Vehicle travel control method and vehicle travel control device
A vehicle travel control method is provided for controlling a host vehicle so as to follow a preceding vehicle. A first area where the host vehicle can possibly travel is calculated from a travel trajectory of the new preceding vehicle upon detecting a new preceding vehicle cutting in between the preceding vehicle and the host vehicle. A second area is set to a previous travelable area of the host vehicle that was determined up to a previous time. The first area and the second area are added to define a defined travelable area. A target travel trajectory of the host vehicle is generated within the defined travelable area. The host vehicle is controlled along the generated target travel trajectory.
1. A vehicle travel control method for controlling a host vehicle after a new vehicle cuts in by repeatedly executing a process loop, the vehicle travel control method comprising:
detecting a first preceding vehicle;
calculating a previous host vehicle travelable area between the host vehicle and the first preceding vehicle;
detecting a new preceding vehicle cutting in between the host vehicle and the first preceding vehicle;
calculating a first area between the host vehicle and the new preceding vehicle, the first area corresponding to a trajectory actually traveled by the new preceding vehicle between a current position of the host vehicle and a current position of the new preceding vehicle;
setting the previous host vehicle travelable area as a second area;
defining a current travelable area by adding the first area and the second area;
generating a target travel trajectory of the host vehicle within the current host vehicle travelable area; and
controlling the host vehicle along the generated target travel trajectory so as to follow the new preceding vehicle.
2. The vehicle travel control method according to claim 1 , wherein
the target travel trajectory is generated in a central region within the current host vehicle travelable area.
3. The vehicle travel control method according to claim 1 , further comprising
defining a compensated host vehicle travelable area by adding a compensating portion that compensates for an inner corner portion created by the defining of the current host vehicle travelable area, and
the generating of the target travel trajectory is generated within the compensated host vehicle travelable area.
4. The vehicle travel control method according to claim 3 , wherein
the defining the compensated host vehicle travelable area is performed such that an angle formed between a boundary line of the compensating portion and a boundary line adjacent the compensating portion becomes shallower as a vehicle speed of the host vehicle increases.
5. The vehicle travel control method according to claim 1 further comprising
defining a risk potential with respect to obstacles detected in a vicinity of the host vehicle based on boundaries in the current host vehicle travelable area in a vehicle width direction of the host vehicle, and
setting a path in which the risk potential becomes smallest is set as the target travel trajectory.
6. The vehicle travel control method according to claim 5 , wherein
the risk potential is defined using a quadratic function, a potential value at the boundaries in the vehicle width direction is set to 1, and a risk potential value at a center with respect to the vehicle width direction is set to 0.
7. The vehicle travel control method according to claim 5 , wherein
the risk potential is defined using a quadratic function, and the path with which the risk potential becomes smallest is determined based on a least squares method.
8. The vehicle travel control method according to claim 1 further comprising
defining a virtual second area obtained by expanding the second area in a vehicle width direction by a prescribed width, and
adding only a portion of the first area that overlaps the virtual second area to the second area to define the current host vehicle travelable area.
9. The vehicle travel control method according to claim 1 further comprising
defining a virtual second area obtained by expanding the second area in a vehicle width direction by a prescribed width, and
deleting an area of the current host vehicle travelable area that does not overlap the virtual second area.
10. A vehicle travel control device comprising:
a controller configured to control a host vehicle after a new vehicle cuts in by repeatedly executing a process loop,
the process loop comprising:
detecting a preceding vehicle;
calculating a previous host vehicle travelable area between the host vehicle and the first preceding vehicle;
detecting a new preceding vehicle cutting in between the host vehicle and the first preceding vehicle;
calculating a first area between the host vehicle and the new preceding vehicle, the first area corresponding to a trajectory actually traveled by the new preceding vehicle between a current position of the host vehicle and a current position of the new preceding vehicle;
setting the previous host vehicle travelable area as a second area;
defining a current host vehicle travelable area by adding the first area and the second area;
generating a target travel trajectory of the host vehicle within the current host vehicle travelable area; and
controlling the host vehicle along the generated target travel trajectory so as to follow the new preceding vehicle.