JP6109998B1 - Vehicle position recognition system - Google Patents

Vehicle position recognition system Download PDF

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JP6109998B1
JP6109998B1 JP2016160983A JP2016160983A JP6109998B1 JP 6109998 B1 JP6109998 B1 JP 6109998B1 JP 2016160983 A JP2016160983 A JP 2016160983A JP 2016160983 A JP2016160983 A JP 2016160983A JP 6109998 B1 JP6109998 B1 JP 6109998B1
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recognition system
position recognition
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JP2017159879A (en
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秀晶 高
秀晶 高
達哉 橋本
達哉 橋本
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Advanced Smart Mobility Co Ltd
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    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

【課題】前車両の位置をレーザーもしくは画像によって捉え、そこへ至る前輪実舵角を算出し操舵して前車両を追尾する後続車に備える「車両位置認識システム」を実現する。【解決手段】後続車両の前部付近の車両中央もしくは両側の高所にレーザーもしくは画像によって前車両の後部特定部、道路の白線もしくは路側、他車両や人の割込みを検出する位置検知装置を備える。位置検知装置から前車両の特定部への方向と距離を検出して、その特定部へ至る軌跡を辿る前輪実舵角を算出する。同時に、位置検知装置から道路の白線もしくは路側を検出して、白線もしくは路側から逸脱しないように前輪実舵角を操舵制限して前車両を追尾する。先頭車両の方向変更、車線変更を後部方向指示灯の点滅から後続する自車両の認知装置が検出して白線もしくは路側から逸脱しない様に機能している操舵制限を解除して前車両を追尾して方向変更、車線変更する。【選択図】図１An object of the present invention is to realize a "vehicle position recognition system" for a succeeding vehicle that captures the position of a front vehicle with a laser or an image, calculates an actual front wheel steering angle to reach the front vehicle, and steers to track the front vehicle. A position detection device is provided at the center of the vehicle in the vicinity of the front of the following vehicle or at a height on both sides by a laser or an image to detect a rear part of the front vehicle, a white line or road side of the road, an interruption of another vehicle or a person. . The direction and distance from the position detection device to the specific part of the front vehicle is detected, and the front wheel actual steering angle that follows the trajectory to the specific part is calculated. At the same time, the white line or road side of the road is detected from the position detection device, and the front vehicle is tracked by restricting the steering of the front wheel actual steering angle so as not to deviate from the white line or road side. Change the direction of the leading vehicle, change the lane of the vehicle from the blinking of the rear direction indicator light, and the tracking device functioning so as not to deviate from the white line or the roadside will be detected and the front vehicle will be tracked. Change direction and lane. [Selection] Figure 1

Description

本発明は、例えば複数の車両が隊列を組んだ隊列走行において、自車両と前車両との間に生じる横偏差及び回頭角偏差を検出する車両位置認識システムに関する。   The present invention relates to a vehicle position recognition system that detects a lateral deviation and a turning angle deviation that occur between a host vehicle and a preceding vehicle, for example, in a row running in which a plurality of vehicles form a row.

昨今、トラッキング（追尾走行）制御による隊列走行は先行車両に対し、後続車両の横偏差量を検出し、それを制御量として、十分に小さくなるように、自車両の操舵角を制御する技術が注目されている。このような制御技術として、先行車両の走行軌跡情報や操舵情報は車車間通信により得られ、それらの情報を用い、先行車両に対する自車両の横偏差から求められる制御量に従い、自車量の操舵角を制御するシステムが提案されている。   In recent years, platooning by tracking (tracking driving) control detects the lateral deviation amount of the following vehicle with respect to the preceding vehicle, and uses this as a control amount to control the steering angle of the host vehicle to be sufficiently small. Attention has been paid. As such a control technique, the travel locus information and steering information of the preceding vehicle are obtained by inter-vehicle communication, and the information is used to steer the own vehicle amount according to the control amount obtained from the lateral deviation of the own vehicle with respect to the preceding vehicle. A system for controlling the corners has been proposed.

例えば、参照の特許文献１の追従制御装置は、通信により取得された先行車の舵角情報に基づいて自車両を先行車に追従させる。且つ、直進走行時の先行車両と自車両の舵角の差分を自車両の舵角中心とすることにより誤差が小さく制御できるとしている。   For example, the follow-up control device disclosed in the patent document 1 makes the host vehicle follow the preceding vehicle based on the steering angle information of the preceding vehicle acquired through communication. In addition, the difference between the steering angle of the preceding vehicle and the host vehicle when traveling straight ahead is set as the center of the steering angle of the host vehicle, and the error can be controlled to be small.

特開２０１３−１０７５７１号公報JP 2013-107571 A

しかしながら、各車両の操舵装置の仕様が異なり、車両質量や軸距などの車両運動にかかわる諸元も異なるため、先行車両の操舵情報をもとに算出した値は、前車両に対する自車両の横偏差とは等しくならないので、先行車両に対する自車両の車両方向の横偏差が十分に小さくならないおそれがある。また、直進走行においてそれぞれの車両の差分を算出して補正するとあるが実路の直線部は少なく差分算出ができないおそれがある。加えて、車車間通信による情報転送であるため、通信精度により情報の信頼性も誤差要因の一つになる可能性がある。   However, because the specifications of the steering device of each vehicle are different and the specifications related to vehicle motion such as vehicle mass and axle distance are also different, the value calculated based on the steering information of the preceding vehicle is Since it is not equal to the deviation, the lateral deviation in the vehicle direction of the host vehicle with respect to the preceding vehicle may not be sufficiently small. Moreover, although the difference of each vehicle is calculated and correct | amended in the straight running, there is a possibility that the difference cannot be calculated because there are few straight portions on the actual road. In addition, since the information is transferred by inter-vehicle communication, the reliability of the information may be one of the error factors depending on the communication accuracy.

本発明は、隊列走行において、前車両の走行軌道に沿い、正確にトラッキング（追尾走行）するために、先行車両の走行軌跡情報や操舵情報の車車間通信による情報転送方式ではなく、車両位置認識システムによる前車両との横偏差及び回頭角偏差を高精度に算出することを目的としている。   In the platooning, the vehicle position recognition is not an information transfer method based on inter-vehicle communication of the traveling locus information and steering information of the preceding vehicle in order to accurately track (tracking) along the traveling track of the preceding vehicle. The purpose is to calculate the lateral deviation and turning angle deviation from the preceding vehicle by the system with high accuracy.

上述課題を解決するために、本発明は、自車両の前部に設置される検知装置を用い、前車両の後部に設置されるマーカーと前車両の後部車体両側端のいずれかもしくは両方を検知するとともに、そのマーカーと車体両側端のいずれかもしくは両方までの距離及び照射角度等の検知情報により、前車両に対する自車両の横偏差を算出し、その結果に基づいて、自車両の目標位置を設定し、前輪実舵角を制御する手段を有する。   In order to solve the above-described problems, the present invention uses a detection device installed at the front part of the host vehicle, and detects either or both of a marker installed at the rear part of the front vehicle and the both sides of the rear body of the front vehicle. In addition, the lateral deviation of the host vehicle with respect to the preceding vehicle is calculated based on the detection information such as the distance to the marker and either or both of the vehicle body side ends and the irradiation angle, and the target position of the host vehicle is determined based on the result. Means for setting and controlling the actual steering angle of the front wheels.

また、マーカーまでの距離及び照射角度（走査角）の検出により、前車両の回頭角も算出することができる。前車両の回頭角を自車両の目標回頭角として、自車両の操舵角を制御することにより、前車とのずれ量の増大を抑制する手段を有する。   Further, the turning angle of the front vehicle can also be calculated by detecting the distance to the marker and the irradiation angle (scanning angle). By controlling the steering angle of the host vehicle with the turning angle of the preceding vehicle as the target turning angle of the host vehicle, there is means for suppressing an increase in the amount of deviation from the preceding vehicle.

本発明は、認識性能を十分に発揮させるとともに、計測精度を向上するために、前車両の特定位置にマーカーの設置及び、自車両に検知装置の設置によるセンシングシステムを有する。   The present invention has a sensing system in which a marker is installed at a specific position of a preceding vehicle and a detection device is installed in the host vehicle in order to sufficiently realize recognition performance and improve measurement accuracy.

本発明は、例えば複数（N台）の車両が隊列を組んだ隊列走行において、自車両の横偏差は前車両に対するものである。すなわち、２番目の車両の偏差は先行車両に対するもので、３番目の車両の偏差は２番目の車両に対するもの、N番目の車両の偏差はN−１番目の車両に対する相対的なものであるので、道路の白線もしくは路側との絶対的な偏差も同時に検出して車線ないし路側から車両が逸脱しないように抑える手段を有する。   In the present invention, for example, in a row running in which a plurality (N) of vehicles form a row, the lateral deviation of the own vehicle is relative to the preceding vehicle. That is, the deviation of the second vehicle is relative to the preceding vehicle, the deviation of the third vehicle is relative to the second vehicle, and the deviation of the Nth vehicle is relative to the N−1th vehicle. Also, there is means for simultaneously detecting an absolute deviation from the white line of the road or the road side so as to prevent the vehicle from deviating from the lane or the road side.

本発明に係る車両位置認識システムによれば、複数の車両が連なる隊列走行などにおいて、自車に装備した検知装置によって、前車両の位置を認識して、前車両に対する自車両の横偏差及び回頭角偏差を検出して、自車両の操舵角を制御して前車両との位置ずれを抑制することができる。   The vehicle position recognition system according to the present invention recognizes the position of the preceding vehicle by a detecting device equipped on the own vehicle in a platooning or the like in which a plurality of vehicles are connected, and the lateral deviation and rotation of the own vehicle with respect to the preceding vehicle. It is possible to detect the head angle deviation and control the steering angle of the host vehicle to suppress the positional deviation from the preceding vehicle.

隊列走行における車両位置認識の説明図を示す。An explanatory view of vehicle position recognition in platooning is shown. 検知装置の実施形態１における車両位置認識の数学モデル図を示す。The mathematical model figure of vehicle position recognition in Embodiment 1 of a detection apparatus is shown. 検知装置の実施形態２における車両位置認識の数学モデル図を示す。The mathematical model figure of vehicle position recognition in Embodiment 2 of a detecting device is shown. 検知装置の実施形態１における絶対的な位置認識と検知範囲を確実にする説明図を示す。The explanatory view which ensures absolute position recognition and detection range in Embodiment 1 of a detecting device is shown. 検知装置の実施形態２における絶対的な位置認識と検知範囲を確実にする説明図を示す。The explanatory view which ensures absolute position recognition and detection range in Embodiment 2 of a detecting device is shown. 前車両を追尾するための自車両の実舵角の説明図を示す。The explanatory view of the actual rudder angle of the own vehicle for tracking the front vehicle is shown. 道路の白線ないし路側からの逸脱を抑制す制限操舵の説明図を示す。The explanatory view of the limit steering which suppresses the deviation from the white line or roadside of a road is shown. 検知装置によって検出される情報から実舵角を決める方法Method of determining the actual steering angle from information detected by the detection device

以下に図面を参照して、本発明を実施するための形態について詳しく説明する。
図１は、前記複数の車両が隊列を組んだ隊列走行において、自車両と前車両との間に生じる車幅方向の横偏差及び回頭角偏差を検出する車両位置認識の説明図を示す。ここに、「横偏差」とは車両中心軸もしくは中心軸と平行にマーカーを通る前後軸と、前車両の後部に設けたマーカーとの自車両の幅方向の差を意味する。また、「回頭角偏差」とは自車両の車両中心軸と前車両の車両中心軸とがなす角を意味する。 Embodiments for carrying out the present invention will be described in detail below with reference to the drawings.
FIG. 1 is an explanatory diagram of vehicle position recognition for detecting lateral deviation and turning angle deviation in the vehicle width direction that occur between the host vehicle and the preceding vehicle in a row running in which the plurality of vehicles form a row. Here, the “lateral deviation” means a difference in the width direction of the host vehicle between the vehicle central axis or the longitudinal axis passing through the marker parallel to the central axis and the marker provided at the rear portion of the front vehicle. The “turning angle deviation” means an angle formed by the vehicle central axis of the host vehicle and the vehicle central axis of the preceding vehicle.

先行車両V10と後続車両V20はカーブに進入し、V30はカーブに進入し始めたところで、V40は直線進行の場合を例示している。車両の前部S20に検知装置を設置し、後方の特定位置m10に指標マーカーを設置しているため、前車両に対する自車両の横偏差は車両後方の中心を基本基準にするものである。即ち、図１に示すように、V10に対するV20の横偏差はΔd1であり、V20に対し、V30の横偏差はΔd2である。また、V10に対するV20の回頭角はθ１であり、V20に対し、V30の回頭角はθ２である。 The preceding vehicle V10 and the following vehicle V20 enter the curve, and V30 starts entering the curve, and V40 illustrates the case of linear travel. Since the detection device is installed at the front part S20 of the vehicle and the index marker is installed at the specific position m10 behind, the lateral deviation of the own vehicle with respect to the front vehicle is based on the center behind the vehicle. That is, as shown in FIG. 1, the horizontal deviation of the V20 for the V10 is [Delta] d 1, relative to V20, the lateral deviation of the V30 is [Delta] d 2. Further, the turning angle of V20 with respect to V10 is θ1, and the turning angle of V30 with respect to V20 is θ2.

本発明の検知装置の実施形態１として、レーザーレーダーを用いる。図２に実施形態１における車両位置認識の数学モデル図を示す。自車両V20の前部S20にレーザーを設置し、ここを原点として自車両の前後方向をX軸、横方向をY軸としレーザー走査角とすると、前車両V10の後部に配置したマーカーｍ１０に対し、自車両の横偏差Δd1はY10であり、回頭角はθ１である。 ここで、レーザー検知装置より取得の情報L0、L10と、L11と、L12と、及び、車両後部の方向指示灯の点滅の情報を用いれば、前記前車両の回頭角θ１は下記の数式1の（４）で求められ、前記横偏差Δd1は下記の数式１の（１）或いは数式１の（２）と（３）の平均値 で表すことができる。方向指示灯の点滅からは、点滅があれば進路変更、点滅が無ければ進路維持の先頭車の意図を汲み取り、後述する図７の道路の白線ないし路側からの逸脱を抑制する制限操舵の機能を目的的に発揮できる。 As the first embodiment of the detection apparatus of the present invention, a laser radar is used. FIG. 2 shows a mathematical model diagram of vehicle position recognition in the first embodiment. When a laser is installed in the front part S20 of the host vehicle V20, where the front and rear direction of the host vehicle is the X axis and the lateral direction is the Y axis, the laser scanning angle is defined as the origin. The lateral deviation Δd 1 of the host vehicle is Y10, and the turning angle is θ1. Here, using the information L0, L10, L11, L12 acquired from the laser detector and the blinking information of the direction indicator lamp at the rear of the vehicle, the turning angle θ1 of the front vehicle is expressed by the following formula 1. The lateral deviation Δd 1 obtained by (4) can be expressed by the following formula 1 (1) or the average value of formulas (2) and (3). From the blinking of the direction indicator lamp, if the blinking is present, the route is changed. Can be used for purpose.

Figure 0006109998
Figure 0006109998

一方、隊列走行中の車間距離が短くなり前記検知装置の実施形態１におけるレーザーの走査角範囲に前車両の後部左端m11および後部右端12が納まらない場合、図３に示す検知装置の実施形態２を用いることが好ましい。実施形態２は、実施形態１と同様に、レーザー検知装置を用いる。但し、車両の中心位置に設置ではなく、車両前方付近の両側にそれぞれのレーザー検知装置を設置する。   On the other hand, when the inter-vehicle distance during platooning becomes short and the rear left end m11 and the rear right end 12 of the front vehicle do not fall within the laser scanning angle range in the first embodiment of the detection apparatus, the second embodiment of the detection apparatus shown in FIG. Is preferably used. The second embodiment uses a laser detection device as in the first embodiment. However, the laser detectors are not installed at the center of the vehicle, but on both sides near the front of the vehicle.

図３の数学モデル図に示すように、前車両に対し、前記自車両の横偏差Δd1はY11とY12の平均値となる。ここで、レーザー検知装置よりL11,L12,,の情報が得られる。それと、左右センサ間距離Bの情報を用いれば、下記の数式(5)及び数式(8)で、求められる。 As shown in the mathematical model diagram of FIG. 3, the lateral deviation Δd 1 of the host vehicle is an average value of Y11 and Y12 with respect to the preceding vehicle. Here, information on L11, L12, etc. is obtained from the laser detector. If the information on the distance B between the left and right sensors is used, it can be obtained by the following formulas (5) and (8).

Figure 0006109998
Figure 0006109998

図２に示した実施形態１、図３に示した実施形態２ともに前車両と自車両の相対位置関係の検出に係わるものである。これに加えて道路の白線や路側などに対する絶対位置関係を検出する。更に、前車両と自車両の間に他の車両等に割込まれると追尾走行のための検知が妨げられるので、検出装置は前車両の検出に留まらず、割込み車両等を検出識別できることが好ましい。その割込み検出のためには検知範囲に死角がないことが望まれる。   Both Embodiment 1 shown in FIG. 2 and Embodiment 2 shown in FIG. 3 relate to detection of the relative positional relationship between the preceding vehicle and the host vehicle. In addition, the absolute positional relationship with respect to the white line of the road or the road side is detected. Further, if the vehicle is interrupted by another vehicle or the like between the preceding vehicle and the own vehicle, detection for tracking traveling is hindered. Therefore, it is preferable that the detection device is not limited to detecting the preceding vehicle but can detect and identify an interrupting vehicle or the like. . In order to detect the interruption, it is desirable that there is no blind spot in the detection range.

実施形態１と実施形態２について道路の白線や路側などとの絶対的な位置関係及び検知範囲の確保方法を図４と図５に示す。図４および図５において、検知装置を自車両の前部高所に設置すると平面視において前後走査長さと左右走査巾による検知範囲を確保することができ、前車両の後部との相対位置関係並びに道路の白線もしくは路側と絶対的な位置関係を検出することができる。検知装置を高所に設置した場合には数式（４）数式（８）に含まれるＸ値は検知下視角αの余弦を乗じて用いる。   FIGS. 4 and 5 show the absolute positional relationship with the white line of the road, the roadside, and the like and the detection range securing method in the first and second embodiments. 4 and 5, when the detection device is installed at the height of the front portion of the host vehicle, a detection range based on the front and rear scanning length and the left and right scanning width can be secured in plan view, and the relative positional relationship with the rear portion of the front vehicle and It is possible to detect an absolute positional relationship with the white line or road side of the road. When the detection device is installed at a high place, the X value included in Equation (4) and Equation (8) is multiplied by the cosine of the detection viewing angle α.

図６に前車両を追尾するための自車両の前輪実舵角を示す。この図６は前出の図２から説明に必要な寸法等を残して簡潔にしたものである。検出装置から取得されるL10、と前出の式(4)及び(8)から得られるθ１を用いると、二等辺三角形△o-m10-s20が描かれる。この三角形の辺Rは式(9)により求められる。Rが判明すると自車両の前輪実舵角δは、車両の運動特性を表現するスタビリティファクタをホィールベース および車速をｖとすると式(10)により求められる。   FIG. 6 shows an actual front wheel steering angle of the host vehicle for tracking the front vehicle. FIG. 6 is simplified from FIG. 2 except for the dimensions necessary for the description. An isosceles triangle Δo-m10-s20 is drawn using L10 obtained from the detection device and θ1 obtained from the above equations (4) and (8). The side R of this triangle can be obtained by equation (9). When R is found, the actual steering angle δ of the front wheel of the host vehicle can be obtained by Equation (10), where the stability factor expressing the motion characteristics of the vehicle is the wheel base and the vehicle speed is v.

Figure 0006109998
Figure 0006109998

図７に道路の白線ないし路側からの逸脱を抑制する修正操舵の説明図を示す。m11のY座標値がLL1のY座標値より小さくm12のY座標値がLR1のY座標値より小さいことを監視することにより、隊列が車線ないし路側をはみ出すことなく走行していることを確認すると共に逸脱しないように制限操舵を加える。この制限操舵は前車両の方向指示灯の点滅の有無を検出して、右の方向指示灯が点滅している間は右切操舵制限を解除し、左の方向指示灯が点滅している間は左切操舵制限を解除する。そうすることによって、方向指示灯の点滅が無い間は車線維持、右方向指示灯が点滅する間は右方向変更ないし右車線変更、及び左方向指示灯が点滅する間は左方向変更ないし左車線変更の制御が確実になる。   FIG. 7 is an explanatory view of the correction steering for suppressing the deviation from the white line or road side of the road. Confirm that the platoon is running without protruding from the lane or roadside by monitoring that the Y coordinate value of m11 is smaller than the Y coordinate value of LL1 and the Y coordinate value of m12 is smaller than the Y coordinate value of LR1. In addition, limit steering is added so as not to deviate. This limit steering detects the presence or absence of blinking of the direction indicator light of the preceding vehicle, cancels the right turn steering restriction while the right direction indicator light flashes, and while the left direction indicator light flashes Cancels the left turn steering restriction. By doing so, the lane is maintained while the direction indicator light is not flashing, the right direction is changed or the right lane is changed while the right direction indicator is flashing, and the left direction is changed or the left lane is changed while the left direction indicator is flashing. Change control is ensured.

検知装置を用いて得られる と車速 、ホィールベース 、スタビリティファクタ を代入して、自車両が前車両に追随するために必要な前輪実舵角δを決める方法を図８に示す。   FIG. 8 shows a method of determining the actual front wheel steering angle δ necessary for the host vehicle to follow the front vehicle by substituting the vehicle speed, wheel base, and stability factor obtained using the detection device.

本発明の検知装置の実施形態３では、測距イメージセンサを用いて検知装置を構成する。測距イメージセンサより得られる距離像において、前車両に設置しているマーカーを検知することでマーカーまでの距離データを抽出する。また、距離像の中心点から前車両までの距離を抽出することにより、センサの中心よりマーカーまでの振り角を算出することができる。得られた距離情報や算出した角度を用いれば、検知装置の実施形態１と実施形態２と同様に、前車両に対する自車両の車幅方向の横偏差及び廻頭角偏差が求められる。 In Embodiment 3 of the detection apparatus of the present invention, the detection apparatus is configured using a distance measuring image sensor. Distance data to the marker is extracted by detecting the marker installed in the preceding vehicle in the distance image obtained from the distance image sensor. Further, by extracting the distance from the center point of the distance image to the preceding vehicle, the swing angle from the center of the sensor to the marker can be calculated. If the obtained distance information and the calculated angle are used, the lateral deviation and the turning angle deviation in the vehicle width direction of the host vehicle with respect to the preceding vehicle are obtained as in the first and second embodiments of the detection device.

以上の記述のように、自車両に設置した位置認識システムによって前車両と自車両との車間距離および自車両に対する前車両の回頭角偏差を求め、その車間距離と回頭角偏差から前車両に追随するための軌跡の回転半径を計算し、その軌跡の回転半径を辿るための自車両の前輪実舵角を算出し、実舵角を制御して前車両に追随することによって隊列を形成する。   As described above, the inter-vehicle distance between the preceding vehicle and the own vehicle and the turning angle deviation of the preceding vehicle with respect to the own vehicle are obtained by the position recognition system installed on the own vehicle, and the preceding vehicle is tracked from the inter-vehicle distance and turning angle deviation. A vehicle is formed by calculating a turning radius of the trajectory for the vehicle, calculating an actual front wheel steering angle of the host vehicle for following the turning radius of the trajectory, and controlling the actual steering angle to follow the front vehicle.

また、隊列形成する車両の間に他の車両などの割込みを検出して隊列走行が妨げられない様に検知装置を高所に設置して死角のない検知範囲を確保する。この隊列形成が自車両に対する前車両位置認識の関係で後続車両へ伝搬するので伝搬偏差が蓄積されて偏差が道路の車線又は路側の限界を超えない様に操舵を制限する車両位置認識システムについて述べた。
In addition, a detection device is installed at a high place so as to prevent an obstacle such as another vehicle from being detected between the vehicles forming the formation, and the detection range without a blind spot is secured. A vehicle position recognition system that limits steering so that propagation deviations are accumulated and deviations do not exceed road lanes or roadside limits because this formation is propagated to the following vehicle in relation to vehicle position recognition with respect to the host vehicle. It was.

Claims (6)

複数の車両が隊列走行する際に、自車両より前車両の位置を認識する車両位置認識システムにおいて、検知装置を有するセンサ部とセンサ部より取得した情報を用いて、前車両との横偏差及び回頭角偏差を算出する情報取得・演算部と、前記算出した横偏差及び回頭角偏差を用いた目標位置を入力し、操舵制御を行う操舵制御装置とを含むことを特徴とする車両位置認識システム。   In a vehicle position recognition system for recognizing the position of the preceding vehicle from the own vehicle when a plurality of vehicles travel in a row, using the sensor unit having the detection device and information acquired from the sensor unit, the lateral deviation from the preceding vehicle and A vehicle position recognition system comprising: an information acquisition / calculation unit that calculates a turning angle deviation; and a steering control device that inputs a target position using the calculated lateral deviation and turning angle deviation and performs steering control. . 請求項１に記載の車両位置認識システムにおいて、前記検知装置は車両の特定位置に設けられ、レーザーレーダーを用いたレーザー方式もしくは測距イメージセンサを用いたイメージ方式を有することを特徴とする車両位置認識システム。   2. The vehicle position recognition system according to claim 1, wherein the detection device is provided at a specific position of the vehicle, and has a laser method using a laser radar or an image method using a distance measuring image sensor. Recognition system. 請求項１または２に記載の検知装置は追尾する前車両と自車両の間に検知範囲の死角が生じないよう様に高所に下視角を持たせて設置して他車両・人などの割込みを検出できるようにすることを特徴とする車両位置認識システム。 The detection device according to claim 1 or 2 is installed with a lower viewing angle at a high place so as not to cause a blind spot in the detection range between the preceding vehicle and the own vehicle to be tracked, and interrupting other vehicles and people A vehicle position recognition system characterized by being able to detect a vehicle. 請求項１乃至３の何れか１項に記載の車両位置認識システムにおいて、前記情報取得・演算部は、検知装置より検知情報を取得し、それを用いて、前車両に対する回頭角偏差及び横偏差を演算し、前記レーザー方式は、前車両特定位置までの距離及びレーザーの角度及び距離を取得するとともに演算アルゴリズムにより前車両に対する横偏差及び回頭角偏差を算出し、前記イメージ方式は、前車両特定位置まで距離を取得し、角度算出アルゴリズムにより、前車両特定位置までの角度を算出し、更に前記レーザー方式と同様に演算アルゴリズムを用いて前車両に対する横偏差及び回頭角偏差を算出することを特徴とする車両位置認識システム。   The vehicle position recognition system according to any one of claims 1 to 3, wherein the information acquisition / calculation unit acquires detection information from a detection device, and uses the detection information to use the turning angle deviation and the lateral deviation with respect to the preceding vehicle. The laser method obtains the distance to the preceding vehicle specific position and the angle and distance of the laser, and calculates the lateral deviation and the turning angle deviation with respect to the preceding vehicle by an arithmetic algorithm. The distance to the position is acquired, the angle to the front vehicle specific position is calculated by the angle calculation algorithm, and the lateral deviation and the turning angle deviation with respect to the front vehicle are calculated using the calculation algorithm in the same manner as the laser method. A vehicle position recognition system. 請求項１乃至４の何れか１項に記載の車両位置認識システムにおいて、前記操舵制御装置は、算出した自車両に対する前車両の横偏差並びに回頭角偏差を用いて並行して道路の白線ないし路側に対する逸脱余裕を残して前輪実舵角の操舵制限を行って前車両に追随しての車線維持走行することを特徴とし、前車両の方向指示灯の点滅を検出して点滅する側の操舵制限を解除してその方向への進路変更・車線変更をする車両位置認識システム。   5. The vehicle position recognition system according to claim 1, wherein the steering control device uses the calculated lateral deviation and turning angle deviation of the preceding vehicle with respect to the own vehicle in parallel to the white line or road side of the road. Steering restriction on the flashing side is detected by detecting the blinking of the directional indicator light of the front vehicle, and performing the lane keeping traveling by following the front vehicle by restricting the steering of the actual front wheel angle while leaving a deviation margin for Vehicle position recognition system that cancels the route and changes the course or lane in that direction. 請求項１乃至５の何れか１項に記載の車両位置認識システムにおいて、この車両位置認識システムは前記操舵制御装置及び車間距離制御装置を含めて隊列走行制御システムに適用されることを特徴とする車両位置認識システム。   The vehicle position recognition system according to any one of claims 1 to 5, wherein the vehicle position recognition system is applied to a platooning control system including the steering control device and the inter-vehicle distance control device. Vehicle position recognition system.
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