Travel control device and travel control method

• US 9,963,144 B2
• Filed: 08/29/2014
• Issued: 05/08/2018
• Est. Priority Date: 08/29/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nakamura, Masahide, Watanabe, Tsuneyuki, Takano, Teruhisa, Yano, Takahiro, Nishida, Yukinori
• Primary Examiner(s): Hilgendorf, Dale W
• Application Number:
  US15/506,978
• Publication Number:
  US 20170274898A1
• Time in Patent Office: 1,348 Days
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2552/10 Number of lanes
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A travel control device acquires subject vehicle information including the position of a subject vehicle, acquires lane marker information including positions of lane markers, sets control areas with reference to the lane markers, and controls a travel position of the subject vehicle so that the subject vehicle travels between a pair of control areas set at right and left of the subject vehicle. The lane markers include a change-point lane marker and includes a course change point. When the pair of control areas set with reference to the change-point lane marker comprises one of the pair at a course change side of the subject vehicle and the other of the pair, the ratio of a width of the other to a width of the one is set larger than the ratio of the widths of control areas set with reference to a lane marker other than the change-point lane marker.

Claims

1. A travel control device comprising:

a control device configured to;

acquire subject vehicle information including a position of a subject vehicle;

acquire lane marker information including positions of lane markers existing around the subject vehicle;

set a pair of control areas at right and left of the subject vehicle with reference to the lane markers, the control areas each having a predetermined width;

control a travel position of the subject vehicle so that the subject vehicle travels between the pair of control areas, the travel position of the subject vehicle being along a width direction of a travel lane in which the subject vehicle is traveling;

detect a change-point lane marker on a basis of the lane marker information, the change-point lane marker being a lane marker crossing a width direction line including a course change point at which the subject vehicle starts course change and extending by a predetermined distance, the course change point being located ahead of the subject vehicle in a travel direction; and

when the pair of control areas are set with reference to the change-point lane marker that comprises one of the pair at a course change side of the subject vehicle and the other one of the pair, then set a ratio (WR/WT) of a width (WR) of the other one of the pair to a width (WT) of the one of the pair to be larger than the ratio (WR/WT) of the widths of control areas set with reference to a lane marker other than the change-point lane marker, the lane marker other than the change-point lane marker existing within a region from the course change point to a point in front of the subject vehicle.

2. The travel control device according to claim 1,

wherein the change-point lane marker includes a first change-point lane marker existing within a predetermined first distance defined from the course change point toward the subject vehicle, and the control device sets the ratio (WR/WT) of the widths of control areas set with reference to the first change-point lane marker to be larger than the ratio (WR/WT) of the widths of control areas set with reference to a lane marker other than the first change-point lane marker,

and the lane marker other than the first change-point lane marker exists within the region from the course change point to the point in front of the subject vehicle.

3. The travel control device according to claim 2,

wherein the change-point lane marker includes a second change-point lane marker existing within a predetermined second distance defined from the course change point toward ahead of the subject vehicle, and the control device sets the ratio (WR/WT) of the widths of control areas set with reference to the second change-point lane marker to be larger than the ratio (WR/WT) of the widths of control areas set with reference to the lane marker other than the first change-point lane marker, and

the lane marker other than the first change-point lane marker exists within the region from the course change point to the point in front of the subject vehicle.

4. The travel control device according to claim 3,

wherein the control device sets the widths of the control areas to be equal at a finish end of the first change-point lane marker and at a start end of the second change-point lane marker in the travel direction of the subject vehicle.

5. The travel control device according to claim 3,

wherein the control areas set with reference to the first change-point lane marker include areas of which the ratio (WR/WT) of the widths increases as approaching the course change point, and

the control areas set with reference to the second change-point lane marker include areas of which the ratio (WR/WT) of the widths decreases as separating from the course change point.

6. The travel control device according to claim 1,

wherein, while the subject vehicle is traveling on a straight road, the control device controls the travel position of the subject vehicle so as to drive the subject vehicle near the center in the width direction of the travel lane in which the subject vehicle is traveling.

7. The travel control device according to claim 1,

wherein, when a travel route of the subject vehicle is not set, the control device controls the travel position of the subject vehicle so as to drive the subject vehicle near the center in the width direction of the travel lane in which the subject vehicle is traveling.

8. The travel control device according to claim 1,

wherein, when a steering operation by a passenger of the subject vehicle is detected while the subject vehicle is traveling around the change-point lane marker, the control device prohibits control of the travel position of the subject vehicle.

9. The travel control device according to claim 1,

wherein the control device performs detection of the change-point lane marker such that a length of the change-point lane marker along the travel direction of the subject vehicle increases as a speed limit increases on a road on which the subject vehicle is traveling.

10. The travel control device according to claim 1,

wherein, when an avoidance object which the subject vehicle should avoid is detected, the control device controls the travel position of the subject vehicle so as to operate the subject vehicle to avoid the avoidance object in priority to control for traveling between the pair of control areas.

11. The travel control device according to claim 10,

wherein, when a following vehicle that is expected to overtake or pass by the subject vehicle is detected as the avoidance object, the control device controls the travel position of the subject vehicle so that a control amount for the travel position in the width direction when the subject vehicle is operated to avoid the avoidance object near the change-point lane marker is smaller than that when the subject vehicle is operated to avoid the avoidance object near a lane marker other than the change-point lane marker.

12. The travel control device according to claim 10,

wherein, when an oncoming vehicle that is expected to pass by the subject vehicle is detected as the avoidance object before the subject vehicle passes the course change point, the control device sets the ratio (WR/WT) of the widths of control areas set with reference to the change-point lane marker to be smaller than that when the oncoming vehicle is not detected.

13. The travel control device according to claim 10,

wherein, when control is performed such that the subject vehicle is operated to avoid the avoidance object by overtaking or passing by the avoidance object, the control device controls the travel position of the subject vehicle so that a control amount for the travel position in the width direction when the subject vehicle is operated to avoid the avoidance object near the change-point lane marker is smaller than that when the subject vehicle is operated to avoid the avoidance object near a lane marker other than the change point lane marker.

14. The travel control device according to claim 10,

wherein the control device sets timing of causing the subject vehicle to avoid the avoidance object in accordance with a classification of the avoidance object.

15. The travel control device according to claim 1, further comprising:

an output device configured to output, to external, one or more information items among information in accordance with the lane marker information, information in accordance with locations of the control areas, and information in accordance with control of the travel position of the subject vehicle.

16. A travel control method for a vehicle executed by a computer, the computer controlling a subject vehicle so that the subject vehicle travels between lane markers at right and left of the subject vehicle, the travel control method comprising:

acquiring subject vehicle information including a position of the subject vehicle;

acquiring lane marker information including positions of lane markers existing around the subject vehicle;

setting control areas with reference to the lane markers, the control areas each having a predetermined width; and

controlling a travel position of the subject vehicle so that the subject vehicle travels between a pair of control areas set at right and left of the subject vehicle, the travel position of the subject vehicle being along a width direction of a travel lane in which the subject vehicle is traveling,

the setting control areas with reference to the lane markers including, when the pair of control areas are set with reference to a change-point lane marker that comprises one of the pair at a course change side of the subject vehicle and the other one of the pair, then setting a ratio (WR/WT) of a width (WR) of the other of the pair to a width (WT) of the one of the pair to be larger than the ratio (WR/WT) of the widths of control areas set with reference to a lane marker other than the change-point lane marker, the change-point lane marker being a lane marker course change and extending by a predetermined distance, the course change point being located ahead of the subject vehicle in a travel direction, the lane marker other than the change-point lane marker existing within a region from the course change point to a point in front of the subject vehicle.