETC exit lane, i) when traveling in the ETC exit lane 12 The control intervention timing of the lane departure avoidance control is delayed compared to when traveling outside.
[0050]
On the other hand, when a vehicle equipped with the above lane departure avoidance system travels in the ETC exit lane 12, the lane 8 is narrower than the width of the general road, so that a lane departure is likely to occur, and the vehicle avoids the departure avoidance control immediately. It is also necessary to prevent deviations.
[0051]
For this reason, in this embodiment, in order to enhance the lane departure avoidance control when traveling in the ETC exit lane 12 compared to when traveling outside the ETC exit lane, ii) the control intervention timing of the lane departure avoidance control is advanced. Iii) In particular, the control of ii) is performed when the charging information is presented on the display of the in-vehicle device, iv) The steering steering angle is controlled as lane departure avoidance control, v) In particular, the control of iv) is performed on the display of the in-vehicle device This is done when billing information is presented.
[0052]
Specifically, the control is executed according to the flowchart shown in FIG. In the following description, the control particularly when passing through the ETC exit lane 12 is described, but the same control can be executed even in the case of the ETC entrance lane 6.
<Control of First Embodiment>
The control of the first embodiment corresponds to the contents of i) above, and controls the lane departure avoidance control in order to restrict or prohibit the driving support control when the host vehicle is traveling in the ETC exit lane 12. The content delays the intervention timing. That is,
As shown in FIG. 7, if the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1), the control intervention timing is corrected in the direction of delaying in step S3, and then the normal vehicle is used in step S7. Although the lane departure avoidance control is executed, the parameters set in step S3 are used.
[0053]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control intervention timing is set to a normal parameter in step S5, and then the normal lane change assist control is performed in step S7. Execute.
[0054]
In the above control, whether or not the host vehicle is traveling in the ETC lane and whether or not a non-ETC vehicle preceding the host vehicle has entered the ETC exit lane 12 is determined by information received from the roadside antenna or car navigation. What is necessary is just to calculate from the lane shape information acquired from the map information of the system 41 and the current position information of the host vehicle acquired from the GPS signal.
[0055]
The lane width and the center of the lane in the ETC lane may be calculated based on the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal.
<Delay of control intervention timing>
Correction for delaying the control intervention timing of the step S3, for example, in the case where the warning timing and automatic steering timing is set as the time when the inequality of the following formula 1 is satisfied, the parameter Y _w in Y _wd, the Y _c Change to Y _cd . However, Y _wd <Y _w , Y _cd <Y _c , and as a result, the threshold value on the right side of Equation 1 becomes small, so that the control intervention timing is delayed.
[0056]
(W _R −W _V ) / 2− | y | ≦ Y (1)
In the above formula 1, W _R : lane width, W _V ): vehicle width, y: own vehicle lateral position from the center of the lane, Y: operation threshold, however, the alarm timing is Y = Y _w , and the automatic steering timing is Y = Y _c (Y _w > Y _c )
And define each parameter.
[0057]
According to the control of the first embodiment, when the host vehicle travels on the ETC exit lane 12, it is determined that a lane departure has occurred because the lane 8 is narrower than the general road width, and the lane departure avoidance control is performed sensitively. It is possible to eliminate the inconvenience that the driver feels uncomfortable due to the operation of the automatic steering or the like and hinders smooth running.
[0058]
As another embodiment for restricting or prohibiting the above lane departure avoidance control, the lane departure avoidance control is prohibited when traveling in the ETC exit lane 12, or the automatic steering as the lane departure avoidance control is prohibited (up to an alarm). The control volume of the lane departure avoidance control, for example, the control of the lane departure avoidance control, the alarm volume at the time of lane departure occurrence is reduced, the timing for alerting by voice message is delayed from the normal time, etc. The target control torque in the lane departure avoidance control may be reduced.
[0059]
Moreover, what is necessary is just to perform at least 1 of these other control content.
<Control of Second Embodiment>
The control of the second embodiment corresponds to the content of the above ii), and the control intervention of the lane departure avoidance control is performed in order to enhance the driving support control when the host vehicle is traveling in the ETC exit lane 12. It is a content that accelerates the timing. That is,
If the host vehicle is traveling on the ETC exit lane 12 in step S1 in FIG. 7 (YES in step S1), the control intervention timing is corrected in an earlier direction in step S3, and then normal lane departure avoidance is performed in step S7. Although the control is executed, the parameters set in step S3 are used.
[0060]
On the other hand, if the vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), the control intervention timing is set to a normal parameter in step S5, and then the normal lane change assist control is performed in step S7. Execute.
[0061]
In the above control, whether or not the host vehicle is traveling in the ETC lane and whether or not a non-ETC vehicle preceding the host vehicle has entered the ETC exit lane 12 is determined by information received from the roadside antenna or car navigation. What is necessary is just to calculate from the lane shape information acquired from the map information of the system 41 and the current position information of the host vehicle acquired from the GPS signal.
[0062]
The lane width and the center of the lane in the ETC lane may be calculated based on the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal.
<Early control intervention timing>
For example, when the alarm timing and the automatic steering timing are set to the time when the inequality of the above equation 1 is established, the correction for accelerating the control intervention timing in step S3 is performed by setting the parameter Y _w to Y _wd and Y _{c May} be changed to Y _cd . However, Y _wd > Y _w , Y _cd > Y _c , and as a result, the threshold value on the right side of Equation 1 increases, so that the control intervention timing is advanced.
[0063]
According to the control of the second embodiment, when the host vehicle travels on the ETC exit lane 12, the lane 8 is narrower than the general road width, so that a lane departure is likely to occur, and the vehicle avoids the departure avoidance control immediately. Deviation can be prevented beforehand.
[0064]
As other embodiments for enhancing the above lane departure avoidance control, the alarm volume at the time of lane departure occurrence is increased, the timing for alerting with a voice message is made earlier than usual, or the lane A control gain of departure avoidance control (for example, target control torque in lane departure avoidance control) may be increased.
[0065]
Moreover, what is necessary is just to perform at least 1 of these other control content.
<Control of Third Embodiment>
The control of the third embodiment corresponds to the contents of iii) above, and is performed when the charge support control of the second embodiment is enhanced (earlier control intervention timing) when charging information is presented on the display of the in-vehicle device. It is. That is,
As shown in FIG. 8, the same processes as those in the first embodiment are denoted by the same step numbers, and the host vehicle is traveling on the ETC exit lane 12 in step S1 (YES in step S1). If billing information is presented in S2 (YES in step S2), normal collision avoidance control is executed in step S7 after correcting the control intervention timing in a direction to be advanced in step S3. The parameters set in S3.
[0066]
On the other hand, if the host vehicle is not traveling on the ETC exit lane 12 in step S1 (NO in step S1), or if charging information is not presented in step S2 (NO in step S2), the control intervention timing is set in step S5. After setting the normal parameters, normal collision avoidance control is executed in step S7.
[0067]
In the above control, whether or not the host vehicle is traveling in the ETC lane and whether or not a non-ETC vehicle preceding the host vehicle has entered the ETC exit lane 12 is determined by information received from the roadside antenna or car navigation. What is necessary is just to calculate from the lane shape information acquired from the map information of the system 41 and the current position information of the host vehicle acquired from the GPS signal.
[0068]
The advancement of the control intervention timing in step S3 is performed by the same method as in the second embodiment.
[0069]
According to the control of the third embodiment, it is possible to prevent the departure by promptly intervening in the departure avoidance control at the time of charging information presentation that may be a side-view driving in which a lane departure is likely to occur.
<Control of Fourth Embodiment>
In the control of the fourth embodiment, the control intervention timing (method 1) and control gain (method 2) of the lane departure avoidance control are gradually changed from the road width in front of the ETC exit travel lane 8 to the road width of the ETC exit lane 12. Content.
(Method 1)
In step S3 of FIG. 7, the alarm timing and the automatic steering timing are set to the time point when the inequality of the following equation 2 is established, and the control is executed.
[0070]
(W−W _V ) / 2− | y | ≦ Y (2)
In the above formula 1, W _V ): vehicle width, y: own vehicle lateral position from the center of the lane, Y: operation threshold, however, the alarm timing is Y = Y _w and the automatic steering timing is Y = Y _c (Y _w > Y _c )
And define each parameter.
[0071]
W = W _R + (W _E −W _R ) · l / L
Here, L: distance from the normal road width to the ETC exit lane 12, l: travel distance from the normal road width, W _R : normal road width, and W _E : ETC exit lane width.
[0072]
Specifically, as shown in FIGS. 9 and 10, when the host vehicle α enters the ETC exit lane 12 from a general road, the operation threshold Y is set to Y1 (for example, at a position a predetermined distance 11 from the ETC exit lane 12). , 50 cm), and gradually reducing the lane departure avoidance control (linearly or curvedly) by gradually reducing the operation threshold Y to Y2 (for example, 25 cm) from the position to the ETC exit lane 12 I can do it.
[0073]
As shown in FIGS. 9 and 11, when the host vehicle α enters the ETC exit lane 12 from the general road, the operation threshold Y is set to Y1 (for example, 50 cm) at a position a predetermined distance 11 from the ETC exit lane 12. By gradually increasing the operation threshold Y to Y3 (for example, 100 cm) from the position to the ETC exit lane 12, the lane departure avoidance control is gradually (linearly or curvedly) enhanced. be able to.
(Method 2)
In step S3 in FIG. 7, the control gain G to perform the set to control as shown in Equation 3 according to the travel distance l from the place of conventional road width W _R.
[0074]
_{G = G 0 + (G E} -G 0) · l / L ... (3)
Where L: distance from normal road width to ETC exit lane 12, l: travel distance from normal road width, G ₀ : control gain at normal road width, G _E : control gain at ETC exit lane And
<Control of Fifth Embodiment>
The control of the fifth embodiment corresponds to the content of the above iv), and controls the steering angle as lane departure avoidance control so that the host vehicle travels along the center of the lane when traveling in the ETC exit lane 12. is there. That is,
As shown in FIG. 12, after the normal mode / parameter is set in step S11, if the host vehicle is traveling on the ETC exit lane 12 in step S13 (YES in step S13), in the ETC exit lane 12 in step S15. The steering angle is controlled so that the vehicle travels along the center of the lane.
[0075]
The steering steering angle control in step S15 applies steering assist force to the steering in a direction in which the lateral deviation from the center of the lane does not increase, and detects the lateral deviation of the host vehicle from the center of the lane. A method of increasing the output torque of the steering actuator 74 according to the lateral deviation or a lateral deviation of the host vehicle from the center of the lane is detected, and the steering angle is feedback-controlled so that the detected lateral deviation is zero. A method can be considered.
[0076]
In the above control, whether or not the host vehicle is traveling in the ETC lane and whether or not a non-ETC vehicle preceding the host vehicle has entered the ETC exit lane 12 is determined by information received from the roadside antenna or car navigation. What is necessary is just to calculate from the lane shape information acquired from the map information of the system 41 and the current position information of the host vehicle acquired from the GPS signal.
[0077]
The lane width and the center of the lane in the ETC lane may be calculated based on the lane shape information acquired from the map information of the car navigation system 41 and the current vehicle position information acquired from the GPS signal.
[0078]
According to the control of the fifth embodiment, lane departure in the ETC exit lane 12 can be prevented in advance.
<Control of Sixth Embodiment>
The control of the sixth embodiment corresponds to the content of v) above, and is the content that is performed when the steering steering angle control of the fifth embodiment is presented on the display of the in-vehicle device on the billing information. That is,
As shown in FIG. 13, the same processing as that in the fourth embodiment is indicated by the same step number, and after the normal mode / parameter is set in step S11, the host vehicle moves to the ETC exit lane in step S13. If the vehicle is traveling 12 (YES in step S13) and the billing information is presented in step S14 (YES in step S14), the steering is performed so as to travel along the center of the lane in the ETC exit lane 12 in step S15. Control the steering angle.
[0079]
According to the control of the sixth embodiment, it is possible to prevent lane departure in the ETC exit lane 12 at the time of charging information presentation that may be a side-view driving in which lane departure is likely to occur.
[Brief description of the drawings]
FIG. 1 is a plan view of a toll gate including an ETC system as an embodiment according to the present invention.
FIG. 2 is a diagram showing an installation example of various devices in a toll gate of an ETC system as an embodiment according to the present invention.
FIG. 3 is a control block diagram of the driving support system according to the present embodiment.
FIG. 4 is a control block diagram of a lane departure avoidance system.
FIG. 5 is a diagram showing a display example of a display showing control contents of an alarm as lane departure avoidance control.
FIG. 6 is a diagram showing a display example of a display showing control contents of automatic steering as lane departure avoidance control.
FIG. 7 is a flowchart showing lane departure avoidance control according to the first embodiment.
FIG. 8 is a flowchart showing lane departure avoidance control according to a third embodiment.
FIG. 9 is a diagram illustrating a specific example of lane departure avoidance control according to the fourth embodiment.
FIG. 10 is a diagram showing a map of operation thresholds when lane departure avoidance control is restricted in the fourth embodiment.
FIG. 11 is a diagram showing a map of operation thresholds when lane departure avoidance control is enhanced in the fourth embodiment.
FIG. 12 is a flowchart showing lane departure avoidance control according to a fifth embodiment.
FIG. 13 is a flowchart showing lane departure avoidance control according to the sixth embodiment.
[Explanation of symbols]
1 Toll road 2 Entrance 4 Entrance antenna (roadside antenna)
7 Entrance notice antenna (roadside antenna)
10 Exit antenna (roadside antenna)
13 Exit notice antenna (roadside antenna)
6 ETC entrance lane 8 Exit 12 ETC exit lane 20 Onboard equipment 21 IC card 25 Tollgate α Own vehicle

Claims (4)

A vehicle travel support device that detects a travel lane of the host vehicle and executes travel support control of the host vehicle so as not to deviate from the detected travel lane,
A determination means for determining whether the vehicle is traveling in a traveling lane of an automatic toll collection system that performs transmission and reception with a roadside device installed on a toll road and collects a fee;
Control means for changing the content of the driving support control when traveling within the travel lane of the automatic toll collection system compared to when traveling outside the travel lane;
Presenting means for presenting billing information as a result of communication with the automatic fee collection system,
The vehicle driving support device according to claim 1, wherein the control means enhances the driving support control when the billing information is presented when the vehicle is traveling within a travel lane of the automatic toll collection system . A vehicle travel support device that detects a travel lane of the host vehicle and executes travel support control of the host vehicle so as not to deviate from the detected travel lane,
A determination means for determining whether the vehicle is traveling in a traveling lane of an automatic toll collection system that performs transmission and reception with a roadside device installed on a toll road and collects a fee;
Control means for controlling the steering angle as the driving support control when traveling in the travel lane of the automatic toll collection system, and for not performing the travel support control when traveling in a position other than the travel lane of the automatic toll collection system ; ,
Presenting means for presenting billing information as a result of communication with the automatic fee collection system,
The control means controls the steering angle as the driving support control when the charging information is presented when driving in the driving lane of the automatic toll collection system. Support device. The control means enhances the driving support control by gradually increasing an operation threshold value of the driving support control from the road width before the driving lane of the automatic toll collection system to the road width of the driving lane. The vehicle travel support apparatus according to claim 1.   The apparatus further comprises a communication unit that communicates with the automatic toll collection system, and the determination unit determines whether the vehicle is traveling in the travel lane from information obtained from the communication unit or position information from a car navigation device. The vehicle travel support device according to any one of claims 1 to 3.

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