JP2021059132A - Outside-vehicle environment recognition device - Google Patents

Outside-vehicle environment recognition device Download PDF

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JP2021059132A
JP2021059132A JP2019182599A JP2019182599A JP2021059132A JP 2021059132 A JP2021059132 A JP 2021059132A JP 2019182599 A JP2019182599 A JP 2019182599A JP 2019182599 A JP2019182599 A JP 2019182599A JP 2021059132 A JP2021059132 A JP 2021059132A
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JP7352432B2 (en
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淑実 大久保
Toshimi Okubo
淑実 大久保
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Subaru Corp
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Abstract

To enable appropriate ACC.SOLUTION: An outside-vehicle environment recognition device includes: a curvature radius derivation unit for deriving an own vehicle curvature radius which is a curvature radius of a traveling path of an own vehicle 1, and an object vehicle curvature radius R2 which is a curvature radius of a circle passing through an object vehicle 3 and touching the traveling path of the own vehicle at a position of the own vehicle; an inter-vehicle distance determination unit for determining an inter-vehicle distance between the own vehicle and the object vehicle on the basis of a degree of agreement between the own vehicle curvature radius and the object vehicle curvature radius; and a follow-up control unit for performing follow-up control on the basis of the determined inter-vehicle distance.SELECTED DRAWING: Figure 8

Description

本発明は、自車両の進行方向に存在する対象車両に追従する車外環境認識装置に関する。 The present invention relates to an external environment recognition device that follows a target vehicle existing in the traveling direction of the own vehicle.

従来、自車両の前方に位置する車両等の立体物を検出し、先行車両との衝突を回避したり（衝突回避制御）、先行車両との車間距離を安全な距離に保つように制御するＡＣＣ（Adaptive Cruise Control）技術が知られている（例えば、特許文献１）。 Conventionally, ACC detects a three-dimensional object such as a vehicle located in front of the own vehicle, avoids a collision with the preceding vehicle (collision avoidance control), and controls to keep the distance between the preceding vehicle and the vehicle at a safe distance. (Adaptive Cruise Control) technology is known (for example, Patent Document 1).

特許第３３４９０６０号公報Japanese Patent No. 3349060

上記のＡＣＣでは、自車両の進行路に先行車両が存在すると、その先行車両を対象として、先行車両と自車両との車間距離を保ちつつ、自車両の定速走行を実現することができる。 In the above-mentioned ACC, when a preceding vehicle exists on the traveling path of the own vehicle, it is possible to realize constant speed traveling of the own vehicle while maintaining the distance between the preceding vehicle and the own vehicle for the preceding vehicle.

このようなＡＣＣでは、先行車両の挙動によって適切な車間距離が異なる場合がある。例えば、対象となる先行車両（対象車両）が、自車両と同一の進行路を走行しつつ旋回している場合、車間距離は、旋回している進行路に沿った曲線に基づいて導出すべきである。一方、対象車両が自車両の進行路に割り込んできた場合、車間距離は、進行路に拘わらず、対象車両との直線距離で判断すべきである。 In such an ACC, the appropriate inter-vehicle distance may differ depending on the behavior of the preceding vehicle. For example, when the target preceding vehicle (target vehicle) is turning while traveling on the same traveling path as the own vehicle, the inter-vehicle distance should be derived based on the curve along the turning traveling path. Is. On the other hand, when the target vehicle interrupts the traveling path of the own vehicle, the inter-vehicle distance should be determined by the linear distance from the target vehicle regardless of the traveling path.

しかしながら、先行車両の挙動を画一的かつ効率的に判断する技術が存在しないので、車間距離を適切に導出することができなかった。 However, since there is no technology for uniformly and efficiently determining the behavior of the preceding vehicle, it has not been possible to appropriately derive the inter-vehicle distance.

本発明は、このような課題に鑑み、適切なＡＣＣを実現可能な車外環境認識装置を提供することを目的としている。 In view of such a problem, an object of the present invention is to provide an external environment recognition device capable of realizing an appropriate ACC.

上記課題を解決するために、本発明の車外環境認識装置は、自車両の進行路の曲率半径である自車両曲率半径、および、対象車両を通り自車両の位置で自車両の進行路に接する円の曲率半径である対象車両曲率半径を導出する曲率半径導出部と、自車両曲率半径と対象車両曲率半径との一致度に基づいて自車両と対象車両との車間距離を特定する車間距離特定部と、特定された車間距離に基づいて追従制御を行う追従制御部と、を備える。 In order to solve the above problems, the external environment recognition device of the present invention comes into contact with the radius of curvature of the own vehicle, which is the radius of curvature of the path of the own vehicle, and the path of the own vehicle at the position of the own vehicle through the target vehicle. The radius of curvature of the target vehicle, which is the radius of curvature of the circle, is derived, and the distance between the own vehicle and the target vehicle is specified based on the degree of coincidence between the radius of curvature of the own vehicle and the radius of curvature of the target vehicle. It includes a unit and a tracking control unit that performs tracking control based on a specified distance between vehicles.

車間距離特定部は、一致度に基づいて、自車両の進行路に従った弧距離、または、自車両と対象車両とを直線で結んだ直線距離のいずれかを車間距離として特定してもよい。 Based on the degree of coincidence, the inter-vehicle distance specifying unit may specify either the arc distance according to the traveling path of the own vehicle or the straight line distance connecting the own vehicle and the target vehicle with a straight line as the inter-vehicle distance. ..

車間距離特定部は、自車両の進行路に従った弧距離に一致度を乗じた第１距離と、自車両と対象車両とを直線で結んだ直線距離に、１から一致度を減じた値を乗じた第２距離との和を車間距離として特定してもよい。 The inter-vehicle distance specifying part is a value obtained by subtracting the degree of coincidence from 1 to the first distance obtained by multiplying the arc distance according to the traveling path of the own vehicle by the degree of coincidence and the straight line distance connecting the own vehicle and the target vehicle with a straight line. The sum of the second distance multiplied by is specified as the inter-vehicle distance.

本発明によれば、適切なＡＣＣを実現することが可能となる。 According to the present invention, it is possible to realize an appropriate ACC.

車外環境認識システムの接続関係を示したブロック図である。It is a block diagram which showed the connection relation of the outside environment recognition system. 輝度画像を説明するための説明図である。It is explanatory drawing for demonstrating a luminance image. 距離画像を説明するための説明図である。It is explanatory drawing for demonstrating the distance image. 車外環境認識装置の概略的な機能を示した機能ブロック図である。It is a functional block diagram which showed the schematic function of the vehicle exterior environment recognition device. 車外環境認識方法の流れを示すフローチャートである。It is a flowchart which shows the flow of the outside environment recognition method. 立体物特定部の処理を説明するための説明図である。It is explanatory drawing for demonstrating the processing of the three-dimensional object identification part. 自車両円を説明するための説明図である。It is explanatory drawing for demonstrating own vehicle circle. 対象車両円を説明するための説明図である。It is explanatory drawing for demonstrating the target vehicle circle. 対象車両曲率半径の他の導出手段を説明するための説明図である。It is explanatory drawing for demonstrating another derivation means of the radius of curvature of a target vehicle. 対象車両曲率半径の他の導出手段を説明するための説明図である。It is explanatory drawing for demonstrating another derivation means of the radius of curvature of a target vehicle.

以下に添付図面を参照しながら、本発明の好適な実施形態について詳細に説明する。かかる実施形態に示す寸法、材料、その他具体的な数値などは、発明の理解を容易とするための例示にすぎず、特に断る場合を除き、本発明を限定するものではない。なお、本明細書および図面において、実質的に同一の機能、構成を有する要素については、同一の符号を付することにより重複説明を省略し、また本発明に直接関係のない要素は図示を省略する。 Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in such an embodiment are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are designated by the same reference numerals to omit duplicate description, and elements not directly related to the present invention are not shown. To do.

（車外環境認識システム１００）
図１は、車外環境認識システム１００の接続関係を示したブロック図である。車外環境認識システム１００は、撮像装置１１０と、車外環境認識装置１２０と、車両制御装置（ＥＣＵ：Electronic Control Unit）１３０とを含んで構成される。 (External environment recognition system 100)
FIG. 1 is a block diagram showing a connection relationship of the vehicle exterior environment recognition system 100. The vehicle exterior environment recognition system 100 includes an image pickup device 110, a vehicle exterior environment recognition device 120, and a vehicle control device (ECU: Electronic Control Unit) 130.

撮像装置１１０は、ＣＣＤ（Charge-Coupled Device）やＣＭＯＳ（Complementary Metal-Oxide Semiconductor）等の撮像素子を含んで構成され、自車両１の前方の車外環境を撮像し、少なくとも輝度の情報が含まれる輝度画像（カラー画像やモノクロ画像）を生成することができる。また、撮像装置１１０は、自車両１の進行方向側において２つの撮像装置１１０それぞれの光軸が略平行になるように、略水平方向に離隔して配置される。撮像装置１１０は、自車両１の前方の検出領域に存在する立体物を撮像した輝度画像を、例えば１／６０秒のフレーム毎（６０ｆｐｓ）に連続して生成する。ここで、撮像装置１１０によって認識する立体物は、車両（先行車両、対向車両）、自転車、歩行者、信号機、道路標識、ガードレール、建物といった独立して存在する物のみならず、車両の各ライト、自転車の車輪等、その一部として特定できる物も含む。 The image pickup device 110 is configured to include an image pickup element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor), images the outside environment of the vehicle in front of the own vehicle 1, and includes at least brightness information. A brightness image (color image or monochrome image) can be generated. Further, the image pickup device 110 is arranged so as to be separated from each other in the substantially horizontal direction so that the optical axes of the two image pickup devices 110 are substantially parallel to each other on the traveling direction side of the own vehicle 1. The image pickup apparatus 110 continuously generates a luminance image of a three-dimensional object existing in the detection region in front of the own vehicle 1 every frame (60 fps) of, for example, 1/60 second. Here, the three-dimensional object recognized by the image pickup device 110 is not only an independently existing object such as a vehicle (preceding vehicle, oncoming vehicle), a bicycle, a pedestrian, a traffic light, a road sign, a guard rail, or a building, but also each light of the vehicle. , Bicycle wheels, etc. that can be identified as part of it.

また、車外環境認識装置１２０は、２つの撮像装置１１０それぞれから輝度画像を取得し、一方の輝度画像から任意に抽出したブロック（例えば、水平４画素×垂直４画素の配列）に対応するブロックを他方の輝度画像から検索する、所謂パターンマッチングを用いて、視差、および、任意のブロックの画像内の位置を示す画像位置を含む視差情報を導出する。ここで、水平は、撮像した画像の画像横方向を示し、垂直は、撮像した画像の画像縦方向を示す。このパターンマッチングとしては、一対の画像間において、任意のブロック単位で輝度（Ｙ）を比較することが考えられる。 Further, the vehicle exterior environment recognition device 120 acquires brightness images from each of the two image pickup devices 110, and blocks corresponding to blocks arbitrarily extracted from one brightness image (for example, an arrangement of 4 horizontal pixels × 4 vertical pixels). By using so-called pattern matching, which searches from the other luminance image, the parallax information including the parallax and the image position indicating the position in the image of an arbitrary block is derived. Here, horizontal indicates the horizontal direction of the image of the captured image, and vertical indicates the vertical direction of the image of the captured image. As this pattern matching, it is conceivable to compare the brightness (Y) between a pair of images in an arbitrary block unit.

例えば、輝度の差分をとるＳＡＤ（Sum of Absolute Difference）、差分を２乗して用いるＳＳＤ（Sum of Squared intensity Difference）や、各画素の輝度から平均値を引いた分散値の類似度をとるＮＣＣ（Normalized Cross Correlation）等の手法がある。車外環境認識装置１２０は、このようなブロック単位の視差導出処理を検出領域（例えば、６００画素×２００画素）に映し出されている全てのブロックについて行う。ここでは、ブロックを４画素×４画素としているが、ブロック内の画素数は任意に設定することができる。 For example, SAD (Sum of Absolute Difference) that takes the difference in brightness, SSD (Sum of Squared intensity Difference) that uses the difference squared, and NCC that takes the similarity of the variance value obtained by subtracting the average value from the brightness of each pixel. There are methods such as (Normalized Cross Correlation). The vehicle exterior environment recognition device 120 performs such parallax derivation processing for each block for all the blocks projected in the detection area (for example, 600 pixels × 200 pixels). Here, the block is 4 pixels × 4 pixels, but the number of pixels in the block can be set arbitrarily.

ただし、車外環境認識装置１２０では、検出分解能単位であるブロック毎に視差を導出することはできるが、そのブロックがどのような立体物の一部であるかを認識できない。したがって、視差情報は、立体物単位ではなく、検出領域における検出分解能単位（例えばブロック単位）で独立して導出されることとなる。ここでは、このようにして導出された視差情報を対応付けた画像を、上述した輝度画像と区別して距離画像という。 However, in the vehicle exterior environment recognition device 120, although the parallax can be derived for each block, which is a detection resolution unit, it is not possible to recognize what kind of three-dimensional object the block is a part of. Therefore, the parallax information is independently derived not in units of three-dimensional objects but in units of detection resolution (for example, in blocks) in the detection region. Here, the image associated with the parallax information derived in this way is referred to as a distance image to distinguish it from the above-mentioned luminance image.

図２は、輝度画像１２６を説明するための説明図であり、図３は、距離画像１２８を説明するための説明図である。例えば、２つの撮像装置１１０を通じ、検出領域１２４について図２のような輝度画像１２６が生成されたとする。ただし、ここでは、理解を容易にするため、２つの輝度画像１２６の一方のみを模式的に示している。車外環境認識装置１２０は、このような輝度画像１２６からブロック毎の視差を求め、図３のような距離画像１２８を形成する。距離画像１２８における各ブロックには、そのブロックの視差が関連付けられている。ここでは、説明の便宜上、視差が導出されたブロックを黒のドットで表している。 FIG. 2 is an explanatory diagram for explaining the luminance image 126, and FIG. 3 is an explanatory diagram for explaining the distance image 128. For example, it is assumed that the luminance image 126 as shown in FIG. 2 is generated for the detection region 124 through the two imaging devices 110. However, here, for ease of understanding, only one of the two luminance images 126 is schematically shown. The vehicle exterior environment recognition device 120 obtains the parallax for each block from such a luminance image 126, and forms a distance image 128 as shown in FIG. Each block in the distance image 128 is associated with the parallax of that block. Here, for convenience of explanation, the block from which the parallax is derived is represented by a black dot.

また、車外環境認識装置１２０は、輝度画像１２６に基づく輝度値（カラー値）、および、距離画像１２８に基づいて算出された、自車両１との相対距離を含む実空間における三次元空間の位置情報を用いて、まず路面を特定し、特定した路面上に位置し、カラー値が等しく三次元の位置情報が近いブロック同士を立体物としてグループ化して、自車両１の前方の検出領域における立体物がいずれの対象物（例えば、先行車両や自転車）に対応するかを特定する。 Further, the vehicle exterior environment recognition device 120 is a position in a three-dimensional space in a real space including a brightness value (color value) based on the brightness image 126 and a relative distance to the own vehicle 1 calculated based on the distance image 128. Using the information, first identify the road surface, group the blocks that are located on the specified road surface, have the same color value, and have similar three-dimensional position information as a three-dimensional object, and group them into a three-dimensional object in the detection area in front of the own vehicle 1. Identify which object (eg, preceding vehicle or bicycle) the object corresponds to.

また、車外環境認識装置１２０は、このように立体物を特定すると、立体物との衝突を回避したり（衝突回避制御）、先行車両との車間距離を安全な距離に保つように自車両１を制御する（ＡＣＣ）。ここで、ＡＣＣ（Adaptive Cruise Control）は、自車両１の進行路に先行車両が存在する場合に、その先行車両を対象として、先行車両と自車両１との車間距離を一定に保ちつつ、自車両１の定速走行を適切に行う制御である。 Further, when the vehicle exterior environment recognition device 120 identifies a three-dimensional object in this way, the own vehicle 1 can avoid a collision with the three-dimensional object (collision avoidance control) and keep the distance between the vehicle and the preceding vehicle at a safe distance. (ACC). Here, the ACC (Adaptive Cruise Control) targets the preceding vehicle when the preceding vehicle exists on the traveling path of the own vehicle 1, and keeps the distance between the preceding vehicle and the own vehicle 1 constant. This is a control for appropriately performing the constant speed running of the vehicle 1.

なお、上記相対距離は、距離画像１２８におけるブロック毎の視差情報を、所謂ステレオ法を用いて三次元の位置情報に変換することで求められる。ここで、ステレオ法は、三角測量法を用いることで、立体物の視差からその立体物の撮像装置１１０に対する相対距離を導出する方法である。 The relative distance is obtained by converting the parallax information for each block in the distance image 128 into three-dimensional position information using the so-called stereo method. Here, the stereo method is a method of deriving the relative distance of the three-dimensional object to the imaging device 110 from the parallax of the three-dimensional object by using the triangulation method.

車両制御装置１３０は、ステアリングホイール１３２、アクセルペダル１３４、ブレーキペダル１３６を通じて運転手の操作入力を受け付け、操舵機構１４２、駆動機構１４４、制動機構１４６に伝達することで自車両１を制御する。また、車両制御装置１３０は、車外環境認識装置１２０の指示に従い、操舵機構１４２、駆動機構１４４、制動機構１４６を制御する。 The vehicle control device 130 controls the own vehicle 1 by receiving the driver's operation input through the steering wheel 132, the accelerator pedal 134, and the brake pedal 136 and transmitting the operation input to the steering mechanism 142, the drive mechanism 144, and the braking mechanism 146. Further, the vehicle control device 130 controls the steering mechanism 142, the drive mechanism 144, and the braking mechanism 146 in accordance with the instructions of the vehicle exterior environment recognition device 120.

上述したように、車外環境認識システム１００では、カラー値が等しく三次元の位置情報が近いブロック同士をグループ化して立体物としている。例えば、自車両１の前方に先行車両が存在すると、先行車両の背面に相当する複数のブロックが、その相対距離が等しいことでグループ化される。そして、そのグループ化された立体物の特徴に応じて先行車両であると判断される。 As described above, in the vehicle exterior environment recognition system 100, blocks having the same color value and close three-dimensional position information are grouped into a three-dimensional object. For example, when a preceding vehicle exists in front of the own vehicle 1, a plurality of blocks corresponding to the back surface of the preceding vehicle are grouped by the same relative distance. Then, it is determined to be the preceding vehicle according to the characteristics of the grouped three-dimensional objects.

そして、自車両１の前方に存在する全ての先行車両を候補車両とし、そのうち、自車両１が走行するレーン等、自車両１の進行路（以下、自車両進行路という）に候補車両が存在すれば、その中で相対距離が最短な候補車両を対象車両としてＡＣＣに基づく追従制御が実行される。例えば、車外環境認識装置１２０は、対象車両の、自車両１の進行方向の速度成分を導出し、その速度成分に基づいて車間距離を保つ制御を行うことができる。 Then, all the preceding vehicles existing in front of the own vehicle 1 are set as candidate vehicles, and among them, the candidate vehicles exist on the traveling path of the own vehicle 1 (hereinafter referred to as the own vehicle traveling path) such as the lane in which the own vehicle 1 travels. Then, the follow-up control based on the ACC is executed with the candidate vehicle having the shortest relative distance as the target vehicle. For example, the vehicle exterior environment recognition device 120 can derive a speed component of the target vehicle in the traveling direction of the own vehicle 1 and control to maintain the inter-vehicle distance based on the speed component.

ただし、ＡＣＣでは、対象車両の挙動によって適切な車間距離が異なる場合がある。例えば、対象車両が、自車両と同一の進行路を走行しつつ旋回している場合、車間距離は、旋回している進行路に沿った曲線に基づいて導出すべきである。一方、対象車両が自車両の進行路に割り込んできた場合、車間距離は、進行路に拘わらず、対象車両との直線距離で判断すべきである。仮に、対象車両が自車両の進行路に割り込んできた場合に、車間距離を曲線に基づいて導出してしまうと、車間距離が本来の距離より長く判断されてしまい、追従制御の遅延を招きかねない。ここでは、車間距離を適切に導出し、快適な追従制御を実現することを目的としている。 However, in ACC, the appropriate inter-vehicle distance may differ depending on the behavior of the target vehicle. For example, when the target vehicle is turning while traveling on the same traveling path as the own vehicle, the inter-vehicle distance should be derived based on the curve along the turning traveling path. On the other hand, when the target vehicle interrupts the traveling path of the own vehicle, the inter-vehicle distance should be determined by the linear distance from the target vehicle regardless of the traveling path. If the target vehicle interrupts the traveling path of the own vehicle and the inter-vehicle distance is derived based on the curve, the inter-vehicle distance is determined to be longer than the original distance, which may lead to a delay in follow-up control. Absent. Here, the purpose is to appropriately derive the inter-vehicle distance and realize comfortable follow-up control.

以下、このような目的を実現するための車外環境認識装置１２０の構成について詳述する。ここでは、本実施形態に特徴的な、対象車両の速度の選択態様について詳細に説明し、本実施形態の特徴と無関係の構成については説明を省略する。 Hereinafter, the configuration of the vehicle exterior environment recognition device 120 for realizing such an object will be described in detail. Here, the mode of selecting the speed of the target vehicle, which is characteristic of the present embodiment, will be described in detail, and the description of the configuration unrelated to the characteristics of the present embodiment will be omitted.

（車外環境認識装置１２０）
図４は、車外環境認識装置１２０の概略的な機能を示した機能ブロック図である。図４に示すように、車外環境認識装置１２０は、Ｉ／Ｆ部１５０と、データ保持部１５２と、中央制御部１５４とを含んで構成される。 (External environment recognition device 120)
FIG. 4 is a functional block diagram showing a schematic function of the vehicle exterior environment recognition device 120. As shown in FIG. 4, the vehicle exterior environment recognition device 120 includes an I / F unit 150, a data holding unit 152, and a central control unit 154.

Ｉ／Ｆ部１５０は、撮像装置１１０、および、車両制御装置１３０との双方向の情報交換を行うためのインターフェースである。データ保持部１５２は、ＲＡＭ、フラッシュメモリ、ＨＤＤ等で構成され、以下に示す各機能部の処理に必要な様々な情報を保持する。 The I / F unit 150 is an interface for bidirectional information exchange with the image pickup device 110 and the vehicle control device 130. The data holding unit 152 is composed of a RAM, a flash memory, an HDD, and the like, and holds various information necessary for processing of each of the following functional units.

中央制御部１５４は、中央処理装置（ＣＰＵ）、プログラム等が格納されたＲＯＭ、ワークエリアとしてのＲＡＭ等を含む半導体集積回路で構成され、システムバス１５６を通じて、Ｉ／Ｆ部１５０、データ保持部１５２等を制御する。また、本実施形態において、中央制御部１５４は、路面特定部１６０、立体物特定部１６２、曲率半径導出部１６４、車間距離特定部１６６、追従制御部１６８としても機能する。以下、本実施形態に特徴的な車間距離を特定する車外環境認識方法について、当該中央制御部１５４の各機能部の動作も踏まえて詳述する。 The central control unit 154 is composed of a semiconductor integrated circuit including a central processing unit (CPU), a ROM in which programs and the like are stored, a RAM as a work area, and the like, and is an I / F unit 150 and a data holding unit through a system bus 156. It controls 152 and so on. Further, in the present embodiment, the central control unit 154 also functions as a road surface identification unit 160, a three-dimensional object identification unit 162, a radius of curvature extraction unit 164, an inter-vehicle distance identification unit 166, and a follow-up control unit 168. Hereinafter, the method of recognizing the external environment for specifying the inter-vehicle distance characteristic of the present embodiment will be described in detail with reference to the operation of each functional unit of the central control unit 154.

（車外環境認識方法）
図５は、車外環境認識方法の流れを示すフローチャートである。車外環境認識方法では、路面特定部１６０により、自車両１前方の路面が特定される（Ｓ２００）。次に、立体物特定部１６２により、対象車両が特定される（Ｓ２０２）。続いて、曲率半径導出部１６４により、自車両進行路の曲率半径である自車両曲率半径、および、対象車両を通り自車両１の位置で自車両１の進行路に接する円の曲率半径である対象車両曲率半径が導出される（Ｓ２０４）。次に、車間距離特定部１６６により、自車両曲率半径と対象車両曲率半径との一致度に基づいて自車両１と対象車両との車間距離が特定される（Ｓ２０６）。続いて、追従制御部１６８により、特定された車間距離に基づいて追従制御が行われる（Ｓ２０８）。 (Method of recognizing the environment outside the vehicle)
FIG. 5 is a flowchart showing the flow of the vehicle exterior environment recognition method. In the vehicle exterior environment recognition method, the road surface specifying unit 160 identifies the road surface in front of the own vehicle 1 (S200). Next, the target vehicle is specified by the three-dimensional object identification unit 162 (S202). Subsequently, the radius of curvature deriving unit 164 is the radius of curvature of the own vehicle, which is the radius of curvature of the own vehicle's path, and the radius of curvature of a circle that passes through the target vehicle and is in contact with the path of the own vehicle 1 at the position of the own vehicle 1. The radius of curvature of the target vehicle is derived (S204). Next, the inter-vehicle distance specifying unit 166 specifies the inter-vehicle distance between the own vehicle 1 and the target vehicle based on the degree of coincidence between the radius of curvature of the own vehicle and the radius of curvature of the target vehicle (S206). Subsequently, the follow-up control unit 168 performs follow-up control based on the specified inter-vehicle distance (S208).

（路面特定処理Ｓ２００）
路面特定部１６０は、輝度画像１２６および距離画像１２８に基づいて、自車両１の前方の路面を特定する。 (Road surface identification process S200)
The road surface specifying unit 160 identifies the road surface in front of the own vehicle 1 based on the luminance image 126 and the distance image 128.

（立体物特定処理Ｓ２０２）
図６は、立体物特定部１６２の処理を説明するための説明図である。立体物特定部１６２は、路面特定部１６０で特定された路面の鉛直上方に高さを有する立体物を特定する。具体的に、立体物特定部１６２は、路面から高さが±所定距離（例えば０．３ｍ）の範囲に位置するブロックは、路面に相当すると判定する。一方、立体物特定部１６２は、路面からの高さが所定距離以上に位置するブロックは、路面から高さ方向に突出している立体物の候補とする。 (Three-dimensional object identification process S202)
FIG. 6 is an explanatory diagram for explaining the processing of the three-dimensional object identification unit 162. The three-dimensional object identification unit 162 identifies a three-dimensional object having a height vertically above the road surface specified by the road surface identification unit 160. Specifically, the three-dimensional object identification unit 162 determines that a block located within a range of ± a predetermined distance (for example, 0.3 m) from the road surface corresponds to the road surface. On the other hand, in the three-dimensional object identification unit 162, a block whose height from the road surface is located at a predetermined distance or more is a candidate for a three-dimensional object protruding from the road surface in the height direction.

そして、立体物特定部１６２は、路面の鉛直上方に高さを有する立体物の候補とされた複数のブロックのうち自車両１との相対距離が等しいブロックをグループ化し、立体物として特定する。次に、立体物特定部１６２は、立体物となった点群の立体物らしさ（形状、大きさ等）に基づいて、立体物が、追従制御部１６８の制御対象の候補となる候補車両２であるか否か判断する。なお、立体物が車両であるか否かの判定については、既存の様々な技術を利用できるので、ここでは、その詳細な説明を省略する。 Then, the three-dimensional object identification unit 162 groups the blocks having the same relative distance to the own vehicle 1 among the plurality of blocks that are candidates for the three-dimensional object having a height vertically above the road surface, and identifies them as the three-dimensional object. Next, the three-dimensional object identification unit 162 is a candidate vehicle 2 in which the three-dimensional object is a candidate for the control target of the follow-up control unit 168 based on the three-dimensional object-likeness (shape, size, etc.) of the point cloud that has become a three-dimensional object. Judge whether or not it is. Since various existing technologies can be used for determining whether or not the three-dimensional object is a vehicle, detailed description thereof will be omitted here.

続いて、立体物特定部１６２は、候補車両２が、自車両１が走行するレーン内に存在すれば、レーン内に存在する候補車両２の中で相対距離が最も近い候補車両２を、追従制御部１６８の制御対象である対象車両３とする。 Subsequently, if the candidate vehicle 2 exists in the lane in which the own vehicle 1 travels, the three-dimensional object identification unit 162 follows the candidate vehicle 2 having the shortest relative distance among the candidate vehicles 2 existing in the lane. It is assumed that the target vehicle 3 is the control target of the control unit 168.

また、立体物特定部１６２は、対象車両３が、自車両１が走行するレーンから外れた場合、その車両に代え、自車両１が走行するレーン内に存在する相対距離が最も近い候補車両２を対象車両３とする。また、立体物特定部１６２は、特定した対象車両３よりも相対距離の近い位置に他の候補車両２が割り込んできた場合、その割り込んできた候補車両２を対象車両３とする。 Further, when the target vehicle 3 deviates from the lane in which the own vehicle 1 travels, the three-dimensional object identification unit 162 replaces the vehicle with the candidate vehicle 2 having the shortest relative distance in the lane in which the own vehicle 1 travels. Is the target vehicle 3. Further, when another candidate vehicle 2 interrupts a position closer to the specified target vehicle 3 than the specified target vehicle 3, the three-dimensional object specifying unit 162 sets the interrupted candidate vehicle 2 as the target vehicle 3.

（曲率半径導出処理Ｓ２０４）
上述したように、対象車両３との車間距離は、対象車両３までの自車両進行路に沿った曲線、もしくは、対象車両３までの直線に基づいて導出される。車間距離として、いずれを採用するかは、対象車両３の自車両進行路に対する一致度に基づいて決定される。ここでは、自車両進行路と、対象車両３との位置関係に基づき、対象車両３の自車両進行路に対する一致度を導出するための曲率半径を求める。 (Radius of curvature derivation process S204)
As described above, the inter-vehicle distance to the target vehicle 3 is derived based on the curve along the own vehicle traveling path to the target vehicle 3 or the straight line to the target vehicle 3. Which of the inter-vehicle distances to be adopted is determined based on the degree of coincidence of the target vehicle 3 with respect to the own vehicle traveling path. Here, the radius of curvature for deriving the degree of coincidence of the target vehicle 3 with respect to the own vehicle traveling path is obtained based on the positional relationship between the own vehicle traveling path and the target vehicle 3.

図７は、自車両円２１０を説明するための説明図である。曲率半径導出部１６４は、自車両１の速度および鉛直軸回りの角速度（自車両１の走行態様）、ならびに、レーン左右の車線および地図情報（道路情報）に基づいて自車両進行路である自車両進行路を推定する。 FIG. 7 is an explanatory diagram for explaining the own vehicle circle 210. The radius of curvature deriving unit 164 is the own vehicle traveling path based on the speed of the own vehicle 1 and the angular velocity around the vertical axis (traveling mode of the own vehicle 1), and the lanes on the left and right of the lane and map information (road information). Estimate the vehicle course.

例えば、自車両１が、図７において矢印で示したような軌跡で移動している場合、曲率半径導出部１６４は、その軌跡を維持した場合の実線で示した推定軌跡を自車両進行路とする。ここでは、自車両１が旋回しているので、曲率半径導出部１６４は、自車両進行路を、中心Ｃ１、曲率半径Ｒ１の円（以下、自車両円という）２１０で表すことができる。したがって、曲率半径導出部１６４は、自車両円２１０の曲率半径（以下、自車両曲率半径という）Ｒ１を導出することができる。 For example, when the own vehicle 1 is moving along the trajectory shown by the arrow in FIG. 7, the radius of curvature deriving unit 164 sets the estimated trajectory shown by the solid line when the trajectory is maintained as the own vehicle traveling path. To do. Here, since the own vehicle 1 is turning, the radius of curvature derivation unit 164 can represent the own vehicle traveling path by a circle (hereinafter, referred to as the own vehicle circle) 210 having a center C1 and a radius of curvature R1. Therefore, the radius of curvature deriving unit 164 can derive the radius of curvature (hereinafter referred to as the radius of curvature of the own vehicle) R1 of the own vehicle circle 210.

なお、自車両進行路が、直線もしくは限りなく直線に近い曲線であれば、自車両円２１０の大きさ（自車両曲率半径Ｒ１の大きさ）が膨大となる。そうすると、自車両進行路を円で近似することで処理負荷が増大し、計算時間に影響するおそれがある。 If the traveling path of the own vehicle is a straight line or a curve as close to a straight line as possible, the size of the own vehicle circle 210 (the size of the radius of curvature R1 of the own vehicle) becomes enormous. Then, the processing load increases by approximating the traveling path of the own vehicle with a circle, which may affect the calculation time.

そこで、曲率半径導出部１６４は、自車両進行路を自車両円２１０として表した場合の自車両曲率半径Ｒ１が所定長さ以上であれば、自車両進行路を直線として扱う。その場合、車間距離特定部１６６は、対象車両３が自車両１と同一の進行路を走行しているか、自車両進行路に割り込んできたかに拘わらず、車間距離を直線距離で導出することとなる。こうして、処理負荷の増大を防止することができる。 Therefore, the radius of curvature deriving unit 164 treats the own vehicle's traveling path as a straight line if the own vehicle's radius of curvature R1 is a predetermined length or more when the own vehicle's traveling path is represented as the own vehicle circle 210. In that case, the inter-vehicle distance specifying unit 166 derives the inter-vehicle distance as a straight line distance regardless of whether the target vehicle 3 is traveling on the same traveling path as the own vehicle 1 or interrupting the own vehicle traveling path. Become. In this way, an increase in processing load can be prevented.

図８は、対象車両円２２０を説明するための説明図である。曲率半径導出部１６４は、対象車両３（および自車両１）を通り、自車両１の位置で、自車両進行路（自車両円２１０）に接する円（以下、対象車両円という）２２０の曲率半径（以下、対象車両曲率半径という）Ｒ２を導出する。 FIG. 8 is an explanatory diagram for explaining the target vehicle circle 220. The radius of curvature deriving unit 164 passes through the target vehicle 3 (and the own vehicle 1), and at the position of the own vehicle 1, the curvature of the circle (hereinafter referred to as the target vehicle circle) 220 in contact with the own vehicle traveling path (own vehicle circle 210). The radius (hereinafter referred to as the radius of curvature of the target vehicle) R2 is derived.

例えば、図８のように、自車両１の位置（中心位置）を原点（０，０）とし、自車両円２１０の接線をｚ軸、そのｚ軸に直交する軸をｘ軸としたｘｚ平面を仮定する。かかるｘｚ平面において、仮に、対象車両３の座標が（−ｘ２、ｚ２）であったとする。 For example, as shown in FIG. 8, an xz plane in which the position (center position) of the own vehicle 1 is the origin (0,0), the tangent line of the own vehicle circle 210 is the z-axis, and the axis orthogonal to the z-axis is the x-axis. Is assumed. It is assumed that the coordinates of the target vehicle 3 are (−x2, z2) in the xz plane.

ここで、対象車両円２２０は、自車両１の位置で、自車両進行路（自車両円２１０）に接しているので、その中心Ｃ２は、自車両円２１０および対象車両円２２０の接線に直交するｘ軸上に存在することとなる。したがって、対象車両円２２０の曲率半径をＲ２とすると、中心Ｃ２の座標は（−Ｒ２，０）となる。そうすると、三平方の定理により、（Ｒ２）２＝（Ｒ２−ｘ２）２＋ｚ２２が成り立ち、対象車両曲率半径Ｒ２は、（ｘ２２＋ｚ２２）／（２・ｘ２）で表すことができる。したがって、曲率半径導出部１６４は、中心Ｃ１や中心Ｃ２を特定することなく、対象車両３の座標（−ｘ２、ｚ２）に基づいて、対象車両曲率半径Ｒ２を容易に導出することが可能となる。 Here, since the target vehicle circle 220 is in contact with the own vehicle traveling path (own vehicle circle 210) at the position of the own vehicle 1, its center C2 is orthogonal to the tangent line of the own vehicle circle 210 and the target vehicle circle 220. It will exist on the x-axis. Therefore, assuming that the radius of curvature of the target vehicle circle 220 is R2, the coordinates of the center C2 are (-R2,0). Then, according to the three-square theorem, (R2) 2 = (R2-x2) 2 + z2 2 holds, and the radius of curvature R2 of the target vehicle can be expressed by (x2 2 + z2 2 ) / (2 · x2). Therefore, the radius of curvature deriving unit 164 can easily derive the radius of curvature R2 of the target vehicle based on the coordinates (−x2, z2) of the target vehicle 3 without specifying the center C1 or the center C2. ..

（車両距離特定処理Ｓ２０６）
車間距離特定部１６６は、曲率半径導出部１６４が導出した自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との曲率半径の一致度に基づいて自車両１と対象車両３との車間距離を特定する。 (Vehicle distance identification process S206)
The inter-vehicle distance specifying unit 166 specifies the inter-vehicle distance between the own vehicle 1 and the target vehicle 3 based on the degree of coincidence between the radius of curvature R1 of the own vehicle and the radius of curvature R2 of the target vehicle derived by the radius of curvature derivation unit 164. ..

例えば、車間距離特定部１６６は、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との差または比によって一致度を判定する。具体的に、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との差の絶対値｜Ｒ１−Ｒ２｜が所定値以下であれば、曲率半径が一致していると判定する。また、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との比Ｒ１／Ｒ２が所定範囲内に収まっていれば、曲率半径が一致していると判定することもできる。 For example, the inter-vehicle distance specifying unit 166 determines the degree of agreement based on the difference or ratio between the own vehicle curvature radius R1 and the target vehicle curvature radius R2. Specifically, if the absolute value | R1-R2 | of the difference between the radius of curvature R1 of the own vehicle and the radius of curvature R2 of the target vehicle is equal to or less than a predetermined value, it is determined that the radii of curvature match. Further, if the ratio R1 / R2 of the radius of curvature R1 of the own vehicle and the radius of curvature R2 of the target vehicle is within a predetermined range, it can be determined that the radii of curvature match.

そして、曲率半径が一致していると判定すると、車間距離特定部１６６は、車間距離を、自車両進行路に従った（沿った）弧距離に基づいて導出する。一方、曲率半径が一致していないと判定すると、車間距離特定部１６６は、車間距離を、自車両１と対象車両３とを直線で結んだ直線距離に基づいて導出する。 Then, if it is determined that the radii of curvature are the same, the inter-vehicle distance specifying unit 166 derives the inter-vehicle distance based on the arc distance along (along) the own vehicle's traveling path. On the other hand, if it is determined that the radii of curvature do not match, the inter-vehicle distance specifying unit 166 derives the inter-vehicle distance based on the straight line distance connecting the own vehicle 1 and the target vehicle 3 with a straight line.

ここでは、曲率半径が一致している場合、対象車両３が自車両１と同一の進行路を走行しているとみなし、車間距離として弧距離を採用し、曲率半径が一致していない場合、対象車両３が自車両進行路に割り込んできたとみなし、車間距離として直線距離を採用している。かかる構成により、対象車両３の挙動に拘わらず、車間距離を適切に導出することが可能となる。 Here, when the radius of curvature is the same, it is considered that the target vehicle 3 is traveling on the same traveling path as the own vehicle 1, the arc distance is adopted as the inter-vehicle distance, and when the radius of curvature does not match, It is considered that the target vehicle 3 has interrupted the traveling path of the own vehicle, and a straight-line distance is adopted as the inter-vehicle distance. With such a configuration, it is possible to appropriately derive the inter-vehicle distance regardless of the behavior of the target vehicle 3.

なお、上記では、曲率半径の一致度を一致か否かで判断する例を挙げた。しかし、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２とは連続的に変化するので、一致しているか否かのみで車間距離を表すのは難しい場合がある。そこで、車間距離特定部１６６は、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との一致度に応じて、弧距離と直線距離とに重み付けを行い、車間距離を導出する。 In the above, an example of determining whether or not the degree of coincidence of the radii of curvature matches is given. However, since the radius of curvature R1 of the own vehicle and the radius of curvature R2 of the target vehicle change continuously, it may be difficult to express the inter-vehicle distance only by whether or not they match. Therefore, the inter-vehicle distance specifying unit 166 weights the arc distance and the linear distance according to the degree of coincidence between the own vehicle curvature radius R1 and the target vehicle curvature radius R2, and derives the inter-vehicle distance.

ここでは、一致度を、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との比（≦１）で表す。例えば、自車両曲率半径Ｒ１≦対象車両曲率半径Ｒ２であれば、一致度は、自車両曲率半径Ｒ１／対象車両曲率半径Ｒ２とし、自車両曲率半径Ｒ１>対象車両曲率半径Ｒ２であれば、一致度は、対象車両曲率半径Ｒ２／自車両曲率半径Ｒ１とする。 Here, the degree of coincidence is expressed by the ratio (≦ 1) of the radius of curvature R1 of the own vehicle and the radius of curvature R2 of the target vehicle. For example, if the radius of curvature R1 of the own vehicle ≤ the radius of curvature of the target vehicle R2, the degree of coincidence is the radius of curvature R1 of the own vehicle R1 / the radius of curvature of the target vehicle R2, and if the radius of curvature R1 of the own vehicle> the radius of curvature of the target vehicle R2, they match. The degree shall be the radius of curvature R2 of the target vehicle / the radius of curvature R1 of the own vehicle.

そして、車間距離特定部１６６は、自車両１の進行路（自車両円２１０）に従った弧距離に、一致度を乗じて（弧距離×一致度）、第１距離を導出する。また、車間距離特定部１６６は、自車両１と対象車両３とを直線で結んだ直線距離に、１から一致度を減じた値（１−一致度）を乗じて（直線距離×（１−一致度））、第２距離を導出する。そして、車間距離特定部１６６は、第１距離と第２距離とを加算し（第１距離＋第２距離）、車間距離として特定する。 Then, the inter-vehicle distance specifying unit 166 derives the first distance by multiplying the arc distance according to the traveling path of the own vehicle 1 (own vehicle circle 210) by the degree of coincidence (arc distance × degree of coincidence). Further, the inter-vehicle distance specifying unit 166 multiplies the linear distance connecting the own vehicle 1 and the target vehicle 3 by a value obtained by subtracting the degree of coincidence from 1 (1-degree of coincidence) (straight-line distance × (1-). Concordance)), the second distance is derived. Then, the inter-vehicle distance specifying unit 166 adds the first distance and the second distance (first distance + second distance) and specifies them as the inter-vehicle distance.

かかる構成により、一致度が高い場合、弧距離が優先され（弧距離が支配的になり）、一致度が低い場合、直線距離が優先される（直線距離が支配的になる）ので、弧距離と直線距離に一致度に応じた重み付けがなされた上で、車間距離が適切に導出される。 With this configuration, when the degree of coincidence is high, the arc distance is prioritized (the arc distance becomes dominant), and when the degree of coincidence is low, the linear distance is prioritized (the linear distance becomes dominant). After weighting the straight line distance according to the degree of coincidence, the inter-vehicle distance is appropriately derived.

（追従制御Ｓ２０８）
追従制御部１６８は、車間距離特定部１６６が特定した車間距離に基づいて追従制御を行う。具体的に、ＡＣＣでは、予め、対象車両３との適切な車間距離（目標車間距離）が設定されている。追従制御部１６８は、車間距離特定部１６６が特定した車間距離が目標車間距離より長いと、車間距離を縮めるべく自車両１の速度を上げる。一方、追従制御部１６８は、車間距離特定部１６６が特定した車間距離が目標車間距離より短いと、車間距離を延ばすべく自車両１の速度を下げる。 (Follow-up control S208)
The follow-up control unit 168 performs follow-up control based on the inter-vehicle distance specified by the inter-vehicle distance specifying unit 166. Specifically, in ACC, an appropriate inter-vehicle distance (target inter-vehicle distance) with the target vehicle 3 is set in advance. When the inter-vehicle distance specified by the inter-vehicle distance specifying unit 166 is longer than the target inter-vehicle distance, the follow-up control unit 168 increases the speed of the own vehicle 1 in order to reduce the inter-vehicle distance. On the other hand, when the inter-vehicle distance specified by the inter-vehicle distance specifying unit 166 is shorter than the target inter-vehicle distance, the follow-up control unit 168 reduces the speed of the own vehicle 1 in order to extend the inter-vehicle distance.

このとき、追従制御部１６８は、対象車両３との車間距離のみならず、対象車両３の速度にも基づいて車間距離を安全な距離に保つように自車両１の速度を制御してもよい。また、かかる速度の方向（ベクトル）を、車間距離特定部１６６が特定した車間距離の方向、すなわち、弧距離であれば、対象車両３の位置における弧の接線方向、直線距離であれば、直線方向としてもよい。 At this time, the follow-up control unit 168 may control the speed of the own vehicle 1 so as to keep the inter-vehicle distance at a safe distance based on not only the inter-vehicle distance to the target vehicle 3 but also the speed of the target vehicle 3. .. Further, the direction (vector) of the speed is the direction of the inter-vehicle distance specified by the inter-vehicle distance specifying unit 166, that is, if it is an arc distance, it is the tangential direction of the arc at the position of the target vehicle 3, and if it is a straight line distance, it is a straight line. It may be the direction.

こうして、対象車両３が自車両１と同一の進行路を走行しているか、対象車両３が自車両進行路に割り込んできたかに拘わらず、適切な車間距離により適切な追従制御が可能となり、自車両１の速度を急激に変化させることなく、スムーズな走行制御を行うことができる。 In this way, regardless of whether the target vehicle 3 is traveling on the same traveling path as the own vehicle 1 or the target vehicle 3 interrupts the own vehicle traveling path, appropriate follow-up control can be performed with an appropriate inter-vehicle distance. Smooth running control can be performed without suddenly changing the speed of the vehicle 1.

また、車外環境認識装置１２０や車外環境認識方法のみならず、コンピュータを車外環境認識装置１２０として機能させるプログラムや、当該プログラムを記録した、コンピュータで読み取り可能なフレキシブルディスク、光磁気ディスク、ＲＯＭ、ＣＤ、ＤＶＤ、ＢＤ等の記憶媒体も提供される。ここで、プログラムは、任意の言語や記述方法にて記述されたデータ処理手段をいう。 In addition to the vehicle exterior environment recognition device 120 and the vehicle exterior environment recognition method, a program that causes the computer to function as the vehicle exterior environment recognition device 120, and a computer-readable flexible disc, magneto-optical disc, ROM, CD that records the program. , DVD, BD and other storage media are also provided. Here, the program refers to a data processing means described in an arbitrary language or description method.

以上、添付図面を参照しながら本発明の好適な実施形態について説明したが、本発明はかかる実施形態に限定されないことは言うまでもない。当業者であれば、特許請求の範囲に記載された範疇において、各種の変更例または修正例に想到し得ることは明らかであり、それらについても当然に本発明の技術的範囲に属するものと了解される。 Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can come up with various modifications or modifications within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. Will be done.

例えば、上述した実施形態では、曲率半径導出部１６４が、ｘｚ平面において、対象車両３の座標（−ｘ２、ｚ２）に基づいて、対象車両曲率半径Ｒ２を（ｘ２２＋ｚ２２）／（２・ｘ２）によって導出する例を挙げて説明した。しかし、かかる場合に限らず、曲率半径導出部１６４は、対象車両３を通り、自車両１の位置で自車両１の進行路に接する円の曲率半径を導出しさえすればよい。 For example, in the above-described embodiment, the radius of curvature deriving unit 164 sets the radius of curvature R2 of the target vehicle (x2 2 + z2 2 ) / (2. An example of deriving by x2) has been described. However, not limited to such a case, the radius of curvature deriving unit 164 only needs to derive the radius of curvature of a circle that passes through the target vehicle 3 and is in contact with the traveling path of the own vehicle 1 at the position of the own vehicle 1.

図９、図１０は、対象車両曲率半径Ｒ２の他の導出手段を説明するための説明図である。例えば、曲率半径導出部１６４は、図９における平面において、自車両１と、自車両円２１０の中心Ｃ１とを結ぶ結線２３０上で点Ｐ１を移動させる。そして、曲率半径導出部１６４は、点Ｐ１と自車両１との距離Ｌ１と、点Ｐ１と対象車両３との距離Ｌ２とが等しくなったときの距離Ｌ１、Ｌ２を対象車両曲率半径Ｒ２とすることができる。なお、このときの点Ｐ１は、対象車両円２２０の中心Ｃ２と等しくなる。 9 and 10 are explanatory views for explaining another derivation means of the target vehicle radius of curvature R2. For example, the radius of curvature deriving unit 164 moves the point P1 on the connection 230 connecting the own vehicle 1 and the center C1 of the own vehicle circle 210 on the plane in FIG. Then, the radius of curvature deriving unit 164 sets the distances L1 and L2 when the distance L1 between the point P1 and the own vehicle 1 and the distance L2 between the point P1 and the target vehicle 3 are equal to the target vehicle radius of curvature R2. be able to. The point P1 at this time is equal to the center C2 of the target vehicle circle 220.

また、例えば、曲率半径導出部１６４は、図１０における平面において、自車両１と、自車両円２１０の中心Ｃ１とを結ぶ結線２３０を特定する。次に、曲率半径導出部１６４は、平面において、自車両１と対象車両３とを結ぶ結線２３２の垂直二等分線２３４を特定する。そして、曲率半径導出部１６４は、結線２３０と垂直二等分線２３４との交点Ｐ２と自車両１との距離Ｌ３を対象車両曲率半径Ｒ２とする。なお、このときの交点Ｐ２は、対象車両円２２０の中心Ｃ２と等しくなる。 Further, for example, the radius of curvature deriving unit 164 identifies the connection 230 connecting the own vehicle 1 and the center C1 of the own vehicle circle 210 on the plane in FIG. Next, the radius of curvature deriving unit 164 identifies the vertical bisector 234 of the connection 232 connecting the own vehicle 1 and the target vehicle 3 on a plane. Then, the radius of curvature deriving unit 164 sets the distance L3 between the intersection P2 of the connection 230 and the vertical bisector 234 and the own vehicle 1 as the target vehicle radius of curvature R2. The intersection P2 at this time is equal to the center C2 of the target vehicle circle 220.

また、上述した実施形態では、説明の便宜上、立体物特定部１６２が、候補車両２から対象車両３を特定し、曲率半径導出部１６４および車間距離特定部１６６は、その対象車両３に対して、自車両曲率半径Ｒ１、対象車両曲率半径Ｒ２、および、車間距離を特定した。しかし、対象車両３の挙動や自車両１の挙動により、対象車両３ではない候補車両２が対象車両３となる場合がある。したがって、曲率半径導出部１６４および車間距離特定部１６６は、対象車両３のみならず、立体物特定部１６２が特定した全ての候補車両２に対して、自車両曲率半径Ｒ１、対象車両曲率半径Ｒ２、車間距離を特定し、対象車両３への切換に備えるとしてもよい。 Further, in the above-described embodiment, for convenience of explanation, the three-dimensional object identification unit 162 identifies the target vehicle 3 from the candidate vehicle 2, and the radius of curvature derivation unit 164 and the inter-vehicle distance identification unit 166 refer to the target vehicle 3. , The radius of curvature R1 of the own vehicle, the radius of curvature R2 of the target vehicle, and the inter-vehicle distance were specified. However, depending on the behavior of the target vehicle 3 and the behavior of the own vehicle 1, the candidate vehicle 2 other than the target vehicle 3 may become the target vehicle 3. Therefore, the radius of curvature deriving unit 164 and the inter-vehicle distance specifying unit 166 refer to the own vehicle radius of curvature R1 and the target vehicle radius of curvature R2 not only for the target vehicle 3 but also for all candidate vehicles 2 specified by the three-dimensional object specifying unit 162. , The inter-vehicle distance may be specified to prepare for switching to the target vehicle 3.

また、上述した実施形態では、車間距離特定部１６６が、自車両曲率半径Ｒ１と対象車両曲率半径Ｒ２との一致度に基づいて自車両１と対象車両３との車間距離を特定する例を挙げて説明した。しかし、車間距離特定部１６６は、曲率半径に代えて、自車両円２１０と対象車両円２２０との曲率（１／曲率半径）の一致度に基づいて自車両１と対象車両３との車間距離を特定してもよい。 Further, in the above-described embodiment, an example is given in which the inter-vehicle distance specifying unit 166 specifies the inter-vehicle distance between the own vehicle 1 and the target vehicle 3 based on the degree of coincidence between the own vehicle curvature radius R1 and the target vehicle curvature radius R2. Explained. However, the inter-vehicle distance specifying unit 166 replaces the radius of curvature with the inter-vehicle distance between the own vehicle 1 and the target vehicle 3 based on the degree of coincidence of the curvature (1 / radius of curvature) between the own vehicle circle 210 and the target vehicle circle 220. May be specified.

なお、本明細書の車外環境認識方法の各工程は、必ずしもフローチャートとして記載された順序に沿って時系列に処理する必要はなく、並列的あるいはサブルーチンによる処理を含んでもよい。 It should be noted that each step of the vehicle exterior environment recognition method of the present specification does not necessarily have to be processed in chronological order in the order described as a flowchart, and may include processing in parallel or by a subroutine.

本発明は、自車両の進行方向に存在する対象車両に追従する車外環境認識装置に利用することができる。 The present invention can be used for an external environment recognition device that follows a target vehicle existing in the traveling direction of the own vehicle.

１ 自車両
２ 候補車両
３ 対象車両
１６０ 路面特定部
１６２ 立体物特定部
１６４ 曲率半径導出部
１６６ 車間距離特定部
１６８ 追従制御部
２１０ 自車両円
２２０ 対象車両円 1 Own vehicle 2 Candidate vehicle 3 Target vehicle 160 Road surface identification unit 162 Three-dimensional object identification unit 164 Curvature radius extraction unit 166 Inter-vehicle distance specification unit 168 Follow-up control unit 210 Own vehicle circle 220 Target vehicle circle

Claims (3)

自車両の進行路の曲率半径である自車両曲率半径、および、対象車両を通り前記自車両の位置で前記自車両の進行路に接する円の曲率半径である対象車両曲率半径を導出する曲率半径導出部と、
前記自車両曲率半径と前記対象車両曲率半径との一致度に基づいて前記自車両と前記対象車両との車間距離を特定する車間距離特定部と、
特定された前記車間距離に基づいて追従制御を行う追従制御部と、
を備える車外環境認識装置。 The radius of curvature of the own vehicle, which is the radius of curvature of the path of the own vehicle, and the radius of curvature of the target vehicle, which is the radius of curvature of the circle that passes through the target vehicle and is in contact with the path of the own vehicle at the position of the own vehicle. Derivation part and
An inter-vehicle distance specifying unit that specifies the inter-vehicle distance between the own vehicle and the target vehicle based on the degree of coincidence between the own vehicle curvature radius and the target vehicle curvature radius.
A follow-up control unit that performs follow-up control based on the specified inter-vehicle distance,
An external environment recognition device equipped with. 前記車間距離特定部は、前記一致度に基づいて、前記自車両の進行路に従った弧距離、または、前記自車両と前記対象車両とを直線で結んだ直線距離のいずれかを前記車間距離として特定する請求項１に記載の車外環境認識装置。 Based on the degree of coincidence, the inter-vehicle distance specifying unit determines either an arc distance according to the traveling path of the own vehicle or a straight line distance connecting the own vehicle and the target vehicle with a straight line. The vehicle exterior environment recognition device according to claim 1, which is specified as. 前記車間距離特定部は、前記自車両の進行路に従った弧距離に前記一致度を乗じた第１距離と、前記自車両と前記対象車両とを直線で結んだ直線距離に、１から前記一致度を減じた値を乗じた第２距離との和を前記車間距離として特定する請求項１に記載の車外環境認識装置。 The inter-vehicle distance specifying unit is the first distance obtained by multiplying the arc distance along the traveling path of the own vehicle by the degree of coincidence, and the linear distance connecting the own vehicle and the target vehicle with a straight line from 1 to the above. The vehicle exterior environment recognition device according to claim 1, wherein the sum of the distance to the second distance multiplied by a value obtained by subtracting the degree of coincidence is specified as the inter-vehicle distance.
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JP2005263058A (en) * 2004-03-19 2005-09-29 Denso Corp Vehicle travelling control device
JP2018158689A (en) * 2017-03-23 2018-10-11 日野自動車株式会社 Preceding-vehicle determination apparatus and vehicle control system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005140749A (en) * 2003-11-10 2005-06-02 Toyota Motor Corp Curve-estimating apparatus and travel control apparatus using the same
JP2005263058A (en) * 2004-03-19 2005-09-29 Denso Corp Vehicle travelling control device
JP2018158689A (en) * 2017-03-23 2018-10-11 日野自動車株式会社 Preceding-vehicle determination apparatus and vehicle control system

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