Vehicle control system
When the subject vehicle reaches the position PNO in the middle of the interflow zone, it is judged whether the conditions for automatic interflow are satisfied. When it is judged that the condition for automatic interflow are not satisfied at the position PNO, the notification for urging manual interflow by the driver is started. Otherwise, the notification for manual interflow is not started. In the case where the notification for manual interflow was not started, when the subject vehicle reaches the position PGU between the distal end of the interflow zone and the position PNO, the notification for manual interflow is started.
1. A vehicle control system which is configured to control automatic interflow of a subject vehicle from an interflow lane to a main lane,
wherein the vehicle control system is further configured to:
judge whether or not predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane;
start to execute a notification for urging manual interflow by an operator of the subject vehicle when it is judged that the condition for automatic interflow is not satisfied at the first position, while the vehicle control system is configured to not start to execute the notification when it is judged that the condition for automatic interflow is satisfied at the first position; and
even when the notification was not started at the first position, start to execute the notification when the subject vehicle reaches a second position between the first position and a distal end of the interflow zone.
2. The vehicle control system according to claim 1 ,
wherein the vehicle control system is further configured to:
when the subject vehicle reaches a third position within the interflow zone, control operation of the subject vehicle such that the subject vehicle stops at a target position near the distal end; and
set the first and second positions between the third position and a proximal end of the interflow zone.
3. The vehicle control system according to claim 2 ,
wherein the vehicle control system is further configured to:
when it is judged that the condition for automatic interflow is not satisfied at the first position, control the operation of the subject vehicle such that the subject vehicle decelerates from the first position to the second position; and
set an absolute value of a target deceleration of the subject vehicle between the first and second positions to a value smaller than the absolute value between the third and target positions.
4. The vehicle control system according to claim 2 ,
wherein the vehicle control system is further configured to, when whole length of the interflow zone is longer than a distance from the third position to the target position, change the first position to a position nearer to the third position as the distance from the proximal end to the first position decreases.
5. A vehicle control method for controlling automatic interflow of a subject vehicle from an interflow lane to a main lane, the method comprising the steps of:
judging whether or not predetermined condition for automatic interflow is satisfied when the subject vehicle reaches a first position of an interflow zone within the interflow lane;
starting to execute a notification for urging manual interflow by an operator of the subject vehicle when it is judged that the condition for automatic interflow is not satisfied at the first position, while not starting to execute the notification when it is judged that the condition for automatic interflow is satisfied at the first position; and
even when the notification was not started at the first position, starting to execute the notification when the subject vehicle reaches a second position between the first position and a distal end of the interflow zone.
6. The vehicle control method according to claim 5 ,
wherein the method further comprises the steps of:
when the subject vehicle reaches a third position within the interflow zone, controlling operation of the subject vehicle such that the subject vehicle stops at a target position near the distal end; and
setting the first and second positions between the third position and a proximal end of the interflow zone.
7. The vehicle control method according to claim 6 ,
wherein the method further comprises the steps of:
when it is judged that the condition for automatic interflow is not satisfied at the first position, controlling the operation of the subject vehicle such that the subject vehicle decelerates from the first position to the second position; and
setting an absolute value of a target deceleration of the subject vehicle between the first and second positions to a value smaller than the absolute value between the third and target positions.
8. The vehicle control method according to claim 6 ,
wherein the method further comprises the step of, when whole length of the interflow zone is longer than a distance from the third position to the target position, changing the first position to a position nearer to the third position as the distance from the proximal end to the first position decreases.