CN110001643A - Controller of vehicle, control method for vehicle, storage medium and information acquisition device - Google Patents

Controller of vehicle, control method for vehicle, storage medium and information acquisition device Download PDF

Info

Publication number
CN110001643A
CN110001643A CN201811323665.0A CN201811323665A CN110001643A CN 110001643 A CN110001643 A CN 110001643A CN 201811323665 A CN201811323665 A CN 201811323665A CN 110001643 A CN110001643 A CN 110001643A
Authority
CN
China
Prior art keywords
vehicle
case
information
vehicles
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201811323665.0A
Other languages
Chinese (zh)
Other versions
CN110001643B (en
Inventor
加藤大智
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Honda Motor Co Ltd
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Publication of CN110001643A publication Critical patent/CN110001643A/en
Application granted granted Critical
Publication of CN110001643B publication Critical patent/CN110001643B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

There is provided in view of be present in the structure between this vehicle and other vehicles and carry out offset control controller of vehicle, control method for vehicle, storage medium and information acquisition device.The controller of vehicle controlled the traveling of vehicle has: acquisition unit, and the acquisition unit pair information related with other vehicles of detection zone of traveling around vehicle and information related with the structure of detection zone is located at obtain；And control unit, the information which is obtained based on acquisition unit, it carries out so that the horizontal offset control moved up that vehicle intersects in the driving direction relative to vehicle.Control unit is carried out with there is no inhibiting compared with lateral momentum in the case where structure, there are the offset of the lateral momentum in the case where structure controls between the second lane that the first lane travelled in vehicle and other vehicles are travelled.

Description

Controller of vehicle, control method for vehicle, storage medium and information acquisition device
Cross reference to related applications
This application claims enjoy in submit on December 28th, 2017 it is entitled " controller of vehicle, control method for vehicle, The priority of the Japanese patent application 2017-254263 of storage medium and information acquisition device ", all the contents of the application It is herein incorporated by reference.
Technical field
The present invention relates to the control technologies of vehicle.
Background technique
In patent document 1, it records for other vehicles of the driving alongside on direction of travel and opposed vehicle and carries out The technology of control is deviated, in patent document 2, records and predict line displacement control of going forward side by side for overtaking other vehicles for opposed vehicle Technology.
Existing technical literature
Patent document
Patent document 1: Japanese Unexamined Patent Application Publication 2005-524135 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2010-097261 bulletin
Summary of the invention
Problems to be solved by the invention
In patent document 1,2, no matter whether there is structure between this vehicle and opposed vehicle, offset control is carried out System, therefore will do it unnecessary offset control sometimes.
The present invention provide it is a kind of it is contemplated that the structure that is present between this vehicle and other vehicles and deviate The vehicle control technology of control.
The means solved the problems, such as
Controller of vehicle involved in one embodiment of the present invention is the vehicle control controlled the traveling of vehicle Device, which is characterized in that have:
Acquiring unit, the acquiring unit pair are related with other vehicles of detection zone of traveling around above-mentioned vehicle Information and information related with the structure of above-mentioned detection zone is located at are obtained；And
Control unit, the information which is obtained based on above-mentioned acquiring unit carry out so that above-mentioned vehicle is opposite In above-mentioned vehicle driving direction and intersect it is horizontal move up offset control,
Above-mentioned control unit, the travelled with the first lane and other above-mentioned vehicles travelled in above-mentioned vehicle There is no the lateral momentums in the case where above-mentioned structure to compare and inhibit the case where there are above-mentioned structures between two lane highways Under lateral momentum offset control.
Control method for vehicle involved in another way of the invention is the vehicle control controlled the traveling of vehicle The control method for vehicle of device, which is characterized in that have:
Obtaining step, in the obtaining step, to other vehicles of the detection zone with traveling around above-mentioned vehicle Related information and information related with the structure of above-mentioned detection zone is located at are obtained；And
Rate-determining steps, based on the information obtained in above-mentioned obtaining step, carry out so that above-mentioned vehicle in the rate-determining steps The driving direction relative to above-mentioned vehicle intersect it is horizontal move up offset control,
In above-mentioned rate-determining steps, progress is travelled with the first lane and other above-mentioned vehicles travelled in above-mentioned vehicle Second lane between compared there is no the lateral momentum in the case where above-mentioned structure and inhibit that there are above-mentioned structures In the case of lateral momentum offset control.
Information acquisition device involved in another mode of the invention is in order to control the traveling of vehicle and to above-mentioned vehicle Around the information acquisition device that is obtained of information, which is characterized in that have:
Acquiring unit, the acquiring unit pair are related with other vehicles of detection zone of traveling around above-mentioned vehicle Information and information related with the structure of above-mentioned detection zone is located at are obtained,
There are structures between the second lane that the first lane that above-mentioned vehicle is travelled and other vehicles are travelled In the case of, the control unit output that above-mentioned acquiring unit is controlled to the traveling to above-mentioned vehicle is removed from above-mentioned detection zone The information in the region after above-mentioned second lane.
Invention effect
In accordance with the invention it is possible in view of being present in the structure between this vehicle and other vehicles and carrying out offset control System.
Detailed description of the invention
Figure 1A is the block diagram constituted substantially for indicating controller of vehicle.
Figure 1B is the figure for indicating the configuration example of the control block diagram for controlling vehicle.
Fig. 2 is the figure being illustrated to the process flow of controller of vehicle involved in embodiment.
Fig. 3 is the figure being illustrated to the process flow of the offset control based on structure information.
Fig. 4 is the figure being illustrated to the process flow of the offset control based on range information.
Fig. 5 is the figure being illustrated to the process flow of the offset control based on identification grade.
Fig. 6 is the figure being illustrated to the process that there is the offset control in the case where region is not detected.
Fig. 7 is the figure of the offset control of exemplary representation embodiment.
Fig. 8 is the figure of offset control of the exemplary representation based on structure information.
Fig. 9 is the figure of offset control of the exemplary representation based on lateral range information.
Figure 10 is the figure of judgement of other vehicles of exemplary representation relative to the identification grade of structure.
Figure 11 is the figure for the offset control that exemplary representation exists in the case where region is not detected.
Description of symbols
20,22,23:ECU；42: optical radar；43: radar；S: sensor；COM: control unit；CAM: video camera；100: Controller of vehicle.
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.Documented constituent element in the embodiment It is only example, is not limited to the following embodiments and the accompanying drawings.
(composition of controller of vehicle)
Figure 1A is the figure of the controller of vehicle of the illustrated automatic Pilot control for carrying out vehicle constituted substantially.Sensing Device S for example, radar S1, optical radar S2, gyro sensor S3, GPS sensor S4, vehicle speed sensor S5 etc..Camera shooting Machine CAM is made of at least one video camera.Sensor S and video camera CAM obtain vehicle information and vehicle-surroundings it is each Kind of information, and the information input that will acquire is to control unit COM.
Control unit COM include: be responsible for controlling with the automatic Pilot of vehicle the CPU (C1) of related processing, memory C2, with And the communication unit C3 etc. that can be communicated with server, external mechanical, other vehicles on network.Control unit COM is to from biography The information of sensor S (radar S1, optical radar S2) and video camera CAM input carries out image procossing, and to being present in this vehicle Around target (object) extract, thus to around this vehicle be configured with what kind of target analyze.
In addition, gyro sensor S3 detects the rotary motion of this vehicle, posture, control unit COM can be based on The testing result of gyro sensor S3 sentences the traveling road of this vehicle by vehicle speed sensor S5 speed detected etc. It is fixed.In addition, control unit COM being capable of the testing result based on GPS sensor S4 and the present bit of this vehicle in map information (location information) is set to be detected.Control unit COM can be carried out based on the information inputted from sensor S and video camera CAM The automatic Pilot of vehicle controls.
In the case where controller of vehicle shown in figure 1A is equipped on vehicle, for example, control unit COM can be configured It, can also in the ECU, image processing system ECU of the identification processing system that the information to sensor S, video camera CAM is handled To configure in the ECU controlled communication device, input/output unit, can also configure in the drive control for carrying out vehicle Control unit in ECU, automatic Pilot ECU in.For example, Figure 1B as be explained below is such, it can also be by function It is dispersed in the ECU of sensor S, the ECU of video camera, the ECU of input/output unit and ECU of automatic Pilot etc. In the multiple ECU for constituting controller of vehicle 100.
Figure 1B is the control block diagram for indicating the controller of vehicle 100 for controlling vehicle 1.In fig. ib, with top view The summary of vehicle 1 is shown with side view.As an example, vehicle 1 is the fourth wheel passenger car of car-shaped.
The control unit 2 of Figure 1B controls each section of vehicle 1.Control unit 2 includes by in-vehicle network Multiple ECU20~29 that the mode that can be communicated connects.Each ECU (Electronic Control Unit) includes: to be with CPU Processor, semiconductor memory of representative etc. store equipment and with the interfaces of external equipment etc..It is preserved in storage equipment Program performed by processor, processor in processes used in data etc..Each ECU can have multiple processors, storage Equipment and interface etc..
The function etc. being responsible for below for each ECU20~29 is illustrated.In addition, about ECU quantity, be responsible for Function, can carry out vehicle 1 appropriately designed, more can also refine or integrate than present embodiment.
ECU20 executes vehicle control related with the automatic Pilot of vehicle 1 (this vehicle) involved in present embodiment.? In automatic Pilot, at least any one in the steering and acceleration and deceleration of vehicle 1 is carried out automatically controlling.About with automatic Pilot It is related specifically to control related processing, it will become clear from the description below.
The related vehicle control of automatic Pilot of ECU20 execution vehicle 1.In automatic Pilot, steering to vehicle 1 and At least any one in acceleration and deceleration carries out automatically controlling.In the control example being described below, to turning to and two of acceleration and deceleration It carries out automatically controlling.
ECU21 controls electric power steering device 3.Electric power steering device 3 includes according to driver other side Make the mechanism of front-wheel steer to the driver behavior (steering operation) of disk 31.In addition, electric power steering device 3 includes: to play For assisted diversion operation or motor, the sensor detected to steering angle of driving force for making front-wheel auto-steering etc.. In the case where the driving condition of vehicle 1 is automatic Pilot, ECU21 is according to the instruction from ECU20 and to electric motor driven power steering Device 3 carries out automatically controlling, and controls the direction of travel of vehicle 1.
ECU22 and ECU23 carries out the control and detection of the detection unit 41~43 of the peripheral situation to detection vehicle 1 As a result information processing.Detection unit 41 is, for example, that the video camera shot to the front of vehicle 1 (is expressed as taking the photograph below sometimes Camera 41.), in this case, there are two the settings of the roof front of vehicle 1.By being clapped video camera 41 The image taken the photograph is parsed (image procossing), can the profile to target, the lane on road differentiation line (white line etc.) into Row extracts.
Detection unit 42 is Light Detection and Ranging (LIDAR: optical radar) (hereinafter, stating sometimes For optical radar 42), detection is carried out to the target around vehicle 1 or to the progress ranging at a distance from target.In this implementation In the case where mode, there are five optical radars 42 for setting, one are each provided in each corner of the front of vehicle 1, in rear portion Centre is provided with one, and is each provided with one in each side in rear portion.Detection unit 43 is that millimetre-wave radar (is stated sometimes below For radar 43), detection is carried out to the target around vehicle 1 or to the progress ranging at a distance from target.In present embodiment In the case where, there are five radars 43 for setting, and the front, center of vehicle 1 is provided with one, is each provided with one in each corner in front It is a, and one is each provided in each corner in rear portion.
ECU22 carries out the video camera 41 to a side, the control of each optical radar 42 and the information processing of testing result. ECU23 carries out the video camera 41 to another party, the control of each radar 43 and the information processing of testing result.By having two groups To the device that the peripheral situation of vehicle is detected, can be improved the reliability of testing result, in addition, by have video camera, Different types of detection unit as optical radar and radar can in many aspects parse vehicle-surroundings environment.
ECU24 carry out to gyro sensor 5, GPS sensor 24b, the control of communication device 24c and testing result or The information processing of person's result of communication.The rotary motion of the detection vehicle 1 of gyro sensor 5.It can be according to gyro sensor 5 Testing result, wheel velocity etc. determine the traveling road of vehicle 1.The current location of GPS sensor 24b detection vehicle 1. Communication device 24c is carried out wireless communication with the server for providing cartographic information, traffic information, and obtains above- mentioned information.ECU24 energy The database 24a, ECU24 for the cartographic information that enough access construct in storage equipment carry out the path from current location to destination Explore etc..
ECU25 has the communication device 25a of communication between vehicle and vehicle.Communication device 25a carries out other vehicles with periphery Wireless communication, go forward side by side driving between information exchange.
ECU26 controls power device 6.Power device 6 is output so that the driving force that the driving wheel of vehicle 1 rotates Mechanism, for example including engine and speed changer.ECU26, for example, being passed according to the operation detection by being arranged on gas pedal 7A The driver behavior (throttle operation or accelerate operation) of driver detected by sensor 7a and the output of engine is controlled It makes, or switches the shift gear of speed changer based on information such as speeds detected by vehicle speed sensor 7c.In the driving of vehicle 1 In the case that state is automatic Pilot, ECU26 is carried out automatically controlling according to the instruction from ECU20 and to power device 6, and is controlled The acceleration and deceleration of vehicle 1 processed.
ECU27 controls the illuminating device (head lamp, taillight etc.) for including direction indicator 8 (flashing trafficator).? In the case where the example of Figure 1B, direction indicator 8 is set to front, door rearview mirror and the rear portion of vehicle 1.
ECU28 carries out the control to input/output unit 9.Input/output unit 9 carries out the output to the information of driver With the receiving of the input of the information from driver.Instantaneous speech power 91 is by voice to Pilot Report's information.Display dress 92 are set by the display of image to Pilot Report's information.Front that display device 92 for example configured in driver's seat simultaneously constitutes instrument Disk etc..In addition, illustrated herein voice and display, but can also be by vibration, light come report information.Furthermore it is possible to In combine voice, display, vibration or light it is multiple come report information.It is possible to further according to information to be reported etc. Grade (such as urgency) changes combination or changes report manner.
Input unit 93 is disposed on the position that driver can operate to the indicative switching group of vehicle 1, may be used also To include speech input device.
ECU29 controls brake apparatus 10, parking brake (not shown).Brake apparatus 10 is, for example, disc type brake Device is set to each wheel of vehicle 1, so that vehicle 1 is slowed down or is stopped and the rotation to wheel applies resistance.ECU29 Such as according to the driver behavior (braking of the driver as detected by the operation detection sensor 7b being arranged on brake pedal 7B Operation) and the work of brake apparatus 10 is controlled.In the case where the driving condition of vehicle 1 is automatic Pilot, ECU29 root Brake apparatus 10 is carried out automatically controlling according to the instruction from ECU20, and controls the deceleration and stopping of vehicle 1.Braking dress Setting 10, parking brake can also work to maintain the halted state of vehicle 1.In addition, in the speed change of power device 6 In the case that device has parking locking mechanism, additionally it is possible to enable its work to maintain the halted state of vehicle 1.
< control example >
Control related to the automatic Pilot of vehicle 1 performed by ECU20 is illustrated.When by driver's indicative purpose When with automatic Pilot, ECU20 is carried out the traveling of vehicle 1 automatic according to the path of navigation explored by ECU24 towards destination Control.When automatic control, ECU20 obtains information related with the peripheral situation of vehicle 1 from ECU22 and ECU23, and is based on The information of acquisition and indicate ECU21, ECU26 and ECU29, steering, the acceleration and deceleration of vehicle 1 are controlled.
ECU22 carries out the video camera 41 to a side, the control of each optical radar 42 and the information processing of testing result.Separately Outside, ECU23 carries out the video camera 41 to another party, the control of each radar 43 and the information processing of testing result.ECU20 is executed Control related with the automatic Pilot of vehicle 1.
Fig. 2 is the flow chart being illustrated to the process flow of controller of vehicle involved in embodiment.In step In S200, video camera 41 and each optical radar 42 and each radar 43 around vehicle to detecting.
In step S210, the video camera 41 to a side, the control of each optical radar 42 and the letter of testing result are carried out It ceases the ECU22 of processing and carries out the video camera 41 to another party, the control of each radar 43 and the information processing of testing result ECU23 functioned as acquisition unit, thus to related with other vehicles of detection zone around vehicle of traveling Information, obtained positioned at the information of the structure of detection zone.
In step S220, the ECU20 for executing control related with the automatic Pilot of vehicle 1 plays function as control unit Can, in the acquisition result of acquisition unit (ECU22, ECU23), in the case where not getting information related with other vehicles (S220- is no), ECU20 (control unit) make processing enter step S230.Then, in step S230, control unit (ECU20) control Common traveling.
On the other hand, in step S220, in the case where getting information related with other vehicles (S220- is), Control unit (ECU20) makes processing enter step S240.
In step S240, in the acquisition result of acquisition unit (ECU22, ECU23), deposited not getting on road Structure related information in the case where (S240- is no), ECU20 (control unit) makes processing enter step S250.Then, exist In step S250, control unit (ECU20) do not inhibited deviate amount of movement (hereinafter also referred to " lateral momentum ", or referred to as " amount of movement ") common offset control.Here, offset control refers to so that vehicle in the driving direction relative to vehicle and Lateral amount of movement in common offset control is set as first movement by the horizontal lateral control moved up intersected Amount.
On the other hand, in step S240, in the case where getting information related with structure (S240- is), control Portion (ECU20) processed makes processing enter step S260.In this state, in step S260, control unit (ECU20) is based on acquisition unit The information that (ECU22, ECU23) is obtained carries out so that vehicle horizontal is moved up what the driving direction relative to vehicle was intersected Offset control.In this step, control unit (ECU20), progress is gone with the first lane and other vehicles travelled in vehicle There is no the amount of movements (first movement amount) in the case where structure to compare between the second lane sailed, and inhibits in the presence of construction The offset of amount of movement in the case where object controls.Lateral amount of movement will be inhibited compared with amount of movement (first movement amount) Offset control is known as offset control.
Fig. 7 is the figure of the offset control of exemplary representation embodiment.In (A) in Fig. 7, vehicle 705 is control pair This vehicle of elephant, along the direction running of arrow 707 on lane 701 (first lane).Vehicle 706 is other vehicles, opposite In the direction running on the opposite lane 702 (second lane) of lane 701 (first lane) along arrow 708.In lane 701 ( One lane) and opposite lane 702 (second lane) between, there are structures 703.It include: to lane 701 in structure 703 The isolation strip that is distinguished between (first lane) and opposite lane 702 (second lane), bar, cable, traffic cylinder (Pylon) Deng.Here, isolation strip (central partition) refers to, in order to lane is distinctively kept apart according to the direction of dealing and at its center The area of portion's setting.
In (B) in Fig. 7, detection zone 710 is the detection zone under the usual state of acquisition unit (ECU22, ECU23) Domain.In the case where carrying out offset control, control unit is controlled based on the area information for having narrowed detection zone.That is, There are in the case where structure 703 between lane 701 (first lane) and opposite lane 702 (second lane), control unit (ECU20) opposite 702 (the second vehicle of lane can removed from common detection zone 710 based on acquisition unit (ECU22, ECU23) Road) after region 720 (detection zone after inhibition) in obtain information and carry out offset control.
Alternatively, in the case where carrying out offset control, acquisition information in detection zone 710 in the normal state, and from The information of other vehicles is removed in the information of acquisition and is controlled.That is, in lane 701 (first lane) and opposite lane 702 There are in the case where structure 703 between (second lane), control unit (ECU20) can be from acquisition unit (ECU22, ECU23) institute Exclude the related information of other vehicles 706 with opposite direction lane 702 (second lane) in the information of the detection zone 710 of acquisition and Carry out offset control.
Control unit (ECU20) is carried out will acquire information acquired in portion (ECU22, ECU23) being stored in time series and be deposited Objective management in reservoir C2.It, can be to the process with the time by the way that the information of time series to be stored in memory C2 And the motion track of mobile target is tracked.
As shown in fig. 7, there are structures 703 between lane 701 (first lane) and opposite lane 702 (second lane) In the case where, control unit (ECU20) inhibits the mesh of information related with other vehicles 706 of opposite lane 702 (second lane) Mark management.For example, common sampling interval can be spaced and store primary information to memory in per sampling twice C2 or acquisition information related with other vehicles 706 still do not track with the not information of storage time sequence and other vehicles The mode of 706 motion track changes objective management.
(the offset control based on structure information)
In the present embodiment, following composition is illustrated: based on the type or shape or construction with structure At least one related structure information of size (height, width) of object, is that high-intensitive structure is either low to structure The structure of intensity is determined, and changes the amount of movement of offset control based on result is determined.
Fig. 3 is the figure being illustrated to the process flow of the offset control based on structure information.In step S300, obtain Portion (ECU22, ECU23) is taken to obtain the size (height, width) with the type of structure 703 or shape or structure 703 At least one of related information (structure information).For example, acquisition unit (ECU22, ECU23) is obtained as firm structure The type of central partition, protective fence, bar more fragile compared with central partition, protective fence band etc., from 705 (this vehicle of vehicle ) the visible structure 703 of traveling-position section shape (area), height, the information of width equidimension.Control unit (ECU20) amount of movement of offset control is changed based on structure information acquired in acquisition unit (ECU22, ECU23).
In step s310, control unit (ECU20) is based on structure information acquired in acquisition unit (ECU22, ECU23), It whether is that high-intensitive structure determines to structure 703.
For example, central partition, protective fence to be determined as to high-intensitive structure as type.Alternatively, from traveling position Set the section of visible structure 703 shape (including area) be preset threshold value more than in the case where, control unit (ECU20) it is determined as high-intensitive structure.Alternatively, the dimension information in height, width etc. is preset threshold value or more In the case where, control unit (ECU20) is determined as high-intensitive structure.It, can as the threshold value of the determinating reference in step S310 Arbitrarily to be set by user, it is customized to be able to carry out user.
It is determined as that processing enters step in the case where high-intensitive structure (S310- is) in the judgement of step S310 S320.In addition, being determined as structure not and being high-intensitive structure but low strong in the result according to the judgement of step S310 In the case where the structure of degree (S310- is no), processing enters step S330.
In step s 320, it is determined as that structure is high-intensitive structure in the judgement result according to step S310 In the case of, control unit (ECU20) with there is no compared with the first movement amount in the offset control in the case where structure and incite somebody to action Amount of movement is set to lesser second amount of movement to carry out offset control.
In step S330, being determined as structure in the judgement result according to step S310 is low intensive structure In the case of, control unit (ECU20) with there is no compared with the first movement amount in the offset control in the case where structure and incite somebody to action Amount of movement is set to smaller and amount of movement is set to biggish third amount of movement compared with the second amount of movement to deviate Control.
Fig. 8 is the figure of offset control of the exemplary representation based on structure information.(A) in Fig. 8 is vehicle observe from the rear 705 figure, in (A) in fig. 8, height 805 indicates the height of structures 803, and width 807 indicates the width of structure 803 Degree.It is less than preset threshold in the shape (including area) of the section of the visible structure 803 of traveling-position from vehicle 705 In the case where value, control unit (ECU20) is determined as low intensive structure.Alternatively, in the height 805 of structure 803, width In the case that 807 equidimension information are less than preset threshold value, control unit (ECU20) is determined as low intensive structure.Structure The section shape of the divine force that created the universe 803, the material of structure can be used for example optical radar 42, in radar 43 with reflectivity, electric wave The related information of transmitance and obtain.It can determine that structure be high-intensitive structure or low strong from the material of structure The structure of degree.
In (B) in fig. 8, motion track 801 is the figure of the motion track in exemplary representation offset control, is being constructed In the case that object 803 is high-intensitive structure, for example, with there is no first in the offset control in the case where structure Amount of movement is compared and amount of movement is set to lesser second amount of movement to carry out offset control.
In the case where structure is low intensive structure with there is no in the control of the offset in the case where structure First movement amount compare and amount of movement be set to smaller and is set to amount of movement biggish compared with the second amount of movement Third amount of movement carries out offset control.
Acquisition unit (ECU22, ECU23) can obtain the type of structure 803 or in width or height at least one Structure information, and the range in the structure information based on acquisition and alteration detection region.For example, being that bar etc. is low in structure In the case where the structure of intensity, as shown in (C) in Fig. 8 in a manner of including opposite lane 702, the range in region will test (expansion) (detection zone 710) is changed from the detection zone 720 of (B) in Fig. 7.Detection zone after change (amplification) In 710, other vehicles 706 are included in test object.Control unit (ECU20) is based on acquisition unit (ECU22, ECU23) and is changing The information that obtains in the detection zone of range after (amplification) carries out offset control.
It, being capable of size (height, width based on type or shape or structure with structure according to the processing of Fig. 3 Degree) at least one of related structure information and to structure be high-intensitive structure or be low intensive structure into Row determines, and changes the amount of movement for deviating control based on result is determined.
(the offset control based on lateral range information)
In the shift suppression based on structure information being illustrated in Figure 3, to being low intensive structure in structure In the case of with the amount of movement (the second amount of movement) in the case where being high-intensitive structure compared with and biggish amount of movement (third Amount of movement) it is illustrated to carry out the example of offset control.In the present embodiment, following composition is illustrated: even if It is that the shifting of offset control is changed also based on lateral range information in the case where being determined as that structure is low intensive structure Momentum.
Fig. 4 is the flow chart being illustrated to the process flow of the offset control based on range information.Fig. 9 is exemplary table Show the figure of the offset control based on lateral range information.
In step S400, acquisition unit (ECU22, ECU23) intersects the driving direction relative to vehicle lateral Distance is obtained.That is, acquisition unit is between vehicle 705 and structure 903 as shown in (A) in Fig. 9, (B) in Fig. 9 Lateral distance L2 or vehicle 705 and other vehicles between lateral distance L1 or other vehicles 706 and structure 903 Lateral distance L3 between 706 is obtained.
In step S410, control unit (ECU20) will acquire the distance and threshold of transverse direction acquired in portion (ECU22, ECU23) Value is compared.Control unit (ECU20) is based on comparison result, to be less than the amount of movement in the case where threshold value at a distance from acquisition Compare and to the distance of acquisition more than threshold value in the case where the amount of movement mode that is inhibited carry out offset control.
That is, in the judgement of step S410, in the case where the distance of acquisition is threshold value or more (S410- is), in step In S420, control unit (ECU20) with there is no compared with the first movement amount in the offset control in the case where structure and incite somebody to action Amount of movement is set to lesser second amount of movement to carry out offset control.In this step, the feelings in distance more than threshold value Under condition, control unit (ECU20) from information acquired in acquisition unit (ECU22, ECU23) to exclude and opposite lane 702 (second Lane) the modes of other related information of vehicle 706 carry out offset the control ((inspection after inhibition of region 720 of (C) in Fig. 9 Survey region)).
On the other hand, in the judgement of step S410, in the case where the distance of acquisition is less than threshold value (S410- is no), In step S430, control unit (ECU20) is the same as there is no compared with the first movement amount in the offset control in the case where structure And amount of movement is set to smaller and compared with the second amount of movement amount of movement is set to biggish third amount of movement and carries out Offset control.
According to the processing of Fig. 4, even if in the case where being determined as structure is low intensive structure, it can also be based on cross To range information and change offset control amount of movement.
(the offset control based on identification grade)
In the present embodiment, following composition is illustrated: for letter related with the information of other vehicles, structure Breath carries out image procossing, identifies to other vehicles relative to structure, to the visible of other vehicles across structure Degree (identification grade) is determined.Then, the amount of movement of offset control is changed based on the judgement result of identification grade.
It can be using a variety of methods as structure for identification, the image processing method of vehicle.For example, from acquisition with Characteristic point is extracted in the related image information of the information of other vehicles, structure, calculates the spatial position of the characteristic point of extraction, base Structure can be identified, across other visible vehicles of structure in the spatial position of the characteristic point of calculating.In theory below In bright, ECU20, ECU22 and ECU23 example functioned as the identification part for carrying out identifying processing are illustrated, But identifying processing can also be carried out by acquisition unit (ECU22 and ECU23), it can also be identified by control unit (ECU20) Processing.
Fig. 5 is the flow chart being illustrated to the process flow of the offset control based on identification grade.In step S500, ECU20, ECU22 and ECU23 are functioned as identification part, got by acquisition unit (ECU22, ECU23) and other In the case where the related information of vehicle 706 and information related with structure, specifically to other vehicles and structure into Row identification.
In step S510, control unit (ECU20) determines the identification grade of other vehicles relative to structure. The information of type (for example, passenger car, truck) of the control unit (ECU20) based on other vehicles recognized across structure, Or it is related with the height (for example, across height of other visible vehicles of structure) of other vehicles relative to structure Information, come determine identify grade.For example, control unit (ECU20) is incited somebody to action in the case where the height of other vehicles is threshold value or more The identification grade of other vehicles be determined as it is higher, the height of other vehicles be less than threshold value in the case where, by the knowledge of other vehicles Other grade is determined as lower.
Figure 10 is the figure of judgement of the exemplary representation relative to the identification grade of other vehicles of structure.In Figure 10 (A) the case where type for indicating other vehicles is passenger car, (B) in Figure 10 indicate that the type of other vehicles is the feelings of truck Condition.In (A) in Figure 10, H1 indicates the height of structure 1003, and H2 is indicated across other the visible vehicles of structure 1003 The height (difference height) of 1006A.The height of H4 expression threshold value.In addition, H1 indicates structure 1003 in (B) in Figure 10 Height, H3 indicate across visible other vehicles 1006B of structure 1003 height (difference height).Since overall height is lower Passenger car (other vehicle 1006A) is less than threshold value (H4) across the visible height of structure (H2), therefore is identified that grade is sentenced It is set to lower.In addition, due to the higher truck of overall height (other vehicle 1006B) across the visible height of structure (H3) be greater than threshold It is worth (H4), therefore it is higher to be identified that grade is determined as.
In addition, the calculation method across the height (H2, H3) of other the visible vehicles of structure 1003 is also possible to from vehicle Whole height subtract difference obtained from the height (H1) of structure 1003.For example, in Figure 10, other vehicles 1006A Whole height be (H5), difference conduct obtained from the height (H1) of structure 1003 can will be subtracted from whole height (H5) Across the height (H2) of visible other vehicles 1006A of structure 1003.Similarly, the whole height of other vehicles 1006B is (H6), difference obtained from the height (H1) of structure 1003 can will be subtracted from whole height (H6) to be used as across structure The height (H3) of 1003 visible other vehicles 1006B.
Judgement of the control unit (ECU20) based on identification grade is as a result, in turn based on the movement changed according to identification grade It measures and carries out offset control.That is, control unit (ECU20) is to identification etc. compared with the amount of movement in the case that identification is higher ranked Amount of movement in the lower situation of grade is inhibited to carry out offset control.
In addition, identification part cannot play preset recognition performance sometimes according to the environment around vehicle.In this way In the case where, the identification grade of identification part can be lower.It, can shape in the case where the identification part of redundancy outputs different identification grades At the lower identification grade of reliability.In this case, for more safely driving vehicle, control unit (ECU20) can It is controlled by a manner of without offset control.
Explanation is back to Fig. 5, in step S520, in the case where identifying junior situation (S510- is (low)), control Portion (ECU20) is the same as there is no be set to amount of movement compared with the first movement amount in the offset control in the case where structure Lesser second amount of movement carries out offset control.
On the other hand, in the case where identifying higher ranked (S510- no (height)), control unit (ECU20) with first to move Momentum is compared and is set to smaller by amount of movement and amount of movement is set to biggish third movement compared with the second amount of movement Amount is to carry out offset control.
According to the processing of Fig. 5, other vehicles relative to structure can be identified, to across structure other The visibility (identification grade) of vehicle is determined, and the movement of offset control is changed based on the judgement result for identifying grade Amount.
(there are the discontinuous offset controls being not detected in the case where region of structure)
In the present embodiment, to the structure that there is identification after identification part recognizes structure become to identify less than The offset control in the case where region is not detected to be illustrated.
Fig. 6 is the flow chart being illustrated to the process that there is the offset control in the case where region is not detected.
In step S600, identification part (ECU20, ECU22, ECU23) identifies structure.As structure for identification The image processing method of the divine force that created the universe can use a variety of image processing methods.For example, such as in the offset control (figure based on identification grade 5) as illustrated in, characteristic point can be extracted from the image information related with structure of acquisition, and calculate extraction The spatial position of characteristic point, to identify structure based on the spatial position of the characteristic point of calculating.In addition, the spy based on extraction The spatial position for levying point, can identify the continuous region of structure and the discontinuous region of structure (region is not detected).This Outside, image processing method described herein is an example, is not limited to this method, can apply various methods.
In step S610, the structure that there is identification after recognizing structure in identification part becomes to identify less than not In the case where detecting region, the distance that identification part (ECU20, ECU22, ECU23) carries out that region is not detected is compared with threshold value.When The distance that region is not detected is less than in the case where threshold value (S610- is), and processing enters step S620.
In step S620, control unit (ECU20) continues the offset control based on the amount of movement set relative to structure System.Continue in present treatment offset control be illustrate in the step S260 of Fig. 2 offset control, control unit (ECU20) after The continuous feelings carried out and structure is not present between the second lane that the first lane that vehicle is travelled and other vehicles are travelled Amount of movement (first movement amount) under condition is compared and inhibits that there are the offset of the amount of movement in the case where structure controls.
Amount of movement after inhibition is e.g. high-intensitive in structure or is the movement set in low intensive situation Amount, or set based on the relationship of the lateral distance and threshold value relative to structure, and continue based on above-mentioned movement The offset of amount controls.
On the other hand, in the comparison processing of step S610 in the case that the distance that region is not detected is threshold value or more (S610- is no), processing enter step S630.
In step S630, in the case where it is threshold value or more that the distance in region, which is not detected, control unit (ECU20) is based on root According to traveling second lane other vehicles at a distance from transverse direction between vehicle and the amount of movement that sets carries out offset control. The offset control carried out in step S630 is the common offset control illustrated in the step S250 of Fig. 2, and area is being not detected In the case that the distance in domain is threshold value or more, control unit (ECU20) is not inhibited the offset of amount of movement to control.
Figure 11 is the figure for the offset control that exemplary representation exists in the case where region is not detected.In (A) in Figure 11, Vehicle 705 is this vehicle of control object, is travelled on lane 701 (first lane) along the direction of arrow 707.Vehicle 706 It is other vehicles, travels along the direction of arrow 708 in (the second vehicle of opposite lane 702 relative to lane 701 (first lane) Road) on.Between lane 701 (first lane) and opposite lane 702 (second lane), distinguished by structure A and structure B It opens.
Region C is after identification part (ECU20, ECU22, ECU23) recognizes structure A, and the structure A of identification becomes to know Not less than region is not detected.In the presence of region C is not detected, identification part carries out distance and threshold value that region is not detected Comparison, in the case where the distance that region is not detected is less than threshold value, identification part is to being not detected region C setting and the structure that is identified The dummy line 1101 of the end connection of the divine force that created the universe A, B, the structure for region C will be not detected being set as virtual.Region C work will be not detected For virtual structure C, using structure A, B, C as the structure being formed as one.Control unit (ECU20) is to structure C, B Also the offset control based on the amount of movement set relative to structure A is carried out, and continues to deviate control.
In addition, being not limited to setting dummy line 1101, virtual target can also be configured region C is not detected, by identification It fills up to form virtual integrated structure between structure A, B.
(B) in Figure 11 is to indicate that the distance that region is not detected is the figure of the situation of threshold value or more.Region is being not detected In the case that distance is threshold value or more, without the setting of the such ground (A) dummy line in Figure 11, but by acquisition unit (ECU22, ECU23) is in a manner of the detection zone that will be reverted under usual state relative to the detection zone that region C is not detected Carry out setting change.
In (B) in Figure 11, region 1110 is the detection zone under the usual state of acquisition unit (ECU22, ECU23). In the case where carrying out that the offset of amount of movement is inhibited to control, control unit (ECU20) is based on the region for having narrowed detection zone Information and controlled.That is, there are structure A's between lane 701 (first lane) and opposite lane 702 (second lane) In the case of, control unit (ECU20) is based on acquisition unit (ECU22, ECU23) and is removing opposite lane from common detection zone 1110 The information that obtains in region 1120 (detection zone after inhibition) after 702 (second lanes) carries out offset control.Herein into Capable offset control is processing corresponding with the step S260 of Fig. 2.
After in identification part, (ECU20, ECU22, ECU23) recognizes structure A, the structure A of identification become identification less than The distance that region C is not detected be threshold value more than in the case where, acquisition unit (ECU22, ECU23) will test region 1120 and be changed to Detection zone 1110 (expansion of detection zone) under usual state.In region C is not detected, for example, traveling is in opposite lane Other vehicles 706 of 702 (second lanes) are possible to turn right or reversed end for end as shown in arrow 1130.Control unit (ECU20) Based on the transverse direction according to traveling between other vehicles 706 and vehicle 705 (this vehicle) of opposite lane 702 (second lane) Distance and the amount of movement set controls to carry out common offset.The offset control carried out herein is S250 pairs of step with Fig. 2 The processing answered.Control unit (ECU20) carries out common offset control, until identification (detecting) has defined structure information Until the structure B of (for example, width, height etc.).
It recognizes in the traveling by vehicle 705 (this vehicle) to lane 701 (first lane) and opposite lane 702 In the case where the structure B distinguished between (second lane), acquisition unit (ECU22, ECU23) is by the detection under usual state Region 1110 is changed to detection zone 1120 (diminution of detection zone).
There are in the case where structure B between lane 701 (first lane) and opposite lane 702 (second lane), control Portion (ECU20) processed is based on acquisition unit (ECU22, ECU23) and is removing opposite lane 702 (second from common detection zone 1110 Lane) after detection zone 1120 (detection zone after inhibition) in obtain information and carry out offset control.It carries out herein Offset control is processing corresponding with the step S260 of Fig. 2.
Processing according to figure 6, though there are structure be it is discontinuous region is not detected in the case where, also can Offset control is changed based on the distance that region is not detected.
The summary > of < embodiment
The controller of vehicle for constituting 1. above embodiment is the controller of vehicle controlled the traveling of vehicle (such as 100), have:
Acquiring unit (for example, ECU22, ECU23), detection zone of the acquiring unit pair with traveling around above-mentioned vehicle The related information of other vehicles in domain and information related with the structure of above-mentioned detection zone is located at are obtained；And
Control unit (for example, ECU20), the information which is obtained based on above-mentioned acquiring unit, carry out so that on The horizontal offset control moved up that vehicle intersects in the driving direction relative to above-mentioned vehicle is stated,
Above-mentioned control unit, the travelled with the first lane and other above-mentioned vehicles travelled in above-mentioned vehicle There is no the lateral momentums in the case where above-mentioned structure to compare and inhibit the case where there are above-mentioned structures between two lane highways Under lateral momentum offset control (for example, S260).
According to the controller of vehicle for constituting 1, it is contemplated that being present in the structure between this vehicle and other vehicles And carry out offset control.
2. are constituted in the controller of vehicle (100) of above embodiment,
There are in the case where above-mentioned structure between above-mentioned first lane and above-mentioned second lane, above-mentioned control unit base In the information obtained in region (for example, 720) of the above-mentioned acquiring unit after removing above-mentioned second lane from above-mentioned detection zone And carry out above-mentioned offset control.
3. are constituted in the controller of vehicle (100) of above embodiment,
There are in the case where above-mentioned structure between above-mentioned first lane and above-mentioned second lane, above-mentioned control unit from Exclude information related with other vehicles of above-mentioned second lane in information acquired in above-mentioned acquiring unit (for example, 710) and Carry out above-mentioned offset control.
It can by reducing the detection range of radar, optical radar etc. according to composition 2 to the controller of vehicle for constituting 3 Inhibit the vehicle control of consumption electric power.
4. are constituted in the controller of vehicle (100) of above embodiment,
Above-mentioned control unit carries out information acquired in above-mentioned acquiring unit being stored in storage unit (example with time series Such as, C2) objective management,
There are in the case where above-mentioned structure between above-mentioned first lane and above-mentioned second lane, above-mentioned control unit pair The above-mentioned objective management of information related with other vehicles of above-mentioned second lane is inhibited.
It is able to carry out and alleviates by being excluded from the tracking object of time series according to the controller of vehicle for constituting 4 Handle the vehicle control of load.
5. are constituted in the controller of vehicle (100) of above embodiment,
Above-mentioned acquiring unit obtains the type of above-mentioned structure or shape or has with the height of above-mentioned structure, width At least one the structure information (such as S300) closed,
Above-mentioned control unit is changed based on structure information acquired in above-mentioned acquiring unit in above-mentioned offset control Lateral momentum (such as S320, S330).
6. are constituted in the controller of vehicle (100) of above embodiment,
Whether above-mentioned control unit is that high-intensitive structure carries out to above-mentioned structure based on above-mentioned structure information Determine (such as S310),
Above-mentioned control unit in the case where being determined as structure that above-mentioned structure is high-intensitive, with there is no above-mentioned The first lateral momentum in offset control in the case where structure is compared and that lateral momentum is set to lesser second is traversing Momentum carries out above-mentioned offset control (such as S320),
Above-mentioned control unit is high-intensitive structure but low intensive structure being determined as above-mentioned structure not In the case of, with compared with above-mentioned first lateral momentum and by lateral momentum be set to it is smaller and with above-mentioned second lateral momentum phase Than and lateral momentum is set to biggish third lateral momentum and carries out offset control (such as S330).
7. are constituted in the controller of vehicle (100) of above embodiment,
Above-mentioned structure information of the above-mentioned acquiring unit based on acquisition and change above-mentioned detection zone range (such as 720),
The information that above-mentioned control unit is obtained in the detection zone of the range after above-mentioned change based on above-mentioned acquiring unit And carry out above-mentioned offset control.
According to constituting 5 to the controller of vehicle for constituting 7, can type based on structure or shape or with construction In the related size of the height of object, width at least one of structure information and to structure be high-intensitive structure either Low intensive structure is determined, and changes the lateral momentum in offset control based on result is determined.
8. are constituted in the controller of vehicle (100) of above embodiment,
Above-mentioned acquiring unit to above-mentioned vehicle between above-mentioned structure it is above-mentioned it is lateral at a distance from (for example, L1) or Other above-mentioned vehicles between above-mentioned structure it is above-mentioned it is lateral at a distance from (for example, L2) or above-mentioned vehicle and it is above-mentioned other Above-mentioned lateral distance (for example, L3) between vehicle is obtained,
Above-mentioned control unit with the above-mentioned distance of acquisition be less than threshold value in the case where lateral momentum (such as S430) phase Than and to the above-mentioned distance of acquisition more than threshold value in the case where the mode that is inhibited of lateral momentum (such as S420) come Carry out above-mentioned offset control.
9. are constituted in the controller of vehicle (100) of above embodiment,
In the case where being determined as above-mentioned structure is low intensive structure,
When acquisition above-mentioned distance more than threshold value in the case where, above-mentioned control unit with be not present above-mentioned structure In the case where offset control in the first lateral momentum compare and by lateral momentum be set to lesser second lateral momentum come Above-mentioned offset control (such as S420) is carried out,
When acquisition above-mentioned distance without more than the threshold value in the case where, above-mentioned control unit with it is above-mentioned first traversing Momentum is compared and is set to smaller by lateral momentum and is set to lateral momentum larger compared with above-mentioned second lateral momentum Third lateral momentum carry out offset control (such as S430).
10. are constituted in the controller of vehicle (100) of above embodiment,
In the case where above-mentioned distance is more than threshold value, above-mentioned control unit information acquired in the above-mentioned acquiring unit It is middle to exclude information related with other vehicles of above-mentioned second lane and carry out above-mentioned offset control.
According to composition 8 to the controller of vehicle for constituting 10, even if being determined as that structure is low intensive structure In the case of, the lateral momentum in offset control can be also changed based on lateral range information.
11. are constituted in the controller of vehicle (100) of above embodiment,
Be also equipped with recognition unit (for example, ECU20, ECU22, ECU23), by above-mentioned acquiring unit get with it is above-mentioned its In the case where the related information of his vehicle and information related with above-mentioned structure, the recognition unit is to other above-mentioned vehicles And above-mentioned structure is identified,
Above-mentioned control unit is to knowledges being recognized by above-mentioned recognition unit, relative to other above-mentioned vehicles of above-mentioned structure Other grade determined (such as S510), and carries out above-mentioned offset based on the lateral momentum changed according to above-mentioned identification grade It controls (such as S520, S530).
12. are constituted in the controller of vehicle (100) of above embodiment,
The information of type of the above-mentioned control unit based on other vehicles recognized across structure or with it is above-mentioned opposite Above-mentioned identification grade (such as S510) is determined in the related information of height of other above-mentioned vehicles of structure.
13. are constituted in the controller of vehicle (100) of above embodiment,
In the case where the height of other above-mentioned vehicles is threshold value or more, above-mentioned control unit is by the identification of other vehicles Grade is determined as higher, and in the case where the height of other above-mentioned vehicles is less than threshold value, above-mentioned control unit is by other vehicles Identification grade be determined as it is lower,
It is right compared with above-mentioned control unit is with the lateral momentum (such as S530) in the case that above-mentioned identification is higher ranked The mode that the lateral momentum (such as S520) in junior situation is inhibited is identified to carry out offset control.
14. are constituted in the controller of vehicle (100) of above embodiment,
In the junior situation of above-mentioned identification above-mentioned control unit with there is no in the case where above-mentioned structure The first lateral momentum in offset control is compared and lateral momentum is set to lesser second lateral momentum above-mentioned inclined to carry out Control (such as S520) is moved,
In the case where above-mentioned identification is higher ranked, above-mentioned control unit is with will be horizontal compared with above-mentioned first lateral momentum Amount of movement is set to smaller and lateral momentum is set to biggish third lateral momentum compared with above-mentioned second lateral momentum To carry out offset control (such as S530).
According to constituting 11 to the controller of vehicle for constituting 14, other vehicles relative to structure can be known Not, the visibility of other vehicles across structure (identification grade) is determined, and the judgement result based on identification grade And change the lateral momentum in offset control.
15. are constituted in the controller of vehicle (100) of above embodiment,
After above-mentioned recognition unit recognizes above-mentioned structure, there are the above-mentioned structures of identification to become to identify less than not In the case where detecting region, above-mentioned recognition unit carries out the above-mentioned distance that region is not detected compared with threshold value (such as S610),
In the case where the above-mentioned distance that region is not detected is less than threshold value, above-mentioned control unit continues based on relative to above-mentioned The above-mentioned offset control (such as S620) of structure and the above-mentioned lateral momentum that sets.
16. are constituted in the controller of vehicle (100) of above embodiment,
In the case where the above-mentioned distance that region is not detected is threshold value or more, above-mentioned control unit is based on according to traveling upper It is above-mentioned to carry out to state the lateral momentum that other above-mentioned vehicles of second lane are set at a distance from the transverse direction between above-mentioned vehicle Offset control (such as S630).
17. are constituted in the controller of vehicle (100) of above embodiment,
In the case where the above-mentioned distance that region is not detected is threshold value or more, above-mentioned control unit is not inhibited above-mentioned cross The offset of amount of movement controls (such as S630).
According to constituting 15 to the controller of vehicle for constituting 17, even if being discontinuous region to be not detected there are structure In the case where, also offset control can be changed based on the distance that region is not detected.
18. are constituted in the controller of vehicle (100) of above embodiment,
Above-mentioned structure includes the isolation strip distinguished to above-mentioned first lane and above-mentioned second lane.
According to the controller of vehicle for constituting 18, it is contemplated that being present in the structure between this vehicle and other vehicles To carry out offset control.
The control method for vehicle for constituting 19. above embodiment is the vehicle control dress controlled the traveling of vehicle The control method for vehicle set, comprising:
Obtaining step (such as S210), in the obtaining step, to the detection zone with traveling around above-mentioned vehicle The related information of other vehicles and obtained with the related information of the structure of above-mentioned detection zone is located at；And
Rate-determining steps (such as S260), based on the information obtained in above-mentioned obtaining step, carry out in the rate-determining steps So that the horizontal offset control moved up that above-mentioned vehicle intersects in the driving direction relative to above-mentioned vehicle,
In above-mentioned rate-determining steps, progress is travelled with the first lane and other above-mentioned vehicles travelled in above-mentioned vehicle Second lane between compared there is no the lateral momentum in the case where above-mentioned structure and inhibit that there are above-mentioned structures In the case of lateral momentum offset control.
According to the control method for vehicle for constituting 19, it is contemplated that being present in the structure between this vehicle and other vehicles To carry out offset control.
The storage medium for constituting 20. above embodiment is stored with so that computer executes the vehicle for constituting and recording in 19 The program of each step of control method.
According to constituting 20, the control method for vehicle for constituting and recording in 19 can be realized by computer.
The information acquisition device for constituting 21. above embodiment is in order to control the traveling of vehicle (for example, 1) and to upper The information acquisition device (for example, 22,23,41,42,43) that the information around vehicle is obtained is stated, is had:
Acquiring unit (such as 22,23), the acquiring unit pair and detection zone of the traveling around above-mentioned vehicle its The related information of his vehicle and information related with the structure of above-mentioned detection zone is located at obtain,
There are structures between the second lane that the first lane that above-mentioned vehicle is travelled and other vehicles are travelled In the case of, the control unit (such as 20) that above-mentioned acquiring unit is controlled to the traveling to above-mentioned vehicle is exported from above-mentioned detection Region removes the information in the region after above-mentioned second lane.
Structure can be obtained according to the information acquisition device at 21 in view of being present between this vehicle and other vehicles Structure and carry out offset control information.
(other embodiments)
The present invention can be by that will realize the program of above-mentioned vehicle control function via network or storage medium to vehicle Supply, and read and executed the processing of program by the more than one processor in the computer of the vehicle and realized.

Claims (21)

1. a kind of controller of vehicle is the controller of vehicle controlled the traveling of vehicle, which is characterized in that have:
Acquiring unit, the acquiring unit pair letter related with other vehicles of detection zone of traveling around the vehicle Breath and information related with the structure of the detection zone is located at are obtained；And
Control unit, the information which is obtained based on the acquiring unit carry out so that the vehicle is relative to institute The horizontal offset control moved up stating the driving direction of vehicle and intersecting,
Described control unit carries out the second vehicle travelled with the first lane and other described vehicles travelled in the vehicle It is compared between road there is no the lateral momentum in the case where the structure and inhibits that there are in the case where the structure The offset of lateral momentum controls.
2. controller of vehicle according to claim 1, which is characterized in that
There are in the case where the structure between the first lane and the second lane, described control unit is based on institute It states the information that acquiring unit obtains in the region after removing the second lane from the detection zone and carries out the offset Control.
3. controller of vehicle according to claim 1, which is characterized in that
There are in the case where the structure between the first lane and the second lane, described control unit is from described Information related with other vehicles of the second lane is excluded in information acquired in acquiring unit and carries out the offset control System.
4. controller of vehicle according to any one of claims 1 to 3, which is characterized in that
Described control unit carries out the target that information acquired in the acquiring unit is stored in storage unit with time series Management,
There are in the case where the structure between the first lane and the second lane, described control unit pair and institute The objective management for stating the related information of other vehicles of second lane is inhibited.
5. controller of vehicle according to any one of claims 1 to 3, which is characterized in that
The acquiring unit obtains the type or shape or related with the height of the structure, width of the structure At least one structure information,
Described control unit is changed traversing in the offset control based on structure information acquired in the acquiring unit Momentum.
6. controller of vehicle according to claim 5, which is characterized in that
Whether described control unit is that high-intensitive structure determines to the structure based on the structure information,
Described control unit in the case where being determined as structure that the structure is high-intensitive, with the construction is not present The first lateral momentum in offset control in the case where object is compared and lateral momentum is set to lesser second lateral momentum It is controlled to carry out the offset,
Described control unit is the case where being determined as the structure not is high-intensitive structure but low intensive structure Under, with lateral momentum is set to compared with first lateral momentum it is smaller and compared with second lateral momentum and Lateral momentum is set to biggish third lateral momentum to carry out offset control.
7. controller of vehicle according to claim 5, which is characterized in that
The structure information of the acquiring unit based on acquisition and the range for changing the detection zone,
Described control unit based on the information that the acquiring unit obtains in the detection zone of the range after the change and into The row offset control.
8. controller of vehicle according to claim 6, which is characterized in that
The acquiring unit to the vehicle between the structure it is described it is lateral at a distance from or other described vehicles with The lateral distance or the vehicle between the structure between other described vehicles it is described it is lateral at a distance from It is obtained,
Compared with described control unit is with the lateral momentum in the case that the above-mentioned distance of acquisition is less than threshold value and to the institute of acquisition The mode that lateral momentum in the case where distance is stated more than threshold value is inhibited controls to carry out the offset.
9. controller of vehicle according to claim 8, which is characterized in that
In the case where being determined as the structure is low intensive structure,
When acquisition the distance more than threshold value in the case where, described control unit with be not present the structure feelings The first lateral momentum in offset control under condition is compared and lateral momentum is set to lesser second lateral momentum to carry out The offset control,
When acquisition the distance without more than the threshold value in the case where, described control unit with first lateral momentum Compared to being set to smaller by lateral momentum and lateral momentum be set to biggish third compared with second lateral momentum Lateral momentum carries out offset control.
10. controller of vehicle according to claim 8 or claim 9, which is characterized in that
In the case where the distance is more than threshold value, described control unit is arranged from information acquired in the acquiring unit The offset control is carried out except information related with other vehicles of the second lane.
11. controller of vehicle according to any one of claims 1 to 3, which is characterized in that
Be also equipped with recognition unit, by the acquiring unit get information related with other described vehicles and with it is described In the case where the related information of structure, the recognition unit identifies other described vehicles and the structure,
Described control unit is to identifications being recognized as the recognition unit, relative to other vehicles described in the structure Grade is determined, and is controlled based on the lateral momentum changed according to the identification grade to carry out the offset.
12. controller of vehicle according to claim 11, which is characterized in that
The information of type of the described control unit based on other vehicles recognized across structure or with relative to the structure The related information of height of other vehicles of the divine force that created the universe determines the identification grade.
13. controller of vehicle according to claim 12, which is characterized in that
In the case where the height of other vehicles is threshold value or more, described control unit is by the identification grade of other vehicles It is determined as higher, in the case where the height of other vehicles is less than threshold value, described control unit is by the knowledge of other vehicles Other grade be determined as it is lower,
It is junior to identifying compared with described control unit is with the lateral momentum in the case that the identification is higher ranked In the case of the lateral momentum mode that is inhibited carry out offset control.
14. controller of vehicle according to claim 11, which is characterized in that
In the junior situation of the identification described control unit with there is no the offsets in the case where the structure The first lateral momentum in control is compared and lateral momentum is set to lesser second lateral momentum to carry out offset control System,
In the case where the identification is higher ranked, described control unit compared with first lateral momentum traversing will move Amount be set to it is smaller and compared with second lateral momentum and by lateral momentum be set to biggish third lateral momentum come into Line displacement control.
15. controller of vehicle according to claim 11, which is characterized in that
After the recognition unit recognizes the structure, there are the structure of identification become to identify less than be not detected In the case where region, the distance in region is not detected described in the recognition unit progress compared with threshold value,
In the case where the distance that region is not detected is less than threshold value, described control unit continues based on relative to the construction The offset control of object and the lateral momentum that sets.
16. controller of vehicle according to claim 15, which is characterized in that
In the case where the distance that region is not detected is threshold value or more, described control unit is based on according to traveling described the Other described vehicles of two lane highways at a distance from the transverse direction between the vehicle and the lateral momentum that sets carries out the offset Control.
17. controller of vehicle according to claim 16, which is characterized in that
In the case where the distance that region is not detected is threshold value or more, described control unit is not inhibited described traversing dynamic The offset of amount controls.
18. controller of vehicle according to any one of claims 1 to 3, which is characterized in that
The structure includes the isolation strip distinguished to the first lane and the second lane.
19. a kind of control method for vehicle is the control method for vehicle of the controller of vehicle controlled the traveling of vehicle, It is characterized in that having:
Obtaining step, in the obtaining step, to related with other vehicles of detection zone of traveling around the vehicle Information and obtained with the related information of the structure of the detection zone is located at；And rate-determining steps, in the control In step, based on the information obtained in the obtaining step, carry out so that the vehicle is in the traveling relative to the vehicle Direction and intersect it is horizontal move up offset control,
In the rate-determining steps, travelled with the first lane and other described vehicles travelled in the vehicle the There is no the lateral momentums in the case where the structure to compare and inhibit the case where there are the structures between two lane highways Under lateral momentum offset control.
20. a kind of storage medium is stored with each step so that control method for vehicle described in computer perform claim requirement 19 Program.
21. a kind of information acquisition device is obtained to control the traveling of vehicle and to the information around the vehicle Information acquisition device, which is characterized in that have:
Acquiring unit, the acquiring unit pair letter related with other vehicles of detection zone of traveling around the vehicle Breath and information related with the structure of the detection zone is located at are obtained,
The case where there are structures between the second lane that the first lane that the vehicle is travelled and other vehicles are travelled Under, the control unit output that the acquiring unit is controlled to the traveling to the vehicle is from described in detection zone removing The information in the region after second lane.
CN201811323665.0A 2017-12-28 2018-11-08 Vehicle control device, vehicle control method, storage medium, and information acquisition device Active CN110001643B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-254263 2017-12-28
JP2017254263A JP6592074B2 (en) 2017-12-28 2017-12-28 Vehicle control device, vehicle control method, program, and information acquisition device

Publications (2)

Publication Number Publication Date
CN110001643A true CN110001643A (en) 2019-07-12
CN110001643B CN110001643B (en) 2022-03-04

Family

ID=67164911

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811323665.0A Active CN110001643B (en) 2017-12-28 2018-11-08 Vehicle control device, vehicle control method, storage medium, and information acquisition device

Country Status (2)

Country Link
JP (1) JP6592074B2 (en)
CN (1) CN110001643B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113511218A (en) * 2020-03-25 2021-10-19 本田技研工业株式会社 Vehicle control device, vehicle control method, and storage medium

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7307330B2 (en) * 2019-08-22 2023-07-12 株式会社三洋物産 game machine
JP7302375B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302373B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302378B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302376B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302374B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302377B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302372B2 (en) * 2019-08-22 2023-07-04 株式会社三洋物産 game machine
JP7302379B2 (en) * 2019-08-23 2023-07-04 株式会社三洋物産 game machine
JP7307331B2 (en) * 2019-08-23 2023-07-12 株式会社三洋物産 game machine
JP7342588B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
JP7342585B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
JP7342586B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
JP7342587B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
JP7342589B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
JP7342584B2 (en) * 2019-10-03 2023-09-12 株式会社三洋物産 gaming machine
WO2023162559A1 (en) * 2022-02-24 2023-08-31 株式会社デンソー Periphery monitoring device and program

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05205198A (en) * 1992-01-29 1993-08-13 Mazda Motor Corp Obstacle detection device for vehicle
JP2004136785A (en) * 2002-10-17 2004-05-13 Toyota Motor Corp Controller for vehicle
JP2009116614A (en) * 2007-11-06 2009-05-28 Fuji Heavy Ind Ltd Operation support device for vehicle
JP2009140145A (en) * 2007-12-05 2009-06-25 Honda Motor Co Ltd Vehicle travel-supporting device
JP2009230627A (en) * 2008-03-25 2009-10-08 Mazda Motor Corp Running support device of vehicle
CN106898158A (en) * 2015-12-21 2017-06-27 三菱自动车工业株式会社 Drive supporting device

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6354440B2 (en) * 2014-08-11 2018-07-11 日産自動車株式会社 Travel control device and travel control method
JP6296162B2 (en) * 2014-08-11 2018-03-20 日産自動車株式会社 Vehicle travel control apparatus and method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05205198A (en) * 1992-01-29 1993-08-13 Mazda Motor Corp Obstacle detection device for vehicle
JP2004136785A (en) * 2002-10-17 2004-05-13 Toyota Motor Corp Controller for vehicle
JP2009116614A (en) * 2007-11-06 2009-05-28 Fuji Heavy Ind Ltd Operation support device for vehicle
JP2009140145A (en) * 2007-12-05 2009-06-25 Honda Motor Co Ltd Vehicle travel-supporting device
JP2009230627A (en) * 2008-03-25 2009-10-08 Mazda Motor Corp Running support device of vehicle
CN106898158A (en) * 2015-12-21 2017-06-27 三菱自动车工业株式会社 Drive supporting device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113511218A (en) * 2020-03-25 2021-10-19 本田技研工业株式会社 Vehicle control device, vehicle control method, and storage medium
CN113511218B (en) * 2020-03-25 2024-05-10 本田技研工业株式会社 Vehicle control device, vehicle control method, and storage medium

Also Published As

Publication number Publication date
JP6592074B2 (en) 2019-10-16
CN110001643B (en) 2022-03-04
JP2019119296A (en) 2019-07-22

Similar Documents

Publication Publication Date Title
CN110001643A (en) Controller of vehicle, control method for vehicle, storage medium and information acquisition device
CN110281930A (en) Controller of vehicle, vehicle, control method for vehicle and storage medium
CN105835886B (en) Drive assistance device
CN107472350A (en) Controller of vehicle, control method for vehicle and wagon control program
CN105774806B (en) Controlling device for vehicle running
CN110271532A (en) Controller of vehicle
JP7048353B2 (en) Driving control device, driving control method and program
CN107848533A (en) Controller of vehicle, control method for vehicle and wagon control program
CN106097774A (en) Track change assisting system
JP6985207B2 (en) Autonomous driving system
CN107867289A (en) Driving assist system and traveling householder method
CN105988467A (en) Autonomous driving device
CN107111954A (en) Destination path generating means and travel controlling system
CN107848531A (en) Controller of vehicle, control method for vehicle and wagon control program
CN109074733A (en) Vehicle control system, control method for vehicle and vehicle control program
CN110060467A (en) Prediction meanss, prediction technique and storage medium
CN107836018A (en) Controller of vehicle, control method for vehicle and wagon control program
CN109421799A (en) Controller of vehicle, control method for vehicle and storage medium
CN110023783A (en) Vehicle-surroundings information acquisition device and vehicle
CN109421705A (en) Vehicle parking assistance device
CN106062852A (en) System for avoiding collision with multiple moving bodies
CN108883774A (en) Vehicle control system, control method for vehicle and vehicle control program
JP6841854B2 (en) Vehicles and their control devices and control methods
CN109515430A (en) The control method of drive-control system and vehicle
JP6970215B2 (en) Vehicle control device, vehicle with it, and control method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant