Travel control method and travel control device for drive-assisted vehicle
A travel control device includes a controller for controlling travel of an autonomous host vehicle. The controller detects left and right lane boundaries and controls travel of the host vehicle based on a result of lane boundary detection. The controller includes a road geometry distinguishing unit and a rate limiter unit. The road geometry distinguishing unit distinguishes a curve, and a direction of the curve, based on road geometry information. When traveling through the curve, the rate limiter unit sets a result of lane boundary detection at an inside of a corner to a value for which change in a lateral direction approaching the host vehicle is restricted.
1. A travel control method for controlling travel of a host vehicle comprising a controller that detects left and right lane boundaries and that controls travel of the host vehicle based on a result of lane boundary detection, the travel control method comprising:
distinguishing a curve and a direction of the curve based on road geometry information; and
setting the result of lane boundary detection at an inside of a corner of the curve by limiting values of the left and right lane boundaries to values for which a speed of movement from the inside of the corner of the curve toward an outside of the corner of the curve is restricted when traveling through the curve.
2. The travel control method according to claim 1 , wherein
when traveling through the curve, a permissible rate of change permitted for a lateral speed in a direction in which the result of lane boundary detection approaches the host vehicle at the inside of the corner of the curve is made smaller than a permissible rate of change permitted for a lateral speed of the result of lane boundary detection at the outside of the corner of the curve.
3. The travel control method according to claim 2 , further comprising
calculating a curvature of the curve using road geometry, calculating a projected lateral rate of acceleration using the curvature and vehicle speed, and changing a first upper rate limit value and a first lower rate limit value according to the projected lateral rate of acceleration.
4. The travel control method according to claim 3 , further comprising
calculating a projected yaw rate using the curvature and vehicle speed,
changing a second upper rate limit value and a second lower rate limit value according to the projected yaw rate; and
respectively comparing absolute values of the second upper rate limit value and the second lower rate limit value with that of the first upper rate limit value and the first lower rate limit value determined based on the projected lateral rate of acceleration, and respectively employing whichever of these has a lower absolute value as an upper rate limit value and a lower rate limit value.
5. The travel control method according to claim 3 , further comprising
calculating a vehicle speed differential value, which expresses a timewise change in vehicle speed when traveling through the curve, and changing a third upper rate limit value and a third lower rate limit value according to the vehicle speed differential value; and
respectively comparing absolute values of the third upper rate limit value and the third lower rate limit value with that of the first upper rate limit value and the first lower rate limit value determined based on the projected lateral rate of acceleration, and respectively employing whichever of these has a lower absolute value as an upper rate limit value and a lower rate limit value.
6. The travel control method according to claim 1 , wherein
when traveling through the curve, the result of lane boundary detection at the inside of the corner of the curve is set to a value for which the speed of movement from the inside of the corner of the curve toward the outside of the corner of the curve is restricted from a point at which corner curvature starts to change until a prescribed amount of time has elapsed.
7. The travel control method according to claim 1 , further comprising
comparing positional relationships between the lane boundary detection results and a target route generated by a technique other than left and right lane boundary detection, and correcting the target route with a sideways movement amount in the lateral direction in situations where the target route is within a prescribed distance of one of the left and right lane boundaries, or in situations where the target route is on the opposite side of the one of the left and right lane boundaries with respect to the host vehicle.
8. A travel control device for controlling travel of a host vehicle comprising:
a controller that detects left and right lane boundaries and that controls travel of the host vehicle based on a result of lane boundary detection,
the controller being configured to:
distinguish a curve and a direction of the curve based on road geometry information; and
set the result of lane boundary detection at an inside of a corner of the curve by limiting values of the left and right lane boundaries to values for which a speed of movement from the inside of the corner of the curve toward an outside of the corner of the curve is restricted when traveling through the curve.