JP7042153B2 - Lane change support device - Google Patents

Description

The present invention relates to a vehicle lane change support device.

When changing lanes of a vehicle, it is necessary to check not only the status of the driving lane but also the status of the lane change destination. In addition, changing lanes requires various operations such as steering wheel operation and accelerator operation. Furthermore, when changing lanes, it is necessary to recognize the timing at which the lane change is essential with a navigation device, a sign, or the like.

There are known lane change support devices that support lane changes that require such advanced driving skills (see, for example, Patent Documents 1 and 2).

In Patent Document 1, it is determined whether or not the starting point or the ending point of the lane change restricted section exists within a predetermined distance ahead of the traveling point of the own vehicle, and if it is determined that the starting point or the ending point exists, the starting point or the ending point is determined. A configuration for notifying information is disclosed. As a result, the driver who drives the own vehicle can recognize the existence of the starting point or the ending point of the lane change restricted section in advance, and supports the driving so that the driver can drive appropriately in consideration of the lane change.

According to Patent Document 2, when it is determined that the vehicle changes lanes at the guidance branch point and it is determined that the vehicle is traveling on a road having a lane change prohibited section, the own vehicle is within the lane change prohibited section. A configuration is disclosed in which control is performed so as not to change lanes, and control is performed so as to change lanes in a section up to a guidance branch point other than a section where lane change is prohibited. As a result, the lane is changed by automatic driving outside the section where the lane change is prohibited up to the guidance branch point.

Japanese Unexamined Patent Publication No. 2013-109803 Japanese Patent Application Laid-Open No. 2015-184722

However, the lane change support devices of Patent Documents 1 and 2 do not provide any support for situations where it is difficult to change lanes.

Therefore, an object of the present invention is to provide a lane change support device for a situation in which it is difficult to change lanes.

In order to achieve the above object, the lane change support device of the present invention enters one road at a branch point on the guidance path while the own vehicle is traveling along the guidance path provided by the navigation device. Therefore, the lane change determination unit that determines the necessity of lane change, the distance detection unit that detects the distance from the own vehicle to the lane change prohibited section in front of the branch point, and the lane of the lane change destination are being driven. The lane change possibility determination unit is provided with an inter-vehicle distance detection unit that detects the distance between other vehicles and a lane change possibility determination unit that determines whether or not the lane can be changed based on the detection information of the inter-vehicle distance detection unit. Is characterized in that when it is determined that the lane cannot be changed and the distance detection unit detects a predetermined distance, the lane cannot be changed as it is. do.

The lane change support device of the present invention configured as described above can provide a lane change support device corresponding to a situation where it is difficult to change lanes.

It is a block diagram which shows the structure of the lane change support device of Example 1. FIG. It is a flowchart explaining the lane change support process of Example 1. FIG. It is explanatory drawing explaining the operation of the lane change support device of Example 1. FIG. It is explanatory drawing explaining the operation of the lane change support device of Example 1. FIG. It is explanatory drawing explaining the operation of the lane change support device of Example 1. FIG. It is explanatory drawing explaining the operation of the lane change support device of Example 1. FIG. It is a block diagram which shows the structure of the lane change support device of Example 2. FIG. It is a block diagram which shows the structure of the direction indicator of Example 2. FIG. It is a flowchart explaining the lane change support process of Example 2. FIG.

Hereinafter, embodiments for realizing the lane change support device according to the present invention will be described with reference to Examples 1 and 2 shown in the drawings.

The lane change support device according to the first embodiment is mounted on an automobile provided with a navigation device for navigating a guidance route to a destination.

[Configuration of lane change support device]
FIG. 1 is a configuration diagram showing a configuration of a lane change support device according to the first embodiment. Hereinafter, the configuration of the lane change support device of the first embodiment will be described with reference to FIG.

The lane change support device 1 includes a lane change support ECU (Electronic Control Unit) 3 and is connected to the navigation device 2.

(Configuration of navigation device)
The navigation device 2 is provided on the instrument panel surface in the vehicle interior. The navigation device 2 includes a navigation control unit 11, a current location detection processing unit 12, a data recording unit 13, an operation unit 14, a display unit 15, a speaker 16, a communication device 17, and a touch panel 18. ing.

The navigation control unit 11 includes a CPU 21 for performing calculations, a RAM 23 used for storing route data and working memory, a ROM 22 for storing control programs, and a timer 24 for measuring time. The navigation control unit 11 controls the entire navigation device 2.

The current location detection processing unit 12 is composed of GPS 31 and the like, and detects the current position, direction, distance to a target (for example, an intersection), and the like of the own vehicle. Further, the current location detection processing unit 12 detects the distance to the lane change prohibited section.

The operation unit 14 is composed of various keys and a plurality of operation switches, and receives operation contents (input instructions and the like) from the user.

The display unit 15 as a notification means comprises a liquid crystal display or the like, and displays information such as a map to the operator. Further, the display unit 15 displays to guide the traveling along the guidance route based on the instruction from the navigation control unit 11.

The data recording unit 13 has a map information database (map information DB) 41 used for traveling guidance and route search of the navigation device 2. The map information database 41 includes information on lane change prohibited sections.

The speaker 16 as the notification means outputs voice guidance or the like for guiding the traveling along the guidance route based on the instruction from the navigation control unit 11. The communication device 17 acquires congestion information from VICS (registered trademark) and the like. The touch panel 18 is arranged in front of the display unit 15 and receives operation contents (input instructions and the like) from the user.

In the navigation device 2 configured in this way, when a desired destination is input, the navigation control unit 11 searches for the optimum route from the position of the own vehicle to the destination, and sets the searched optimum route as a guidance route. The guidance route is displayed on the display unit 15, and when the user approaches an intersection, the user is guided to a desired destination by providing voice guidance from the speaker 16.

(Construction of lane change support ECU)
The lane change support ECU 3 is connected to the navigation device 2, the vehicle-mounted camera 64, the millimeter-wave radar 65, the vehicle speed sensor 51, and the direction indicator 71.

The vehicle-mounted camera 64 and the millimeter-wave radar 65 are provided on the front grill of the vehicle, the rear garnish of the vehicle, the left door mirror of the vehicle, and the right door mirror of the vehicle. The vehicle-mounted camera 64 and the millimeter-wave radar 65 observe the surrounding conditions of the own vehicle such as a lane and another vehicle. The observation information of the vehicle-mounted camera 64 and the observation information of the millimeter-wave radar 65 are transmitted to the lane change support ECU 3.

The vehicle speed sensor 51 detects the speed of the own vehicle. The detection information of the vehicle speed sensor 51 is transmitted to the lane change support ECU 3.

The direction indicator 71 is provided on the left and right in front of the vehicle, the left and right behind the vehicle, and the left and right side mirrors. The turn signal 71 is composed of LEDs as a plurality of point light sources. The right side or the left side of the direction indicator 71 blinks according to the operation of the direction indicator operation unit 72 provided in the vehicle interior. The blinking information of the direction indicator 71 is transmitted to the lane change support ECU 3.

The lane change support ECU 3 includes a CPU 80 that performs calculations, a RAM 62 that is used as a working memory, and a ROM 63 that stores a control program and the like. The lane change support ECU 3 controls the entire lane change support device 1.

The CPU 80 includes a lane change determination unit 81, an inter-vehicle distance detection unit 82, a lane change possibility determination unit 83, a relative speed detection unit 84, a distance detection unit 85, an acceleration / deceleration instruction unit 86, and a turn signal lighting instruction. A unit 87 and a guidance route setting instruction unit 88 are provided.

The lane change determination unit 81 is on the guidance route while the own vehicle is traveling along the guidance route provided by the navigation device 2 based on the information of the current location detection processing unit 12 and the information of the data recording unit 13. At the fork, determine the need to change lanes to enter one of the roads.

The inter-vehicle distance detection unit 82 detects the distance between other vehicles traveling in the lane to which the lane is changed, based on the observation information of the vehicle-mounted camera 64 and the observation information of the millimeter-wave radar 65. The inter-vehicle distance between other vehicles may be in front of or behind the own vehicle.

The lane change possibility determination unit 83 determines whether or not the lane change is possible based on the detection information of the inter-vehicle distance detection unit 82 and the information of the lane change prohibition section recorded in the data recording unit 13. The lane change possibility determination unit 83 gives an instruction to output the lane change possibility determination content to the navigation control unit 11 of the navigation device 2.

The relative speed detection unit 84 detects the relative speed of the own vehicle with respect to another vehicle traveling in the lane to which the lane is changed, based on the observation information of the millimeter wave radar 65 and the detection information of the vehicle speed sensor 51.

The distance detection unit 85 is based on the information of the lane change prohibited section of the map information database 41 of the data recording unit 13 and the information of the current position of the own vehicle of the current location detection processing unit 12 via the navigation device 2. , Detects the distance from the own vehicle to the lane change prohibited section in front of the fork.

The acceleration / deceleration instruction unit 86 gives an instruction to the driver via the display unit 15 of the navigation device 2 and the speaker 16 so that the relative speed becomes a predetermined speed based on the detection information by the relative speed detection unit 84. ..

The direction indicator lighting instruction unit 87 gives an instruction to the display unit 15 and the speaker 16 of the navigation device 2 to output a content prompting the lighting of the direction indicator 71 on the lane change destination side.

The guidance route setting instruction unit 88 gives an instruction to the navigation device 2 to set a new guidance route. Further, the new guidance route is displayed on the display unit 15 of the navigation device 2, and the speaker 16 outputs the voice to notify the driver.

[Lane change support processing]
FIG. 2 is a flowchart illustrating the lane change support process of the first embodiment. Hereinafter, the lane change support process of the first embodiment will be described with reference to FIG.

When the guidance is started by the navigation device 2, the lane change support process is started. The lane change determination unit 81 determines whether or not the lane change is necessary (step S11). Here, when it is necessary to change lanes, you are driving in one of the multiple lanes, you need to turn left or right at the next branch point, and you are driving in the lane that requires a lane change. This is the case when you are doing it.

If it is determined that the lane change is necessary (YES in step S11), the process proceeds to step S12. On the other hand, if it is determined that the lane change is not necessary (NO in step S11), the process returns to step S11.

Next, the lane change possibility determination unit 83 determines whether or not the own vehicle is in the lane change prohibited section (step S12). If it is determined that the own vehicle is in the lane change prohibited section (YES in step S12), the process returns to step S12. On the other hand, if it is determined that the own vehicle is not in the lane change prohibited section (NO in step S12), the process proceeds to step S13.

Next, the inter-vehicle distance detection unit 82 detects the inter-vehicle distance between other vehicles traveling in the lane to which the lane is changed (step S13).

Next, the lane change possibility determination unit 83 determines whether or not the lane change is possible based on the detection information detected by the inter-vehicle distance detection unit 82 (step S14). When it is determined that the lane can be changed (YES in step S14), the lane change possibility determination unit 83 indicates that the lane can be changed by the display unit 15 of the navigation device 2 or by the speaker 16. An instruction to output a voice is given, a notification is given to the driver of the own vehicle (step S25), and the process returns to step S11.

On the other hand, when it is determined that the lane change is impossible (NO in step S14), the distance detection unit 85 determines whether or not the lane change prohibited section in front of the branch point is within a predetermined distance (step S15). ). Here, being within a predetermined distance to the lane change prohibited section in front of the branch point means, for example, a predetermined distance (for example, 1 km) to the lane change prohibited section without being able to change lanes due to traffic congestion or the like. It means the case of cutting.

If it is determined that the lane change prohibited section in front of the branch point is within a predetermined distance (YES in step S15), the process proceeds to step S16. On the other hand, if it is determined that the lane change prohibited section in front of the branch point is not within a predetermined distance (NO in step S15), the process returns to step S13.

Next, the lane change possibility determination unit 83 gives an instruction to display on the display unit 15 of the navigation device 2 and an instruction to output voice on the speaker 16 to indicate that the lane change is not possible as it is, and the own vehicle. Notify the driver of (step S16).

Next, the relative speed detection unit 84 detects the relative speed with respect to another vehicle traveling in the lane change destination of the own vehicle (step S17).

Next, the acceleration / deceleration instruction unit 86 makes the absolute value of the relative speed with respect to the other vehicle traveling in the lane change destination of the own vehicle smaller than a predetermined relative speed (for example, relative speed ± 3 [km / h]). Instruct the driver via the display unit 15 of the navigation device 2 and the speaker 16 (step S18). Here, as the content of this instruction, for example, "Please reduce the speed to 40 km / h" is displayed on the display unit 15, and the voice is output from the speaker 16.

Next, the direction indicator lighting instruction unit 87 gives an instruction to output to the display unit 15 and the speaker 16 of the navigation device 2 so as to prompt the lighting of the direction indicator 71 on the lane change destination side (step S19). Here, the direction indicator lighting instruction unit 87 lights the direction indicator 71 at the timing when the relative speed between the own vehicle and another vehicle to which the lane is changed becomes, for example, ± 3 [km / h]. You may give instructions to encourage.

Next, the inter-vehicle distance detection unit 82 detects the inter-vehicle distance between other vehicles traveling in the lane change destination (step S20).

Next, the lane change possibility determination unit 83 determines whether or not the lane change is possible based on the detection information detected by the inter-vehicle distance detection unit 82 (step S21). When it is determined that the lane can be changed (YES in step S21), the lane change possibility determination unit 83 displays that the lane change is possible on the display unit 15 of the navigation device 2, and the speaker 16 outputs a voice. By outputting the signal, the driver of the own vehicle is notified (step S25), and the process returns to step S11.

On the other hand, if it is determined that the lane change is impossible (NO in step S21), the CPU 80 proceeds to step S22.

Next, the lane change possibility determination unit 83 determines whether or not the own vehicle is in the lane change prohibited section (step S22). If it is determined that the own vehicle is in the lane change prohibited section (YES in step S22), the process proceeds to step S23. On the other hand, if it is determined that the own vehicle is not in the lane change prohibited section (NO in step S22), the process returns to step S20.

Next, the CPU 80 displays the direction indicator 71 on the display unit 15 of the navigation device 2 so as to prompt the turn-off, and outputs the voice on the speaker 16 to notify the driver of the own vehicle (step). S23).

Next, the guidance route setting instruction unit 88 causes the navigation device 2 to set a new guidance route, displays the new guidance route on the display unit 15 of the navigation device 2, and outputs voice by the speaker 16. The driver of the own vehicle is notified (step S24), and the process returns to step S11.

After that, the lane change support process repeats the routine from step S11 to step S25.

[Action of lane change support device]
3 to 7 are explanatory views illustrating the operation of the lane change support device of the first embodiment. Hereinafter, the operation of the lane change support device of the first embodiment will be described with reference to FIGS. 3 to 7.

As shown in FIG. 3, it is assumed that the own vehicle M is traveling in the right lane and is given a guidance route R1 to turn left at the next intersection by the navigation device 2. If the own vehicle M cannot change lanes to the left lane and enters the predetermined section Z2 up to the lane change prohibited section Z1, the navigation device 2 indicates that the lane cannot be changed as it is. By displaying the display on the display unit 15 and outputting the voice on the speaker 16, the driver of the own vehicle M is notified (step S16 in FIG. 2).

Next, the display unit 15 of the navigation device 2 says, for example, "Please reduce the speed to 40 km / h" so that the own vehicle M becomes the speed S1 of the other vehicle N traveling in the lane to which the lane is changed. The display is displayed, and the speaker 16 of the navigation device 2 outputs "Please reduce the speed to 40 km / h" (step S18 in FIG. 2).

As shown in FIG. 4, when the speed of the own vehicle M becomes substantially the same as the speed S1 of the other vehicle N, the display unit 15 of the navigation device 2 says, for example, "Please put out the left turn signal". The display is displayed, and the speaker 16 of the navigation device 2 outputs "Please put out the left turn signal" (step S19 in FIG. 2).

As shown in FIG. 5, when the own vehicle M travels at substantially the same speed as the other vehicle N with the left direction indicator 71 lit, and the inter-vehicle distance D1 capable of changing lanes is secured, navigation. For example, the display unit 15 of the device 2 displays "Please change lane to the left lane", and the speaker 16 of the navigation device 2 outputs "Please change lane to the left lane" (step in FIG. 2). S25).

As shown in FIG. 6, the own vehicle M has entered the lane change prohibited section Z1 in a state where the vehicle distance D2 is narrower than the vehicle distance D1 where the lane can be changed without being able to change lanes to the left lane. In this case, the display unit 15 of the navigation device 2 displays, for example, "Please turn off the turn signal", and the speaker 16 of the navigation device 2 outputs a voice saying "Please turn off the turn signal" (step S23 in FIG. 2). ). After that, a new guidance route R2 is displayed on the display unit 15 of the navigation device 2.

In the first embodiment, while the own vehicle M is traveling along the guidance route R1 provided from the navigation device 2, it is determined at the branch point on the guidance route R1 that it is necessary to change lanes in order to enter one of the roads. The lane change determination unit 81, the distance detection unit 85 that detects the distance from the own vehicle M to the lane change prohibition section Z1 in front of the branch point, and the distance between other vehicles traveling in the lane of the lane change destination. The inter-vehicle distance detecting unit 82 for detecting and the lane change-possible determination unit 83 for determining whether or not the lane can be changed based on the detection information of the inter-vehicle distance detecting unit 82 are provided, and the lane change-possible determination unit 83 changes lanes. When it is determined that the lane cannot be changed and the distance detection unit 85 detects a predetermined distance, it outputs that the lane cannot be changed as it is (FIG. 2).

As a result, the driver of the own vehicle M can know the information that the lane change is necessary and the lane change cannot be performed as it is. Therefore, it is possible to prevent the driver from rushing to change lanes even though it is difficult to change lanes due to the necessity of changing lanes.

In the first embodiment, when the lane change possibility determination unit 83 outputs that the lane cannot be changed as it is, the relative speed of the own vehicle M with respect to the other vehicle N traveling in the lane of the lane change destination. The acceleration / deceleration instruction unit 86 for instructing acceleration / deceleration of the own vehicle M based on the above, and the direction indicator lighting instruction unit 87 for instructing the lighting of the direction indicator 71 on the lane change destination side of the own vehicle M are provided (FIG. 2).

As a result, when it is necessary to change lanes and it is not possible to change lanes as it is, the driver of the own vehicle M will drive the speed of the own vehicle M in the lane to which the lane is changed. The speed indicator 71 can be turned on at substantially the same speed as the vehicle N and in the direction of changing lanes. Therefore, when it is necessary to change lanes and it is not possible to change lanes as it is, it is possible to inform the driver of another vehicle traveling in the lane to which the lane is changed to change lanes. .. As a result, it is possible to obtain the cooperation of drivers of other vehicles traveling in the lane to which the lane is changed so that the own vehicle can keep a distance for changing lanes. Therefore, even if it is necessary to change lanes and it is not possible to change lanes as it is, it is possible to secure an inter-vehicle distance that enables lane changes.

In the first embodiment, it is still not possible to obtain the cooperation of the driver of another vehicle traveling in the lane to which the lane is changed, and it is not possible to secure the inter-vehicle distance capable of changing the lane. When the unit 83 determines that the lane cannot be changed and the own vehicle M enters the lane change prohibited section Z1, the navigation device 2 is instructed to set a new guidance route R2. A guidance route setting instruction unit 88 is provided (FIG. 2).

As a result, the driver of the own vehicle M cannot travel along the guidance route R1 provided by the navigation device 2 when the lane change is necessary and the lane change cannot be made. It is possible to know quickly and confirm a new guidance route R2. Therefore, it is possible to reduce the psychological burden on the driver of the own vehicle M and promote safe driving.

First, the lane change support device according to the second embodiment will be described. The same or equivalent parts as those described in Example 1 will be described using the same terms or the same reference numerals.

The lane change support device of the second embodiment is different from the lane change support device of the first embodiment in that the direction indicator is automatically turned on.

[Configuration of lane change support device]
FIG. 7 is a configuration diagram showing the configuration of the lane change support device of the second embodiment. FIG. 8 is a configuration diagram showing the configuration of the direction indicator of the second embodiment. Hereinafter, the configuration of the lane change support device of the second embodiment will be described with reference to FIGS. 7 and 8.

The lane change support ECU 103 is connected to the navigation device 2, the vehicle-mounted camera 64, the millimeter-wave radar 65, the vehicle speed sensor 51, and the direction indicator control unit 173.

The direction indicator control unit 173 is connected to the direction indicator operation unit 172 and the direction indicator 71. By operating the turn signal operation unit 172, which will be described later, the mode is switched to the lane change support mode. In the lane change support mode, the direction indicator control unit 173 controls the lighting of the direction indicator 71 according to the instruction of the direction indicator lighting indicator unit 87.

As shown in FIG. 8, the direction indicator operation unit 172 has a home position P0 in which the direction indicator 71 is turned off, a left lighting position P1 in which the left direction indicator 71 on the left side of the own vehicle M is turned on, and the own vehicle M. It has a right lighting position P2 in which the right direction indicator 71 is lit, and support mode positions P3 and P4 in which the lane change support mode is set.

The driver operates the turn signal operation unit 172 to switch to the support mode positions P3 and P4, thereby switching to the lane change support mode.

[Lane change support processing]
FIG. 9 is a flowchart illustrating the lane change support process of the second embodiment. Hereinafter, the lane change support process of the second embodiment will be described with reference to FIG. The processing corresponding to the first embodiment will be omitted as appropriate.

Steps S11 and S12 of the first embodiment correspond to the steps S111 and S112 of the second embodiment. Steps S13 to S18 of the first embodiment correspond to steps S115 to S120 of the second embodiment. Steps S20 to S23 of the first embodiment correspond to steps S122 to S125 of the second embodiment. Step S24 of the first embodiment corresponds to step S127 of the second embodiment.

In step S113, the CPU 80 guides the driver to switch to the lane change support mode via the display unit 15 of the navigation device 2 and the speaker 16.

In step S114, the CPU 80 determines whether or not the lane change support mode is set. If it is determined that the lane change support mode is set (YES in step S114), the process proceeds to step S115. On the other hand, if it is determined that the mode is not the lane change support mode, the process proceeds to step S13 of the first embodiment.

In step S116, the lane change possibility determination unit 83 determines whether or not the lane change is possible based on the detection information detected by the inter-vehicle distance detection unit 82 (step S116).

When it is determined that the lane can be changed (YES in step S116), the lane change possibility determination unit 83 displays that the lane change is possible on the display unit 15 of the navigation device 2, and the speaker 16 outputs a voice. By outputting, the driver of the own vehicle is notified. Further, the direction indicator lighting instruction unit 87 gives an instruction to the direction indicator control unit 173 to light the direction indicator 71 on the lane change destination side to the direction indicator control unit 173. The direction indicator control unit 173 given this instruction turns on the direction indicator 71 (step S128), and returns to step S111.

In step S121, the direction indicator lighting instruction unit 87 gives an instruction to the direction indicator control unit 173 to light the direction indicator 71 on the lane change destination side to the direction indicator control unit 173. The turn signal control unit 173 given this instruction turns on the turn signal 71 (step S121).

In step S126, the CPU 80 guides the driver to cancel the lane change support mode via the display unit 15 of the navigation device 2 and the speaker 16.

The lane change support process repeats the routine from step S111 to step S128.

[Action of lane change support device]
In the second embodiment, when the lane change possibility determination unit 83 outputs that the lane cannot be changed as it is, the relative speed of the own vehicle M with respect to the other vehicle N traveling in the lane of the lane change destination is set. It is provided with at least one of an acceleration / deceleration control unit that controls acceleration / deceleration of the own vehicle M based on the above, and a direction indicator control unit 173 that controls the direction indicator 71 on the lane change destination side of the own vehicle M to light. (Fig. 9).

As a result, when it is necessary to change lanes and it is not possible to change lanes as it is, the driver of the own vehicle M will drive the speed of the own vehicle M in the lane to which the lane is changed. The speed of the vehicle N can be set to substantially the same as that of the vehicle N, and the direction indicator 71 can be turned on in the direction of changing lanes. Therefore, when it is necessary to change lanes and it is not possible to change lanes as it is, the driver of another vehicle traveling in the lane to which the lane is changed is willing to change lanes with a small number of operations. I can tell. As a result, when it is necessary to change lanes and it is not possible to change lanes as it is, with the cooperation of drivers of other vehicles traveling in the lane to which the lane is changed, with a small number of operations, the lane is changed. It is possible to secure the inter-vehicle distance that can be changed.

The lane change support device of the present invention has been described above based on the first and second embodiments. However, the specific configuration and operation are not limited to these examples, and the combination of the examples, the design change, and the design may be changed as long as the gist of the invention according to each claim is not deviated from the claims. Additions etc. are allowed.

In the first and second embodiments, the CPU 80 has shown an example in which the acceleration / deceleration instruction unit 86 for issuing an instruction for urging the acceleration / deceleration of the own vehicle is provided. However, the CPU 80 may have an acceleration / deceleration control unit that controls acceleration / deceleration of the own vehicle based on the detection information of the relative speed detection unit 84. Further, the CPU 80 is at least one of an acceleration / deceleration instruction unit 86 that issues an instruction to urge acceleration / deceleration of the own vehicle and an acceleration / deceleration control unit that controls acceleration / deceleration of the own vehicle based on the detection information of the relative speed detection unit 84. May have.

In the first and second embodiments, the CPU 80 of the lane change support ECU 3 has shown an example of executing the lane change support process, but the present invention is not limited to this embodiment.

In the second embodiment, an example of switching to the lane change support mode by operating the turn signal operation unit 172 is shown. However, the switching to the lane change support mode is not limited to this mode, and may be executed by operating the operation unit 14.

In Example 1 and Example 2, an example of applying the lane change support device of the present invention to a two-lane road is shown. However, the lane change support device of the present invention can be applied to a road having three or more lanes.

1 Lane change support device 2 Navigation device 15 Display unit (example of notification means)
16 Speaker (an example of notification means)
71 Direction indicator 72 Direction indicator lighting instruction unit 81 Lane change judgment unit 82 Inter-vehicle distance detection unit 83 Lane change availability judgment unit 85 Distance detection unit 86 Acceleration / deceleration instruction unit 173 Direction indicator control unit M Own vehicle R1 Guidance route Z1 lane Change prohibited section

Claims (3)

A lane change determination unit that determines the necessity of changing lanes in order to enter one road at a branch point on the guidance route while the own vehicle is traveling along the guidance route provided by the navigation device.
A distance detection unit that detects the distance from the own vehicle to the lane change prohibited section in front of the branch point, and
An inter-vehicle distance detector that detects the distance between other vehicles traveling in the lane to which the lane is changed,
A lane change possibility determination unit for determining whether or not to change lanes based on the detection information of the inter-vehicle distance detection unit is provided.
When the lane change possibility determination unit determines that the lane cannot be changed, the lane change determination unit determines that the lane cannot be changed.

When the distance detection unit detects a predetermined distance, it outputs that the lane cannot be changed as it is, and the lane change possibility determination unit cannot change the lane as it is. Is output, an acceleration / deceleration instruction unit that instructs acceleration / deceleration of the own vehicle based on the relative speed of the own vehicle with respect to another vehicle traveling in the lane to which the lane is changed, and
At the timing when the absolute value of the relative speed of the own vehicle with respect to the other vehicle becomes smaller than a predetermined value, the direction indicator lighting instruction unit for instructing the lighting of the direction indicator on the lane change destination side of the own vehicle. And prepare
A lane change support device characterized by this. When the lane change possibility judgment unit outputs that the lane cannot be changed as it is,
An acceleration / deceleration control unit that controls acceleration / deceleration of the own vehicle based on the relative speed of the own vehicle to another vehicle traveling in the lane of the lane change destination, and a direction indicator on the lane change destination side of the own vehicle. The lane change support device according to claim 1, further comprising at least one of a turn signal control unit that controls the lighting of the vehicle. When the lane change possibility determination unit determines that the lane cannot be changed and the own vehicle enters the lane change prohibited section, a new guidance route is set for the navigation device. The lane change support device according to claim 1 or 2, further comprising a guidance route setting instruction unit for instructing.

Images