Travel control device and travel control method
The possibility of a lane change of a vehicle is determined by using a first inter-vehicle distance that serves as a target for the lane change of the vehicle on an adjacent lane adjacent to a lane on which the vehicle is traveling. When the lane change is determined not to be executable, the presence or absence of a possibility that the first inter-vehicle distance will extend to a length that allows for the lane change is determined by using a second inter-vehicle distance positioned in front of or behind the first inter-vehicle distance. When it is determined that there is the possibility, waiting is determined to be necessary, and when it is determined that there is no such possibility, the waiting is determined to be unnecessary.
1. A travel control device for automatic travel control by a vehicle, comprising:
a first inter-vehicle distance acquiring unit configured to acquire, in a position lateral to the vehicle on an adjacent lane adjacent to a lane on which the vehicle travels, a first inter-vehicle distance that serves as a target for a lane change of the vehicle and is an inter-vehicle distance between a first preceding adjacent vehicle in a lateral forward direction of the vehicle and a first subsequent adjacent vehicle in a lateral rearward direction of the vehicle;
a second inter-vehicle distance acquiring unit configured to acquire a second inter-vehicle distance that is at least one inter-vehicle distance of
an inter-vehicle distance between the first subsequent adjacent vehicle and a second subsequent adjacent vehicle as a vehicle subsequent to the first subsequent adjacent vehicle and
an inter-vehicle distance between the first preceding adjacent vehicle and a second preceding adjacent vehicle as a vehicle preceding to the first preceding adjacent vehicle;
a lane change possibility determining unit configured to determine a possibility of the lane change from the lane on which the vehicle travels to the adjacent lane by using the first inter-vehicle distance; and
a waiting necessity determining unit configured, when the lane change possibility determining unit determines that the lane change from the lane on which the vehicle travels to the adjacent lane is not executable, to
determine presence or absence of a possibility that the first inter-vehicle distance will extend to a length that allows for the lane change by using the second inter-vehicle distance,
determine that waiting is necessary when it is determined that there is the possibility that the first inter-vehicle distance will extend to the length that allows for the lane change,
determine that the waiting is unnecessary when it is determined that there is no possibility that the first inter-vehicle distance will extend to the length that allows for the lane change, and
when waiting is unnecessary, output a control command to a brake device or a driving-steering device to perform an automatic travel control that moves the vehicle to a position lateral to a second inter-vehicle space.
2. The travel control device according to claim 1 , further comprising a target changing unit configured, when the waiting necessity determining unit determines that the waiting is necessary, to make the vehicle wait at a position lateral to a first inter-vehicle space that is an inter-vehicle space between the first preceding adjacent vehicle and the first subsequent adjacent vehicle, and when the waiting necessity determining unit determines that the waiting is unnecessary, to move the vehicle to a position lateral to a second inter-vehicle space adjacent in front of or behind the first inter-vehicle space.
3. The travel control device according to claim 2 , wherein the waiting necessity determining unit is configured to determine the possibility of a lane change into the second inter-vehicle space by using the second inter-vehicle distance when it is determined that the waiting is unnecessary, and
the target changing unit is configured to move the vehicle to the position lateral to the second inter-vehicle space when the waiting necessity determining unit determines that the waiting is unnecessary and the lane change into the second inter-vehicle space is executable.
4. The travel control device according to claim 1 ,
wherein the second inter-vehicle distance acquiring unit is configured to acquire an inter-subsequent adjacent vehicle distance that is an inter-vehicle distance between the first subsequent adjacent vehicle and the second subsequent adjacent vehicle,
the lane change possibility determining unit includes:
a first threshold value calculating unit configured to calculate a first threshold value by multiplying a speed of the vehicle by a previously set inter-vehicle time; and
a first threshold value determining unit configured to determine that the lane change from the lane on which the vehicle travels to the adjacent lane is executable when the first inter-vehicle distance is larger than the first threshold value, and to determine that the lane change from the lane on which the vehicle travels to the adjacent lane is not executable when the first inter-vehicle distance is smaller than the first threshold value, and
the waiting necessity determining unit includes:
a second threshold value calculating unit configured to calculate a subsequent minimum inter-vehicle distance between the subsequent adjacent vehicles by multiplying a speed of the first subsequent adjacent vehicle by a previously set subsequent minimum inter-vehicle time when the lane change from the lane on which the vehicle travels to the adjacent lane is determined not to be executable, and to calculate a second threshold value by adding up the subsequent minimum inter-vehicle distance, a value obtained by reducing the first inter-vehicle distance from the first threshold value, and a previously set adjustment allowance; and
a second threshold value determining unit configured to determine that there is a possibility that the first inter-vehicle distance will be larger than the first threshold value when the inter-subsequent adjacent vehicle distance is larger than the second threshold value, and to determine that there is no possibility that the first inter-vehicle distance will be larger than the first threshold value when the inter-subsequent adjacent vehicle distance is smaller than the second threshold value.
5. The travel control device according to claim 4 , wherein the waiting necessity determining unit is configured to set the first inter-vehicle distance of a past to the inter-subsequent adjacent vehicle distance when the vehicle overtakes the preceding adjacent vehicle on the adjacent lane.
6. The travel control device according to claim 1 ,
wherein the second inter-vehicle distance acquiring unit is configured acquire to an inter-preceding adjacent vehicle distance that is an inter-vehicle distance between the first preceding adjacent vehicle and the second preceding adjacent vehicle,
the lane change possibility determining unit includes:
a first threshold value calculating unit configured to calculate a first threshold value by multiplying a speed of the vehicle by a previously set inter-vehicle time; and
a first threshold value determining unit configured to determine that the lane change from the lane on which the vehicle travels to the adjacent lane is executable when the first inter-vehicle distance is larger than the first threshold value, and to determine that the lane change from the lane on which the vehicle travels to the adjacent lane is not executable when the first inter-vehicle distance is smaller than the first threshold value, and
the waiting necessity determining unit includes:
a third threshold value calculating unit configured to calculate a preceding minimum inter-vehicle distance between the preceding adjacent vehicles by multiplying a speed of the first preceding adjacent vehicle by a previously set preceding minimum inter-vehicle time when the lane change from the lane on which the vehicle travels to the adjacent lane is determined not to be executable, and to calculate a third threshold value by adding up the preceding minimum inter-vehicle distance, a value obtained by reducing the first inter-vehicle distance from the first threshold value, and a previously set adjustment allowance; and
a third threshold value determining unit configured to determine that there is a possibility that the first inter-vehicle distance will be larger than the first threshold value when the inter-preceding adjacent vehicle distance is larger than the third threshold value, and to determine that there is no possibility that the first inter-vehicle distance will be larger than the first threshold value when the inter-preceding adjacent vehicle distance is smaller than the third threshold value.
7. The travel control device according to claim 6 , wherein the waiting necessity determining unit is configured to set the first inter-vehicle distance of a past to the inter-preceding adjacent vehicle distance when the first subsequent adjacent vehicle overtakes the vehicle.
8. A travel control method for automatic travel control by a vehicle, comprising:
acquiring, in a position lateral to the vehicle on an adjacent lane adjacent to a lane on which the vehicle travels, a first inter-vehicle distance that serves as a target for a lane change of the vehicle and is an inter-vehicle distance between a first preceding adjacent vehicle in a lateral forward direction of the vehicle and a first subsequent adjacent vehicle in a lateral rearward direction of the vehicle;
acquiring a second inter-vehicle distance that is at least one inter-vehicle distance of an inter-vehicle distance between the first subsequent adjacent vehicle and a second subsequent adjacent vehicle as a vehicle subsequent to the first subsequent adjacent vehicle and an inter-vehicle distance between the first preceding adjacent vehicle and a second preceding adjacent vehicle as a vehicle preceding to the first preceding adjacent vehicle;
determining a possibility of the lane change from the lane on which the vehicle travels to the adjacent lane by using the first inter-vehicle distance;
when the lane change from the lane on which the vehicle travels to the adjacent lane is determined not to be executable, determining the presence or absence of a possibility that the first inter-vehicle distance will extend to a length that allows for the lane change by using the second inter-vehicle distance;
when determining that there is the possibility that the first inter-vehicle distance will extend to the length that allows for the lane change, determining that waiting is necessary; and
when determining that there is no possibility that the first inter-vehicle distance will extend to the length that allows for the lane change,
determining that the waiting is unnecessary, and
outputting a control command to a brake device or a drive-steering device to perform an automatic travel control that moves the vehicle to a position lateral to a second inter-vehicle space.
9. The travel control method according to claim 8 , wherein when the waiting is determined to be necessary, making the vehicle wait at a position lateral to a first inter-vehicle space that is an inter-vehicle space between the first preceding adjacent vehicle and the first subsequent adjacent vehicle, and
when the waiting is determined to be unnecessary, moving the vehicle to a position lateral to a second inter-vehicle space adjacent in front of or behind the first inter-vehicle space.