JP6943031B2 - Driving judgment method and driving judgment device - Google Patents

Driving judgment method and driving judgment device Download PDF

Info

Publication number
JP6943031B2
JP6943031B2 JP2017120427A JP2017120427A JP6943031B2 JP 6943031 B2 JP6943031 B2 JP 6943031B2 JP 2017120427 A JP2017120427 A JP 2017120427A JP 2017120427 A JP2017120427 A JP 2017120427A JP 6943031 B2 JP6943031 B2 JP 6943031B2
Authority
JP
Japan
Prior art keywords
vehicle
roundabout
determined
stop
road
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.)
Active
Application number
JP2017120427A
Other languages
Japanese (ja)
Other versions
JP2019008341A (en
Inventor
勝彦 出川
勝彦 出川
隆宏 野尻
隆宏 野尻
達弥 志野
達弥 志野
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.)
Nissan Motor Co Ltd
Original Assignee
Nissan 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 Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP2017120427A priority Critical patent/JP6943031B2/en
Publication of JP2019008341A publication Critical patent/JP2019008341A/en
Application granted granted Critical
Publication of JP6943031B2 publication Critical patent/JP6943031B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Description

本発明は、走行判断方法及び走行判断装置に関する。 The present invention relates to a traveling determination method and a traveling determination device.

従来において、ロータリー交差点から入退場口に車両が進入する際、入退場口付近に歩行者がいる場合は、歩行者がいることを運転者に報知するという技術が開示されている。 Conventionally, a technique has been disclosed in which when a vehicle enters an entrance / exit from a rotary intersection, if there is a pedestrian near the entrance / exit, the driver is notified that there is a pedestrian.

特開２０１４−１０８０９号公報Japanese Unexamined Patent Publication No. 2014-10809

上記の技術は、ロータリー交差点すなわちラウンドアバウトを走行する車両の運転者に対し、歩行者がいることを報知するものであり、どのように走行するかは運転者が判断する必要がある。例えば、車両を急停止すると、ラウンドアバウトを走行する車両の流れを阻害する可能性が高まる。 The above-mentioned technique notifies the driver of a vehicle traveling at a rotary intersection, that is, a roundabout, that there is a pedestrian, and it is necessary for the driver to determine how to drive. For example, a sudden stop of a vehicle increases the possibility of obstructing the flow of the vehicle traveling around the roundabout.

本発明は、上記課題に鑑みてなされたものであり、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる走行判断方法及び走行判断装置を提供することを目的とする。 The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling determination method and a traveling determination device capable of reducing the possibility of obstructing the flow of a vehicle in a roundabout.

本発明の一態様に係わる制御装置の走行判断方法は、ラウンドアバウトに接続する道路の位置及び自車両の走行予定路の情報を取得し、走行予定路の情報に基づいて定まる道路である退出路にある、自車両を停止させる停止要因の検出結果を取得し、検出結果に基づいて、停止要因が有るか否かを判定し、停止要因が有ると判定した場合、自車両は退出路に進入せずにラウンドアバウト内の走行を継続すべきと判断する。 Traveling determination method of the control apparatus according to an aspect of the present invention obtains the position and information of the intended travel path of the vehicle of a road that connects the roundabout, withdrawal is determined road based on the information of the intended travel path Detchi Obtains the detection result of the stop factor that stops the own vehicle, determines whether or not there is a stop factor based on the detection result, and if it is determined that there is a stop factor, the own vehicle enters the exit road. It is judged that the running in the roundabout should be continued without doing so.

本発明によれば、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる。 According to the present invention, it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

図１は、本発明の実施の形態に係る走行判断装置を搭載した車両の一部を示す機能ブロック図である。FIG. 1 is a functional block diagram showing a part of a vehicle equipped with a travel determination device according to an embodiment of the present invention. 図２は、走行判断部１１が行う走行判断方法のフローチャートである。FIG. 2 is a flowchart of a travel determination method performed by the travel determination unit 11. 図３は、走行判断部１１が行う走行判断に基づく車両挙動の具体例を示す図である。FIG. 3 is a diagram showing a specific example of vehicle behavior based on the travel determination performed by the travel determination unit 11.

以下、実施の形態を図面に基づいて説明する。同一部材には同一符号を付して再度の説明を省略する。 Hereinafter, embodiments will be described with reference to the drawings. The same members are designated by the same reference numerals, and the description thereof will be omitted again.

図１に示すように、車両は、制御装置１、前方検出部２、後方検出部３、ＧＰＳ(Global Positioning System)電波受信部４、地図データベース５、ナビゲーションシステム６、アクチュエータ部７及び方向指示器８を備える。図１の車両を他車両と混同しないように「自車両」という。 As shown in FIG. 1, the vehicle includes a control device 1, a front detection unit 2, a rear detection unit 3, a GPS (Global Positioning System) radio wave reception unit 4, a map database 5, a navigation system 6, an actuator unit 7, and a direction indicator. 8 is provided. The vehicle shown in FIG. 1 is referred to as "own vehicle" so as not to be confused with other vehicles.

制御装置１は、自車両の走行に関する判断を行う走行判断部１１と、自車両の走行に関する制御を行う走行制御部１２とを備える。走行判断部１１は、走行判断に用いる自車両の寸法（長さ、幅、高さなど）を記憶していることとする。 The control device 1 includes a travel determination unit 11 that determines the travel of the own vehicle, and a travel control unit 12 that controls the travel of the own vehicle. It is assumed that the travel determination unit 11 stores the dimensions (length, width, height, etc.) of the own vehicle used for the travel determination.

走行判断部１１は、走行判断装置の走行判断回路に相当するもので、ＣＰＵ（中央処理装置）、メモリ、及び入出力部を備えるマイクロコンピュータを用いて実現可能である。マイクロコンピュータを走行判断部１１として機能させるためのコンピュータプログラムを、マイクロコンピュータにインストールして実行する。これにより、マイクロコンピュータは、走行判断部１１として機能する。なお、ここでは、ソフトウェアによって走行判断部１１を実現する例を示すが、もちろん、以下に示す各情報処理を実行するための専用のハードウェアを用意して、走行判断部１１を構成することも可能である。 The travel determination unit 11 corresponds to a travel determination circuit of the travel determination device, and can be realized by using a microcomputer including a CPU (central processing unit), a memory, and an input / output unit. A computer program for operating the microcomputer as the driving determination unit 11 is installed and executed on the microcomputer. As a result, the microcomputer functions as the traveling determination unit 11. Here, an example in which the travel determination unit 11 is realized by software is shown, but of course, the travel determination unit 11 may be configured by preparing dedicated hardware for executing each of the following information processing. It is possible.

前方検出部２は、自車両の前方の歩行者や停止車両などの、自車両を停止させる停止要因を検出するもので、レーダ装置２１とカメラ２２の一方又は両方を備える。後方検出部３は、自車両に後続する後続車両などを検出するもので、レーダ装置３１とカメラ３２の一方又は両方を備える。 The front detection unit 2 detects a stopping factor that stops the own vehicle, such as a pedestrian or a stopped vehicle in front of the own vehicle, and includes one or both of the radar device 21 and the camera 22. The rear detection unit 3 detects a following vehicle or the like following the own vehicle, and includes one or both of the radar device 31 and the camera 32.

ＧＰＳ電波受信部４は、３個以上のＧＰＳ衛星から電波を受信することにより自車両の位置を得る。地図データベース５は、自車両が走行する地域の地図情報を備える。地図情報は、道路及び交差点の位置などの情報を含む。交差点には、十字交差点、Ｔ字交差点の他に、ラウンドアバウトと称する環状交差点が含まれる。 The GPS radio wave receiving unit 4 obtains the position of its own vehicle by receiving radio waves from three or more GPS satellites. The map database 5 includes map information of the area in which the own vehicle travels. Map information includes information such as the locations of roads and intersections. The intersection includes a cross intersection, a T-shaped intersection, and a roundabout called a roundabout.

ラウンドアバウトとは、３本以上の道路が環状の道路（環道という）に接続する交差点であり、ここでは、ラウンドアバウトは環道をいうものとする。地図情報は、ラウンドアバウトの情報を含む。ラウンドアバウトの情報は、ラウンドアバウト（環道）及び接続する道路の位置を含む。 A roundabout is an intersection where three or more roads connect to a ring road (referred to as a ring road), and here, the roundabout means a ring road. Map information includes roundabout information. Roundabout information includes the location of the roundabout and connecting roads.

ナビゲーションシステム６は、自車両の運転者などの乗員によって設定された目的地まで案内を行うものである。ナビゲーションシステム６は、目的地までの走行予定路を算出し、目的地までの案内を行う。また、ナビゲーションシステム６は、走行予定路の情報を制御装置１に出力する。 The navigation system 6 provides guidance to a destination set by an occupant such as a driver of the own vehicle. The navigation system 6 calculates a planned travel route to the destination and provides guidance to the destination. Further, the navigation system 6 outputs information on the planned travel path to the control device 1.

アクチュエータ部７は、アクセルの開度を変えるためのアクセル開度可変部７１、ブレーキの踏み込み量を変えるためのブレーキ量可変部７２及びステアリングの操舵角を変えるための操舵角可変部７３を備える。方向指示器８は、車体左側の方向指示灯と車体右側の方向指示灯を備える。 The actuator unit 7 includes an accelerator opening variable unit 71 for changing the accelerator opening degree, a brake amount variable unit 72 for changing the brake depression amount, and a steering angle variable unit 73 for changing the steering angle of the steering. The direction indicator 8 includes a direction indicator light on the left side of the vehicle body and a direction indicator light on the right side of the vehicle body.

次に、走行判断部１１が行う走行判断方法について説明する。
走行判断部１１は、自車両の走行中は、ＧＰＳ電波受信部４から自車両の位置を取得し、地図データベース５の地図情報からラウンドアバウトの位置を取得する。そして、自車両の位置とラウンドアバウトの位置を照合し、自車両がラウンドアバウトに位置しているか否かを常に判定する。 Next, the travel determination method performed by the travel determination unit 11 will be described.
The travel determination unit 11 acquires the position of the own vehicle from the GPS radio wave receiving unit 4 while the own vehicle is traveling, and acquires the position of the roundabout from the map information of the map database 5. Then, the position of the own vehicle and the position of the roundabout are collated, and it is always determined whether or not the own vehicle is located at the roundabout.

また、走行判断部１１は、後方検出部３のレーダ装置又はカメラによる車両後方の検出結果を取得し、検出結果に基づき、自車両と後続車両との相対速度および車両間の距離を、走行中は常に求める。 Further, the travel determination unit 11 acquires the detection result of the rear of the vehicle by the radar device or the camera of the rear detection unit 3, and based on the detection result, is traveling the relative speed between the own vehicle and the following vehicle and the distance between the vehicles. Always asks.

また、走行判断部１１は、地図情報からラウンドアバウトに接続する道路の位置を取得し、ナビゲーションシステム６から走行予定路の情報を取得する。そして、この道路の位置と走行予定路の情報に基づき、自車両がラウンドアバウトから退出する道路（以下、退出路という）の位置を求める。 Further, the travel determination unit 11 acquires the position of the road connected to the roundabout from the map information, and acquires the information of the planned travel route from the navigation system 6. Then, based on the position of this road and the information on the planned travel route, the position of the road on which the own vehicle exits the roundabout (hereinafter referred to as the exit route) is obtained.

そして、走行判断部１１は、自車両がラウンドアバウトに位置し、且つ、退出路に接近した際には、すなわち、自車両がラウンドアバウトから退出路に進入する際には、図２のフローチャートの動作を行う。 Then, when the own vehicle is located at the roundabout and approaches the exit road, that is, when the own vehicle enters the exit road from the roundabout, the travel determination unit 11 is shown in the flowchart of FIG. Do the action.

図２において、まず、走行判断部１１は、前方検出部２のレーダ装置又はカメラによる車両前方の検出結果を取得し、検出結果に基づき、自車両を停止させる停止要因が有るか否かを判定する（Ｓ１）。停止要因は、例えば、退出路のラウンドアバウト近傍に設けられた横断歩道を渡ろうとする歩行者又は横断歩道の手前で停止している他車両などである。 In FIG. 2, first, the traveling determination unit 11 acquires the detection result of the front of the vehicle by the radar device or the camera of the front detection unit 2, and determines whether or not there is a stopping factor for stopping the own vehicle based on the detection result. (S1). The stopping factor is, for example, a pedestrian trying to cross a pedestrian crossing provided near the roundabout of the exit road, or another vehicle stopped in front of the pedestrian crossing.

走行判断部１１は、停止要因がない場合は（Ｓ１：ＮＯ）、自車両は退出路に進入すべきと判断し（Ｓ３）、処理を終える。 If there is no stopping factor (S1: NO), the travel determination unit 11 determines that the own vehicle should enter the exit road (S3), and ends the process.

走行制御部１２は、例えば、ステップＳ３の判断結果に基づき、アクチュエータ部７のアクセル開度可変部７１、ブレーキ量可変部７２及び操舵角可変部７３を駆動し、自車両を退出路に進入させる。その後、走行予定路の情報に基づき、アクチュエータ部７のアクセル開度可変部７１等を駆動し、自車両を目的地まで走行させる。 The travel control unit 12 drives, for example, the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result of step S3, and causes the own vehicle to enter the exit path. .. After that, based on the information on the planned travel path, the accelerator opening variable portion 71 and the like of the actuator unit 7 are driven to drive the own vehicle to the destination.

走行判断部１１は、停止要因がある場合は（Ｓ１：ＹＥＳ）、車両後方の検出結果に基づき、自車両に後続する後続車両が有るか否かを判定する（Ｓ５）。後続車両がない場合は（Ｓ５：ＮＯ）、ステップＳ３に進む。 If there is a stop factor (S1: YES), the travel determination unit 11 determines whether or not there is a following vehicle following the own vehicle based on the detection result behind the vehicle (S5). If there is no following vehicle (S5: NO), the process proceeds to step S3.

走行判断部１１は、後続車両が有る場合は（Ｓ５：ＹＥＳ）、車両前方の検出結果に基づき、自車両と停止要因との間の距離を求め、自車両の位置と距離とに基づき、自車両が停止する際の停止予定位置を求める（Ｓ７）。 If there is a following vehicle (S5: YES), the travel determination unit 11 obtains the distance between the own vehicle and the stopping factor based on the detection result in front of the vehicle, and based on the position and distance of the own vehicle, the traveling determination unit 11 itself. The planned stop position when the vehicle stops is obtained (S7).

次に、走行判断部１１は、ラウンドアバウトの位置と停止予定位置と自車両の寸法に基づき、停止予定位置に自車両が停止した場合において自車両の少なくとも一部がラウンドアバウトに位置するか否かを判定する（Ｓ９）。 Next, the travel determination unit 11 determines whether or not at least a part of the own vehicle is located at the roundabout when the own vehicle stops at the planned stop position based on the position of the roundabout, the planned stop position, and the dimensions of the own vehicle. (S9).

走行判断部１１は、自車両の全部がラウンドアバウトに位置しないと判定した場合は（Ｓ９：ＮＯ）、停止予定位置に自車両を停止すべきと判断し（Ｓ１１）、処理を終える。 When the travel determination unit 11 determines that all of the own vehicles are not located at the roundabout (S9: NO), the travel determination unit 11 determines that the own vehicle should be stopped at the planned stop position (S11), and ends the process.

走行制御部１２は、例えば、ステップＳ１１の判断結果に基づき、アクチュエータ部７のアクセル開度可変部７１、ブレーキ量可変部７２及び操舵角可変部７３を駆動し、停止予定位置まで自車両を走行させ、停止予定位置に停止する。 For example, the travel control unit 12 drives the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result in step S11, and travels the own vehicle to the planned stop position. And stop at the planned stop position.

走行判断部１１は、自車両の少なくとも一部がラウンドアバウトに位置すると判定した場合は（Ｓ９：ＹＥＳ）、自車両と後続車両との間の相対速度および車両間の距離に基づき、停止予定位置に停止した自車両が後続車両の走行を妨害するか否かを判定する（Ｓ１３）。例えば、走行判断部１１は、相対速度に基づいて車両間の距離の上限値を計算し、車両間の距離が上限値より長い場合は、後続車両の走行を妨害しないと判定する。後続車両の走行を妨害しないと判定した場合は（Ｓ１３：ＮＯ）、ステップＳ１１に進む。 When the travel determination unit 11 determines that at least a part of the own vehicle is located at the roundabout (S9: YES), the planned stop position is based on the relative speed between the own vehicle and the following vehicle and the distance between the vehicles. It is determined whether or not the own vehicle stopped at is obstructing the running of the following vehicle (S13). For example, the travel determination unit 11 calculates the upper limit value of the distance between vehicles based on the relative speed, and if the distance between vehicles is longer than the upper limit value, determines that the traveling of the following vehicle is not hindered. If it is determined not to interfere with the running of the following vehicle (S13: NO), the process proceeds to step S11.

走行判断部１１は、後続車両の走行を妨害すると判定した場合は（Ｓ１３：ＹＥＳ）、車両前方の検出結果に基づき、退出路に進入せずにラウンドアバウトの走行を続けた場合の自車両の位置、つまり、自車両の前方に車両のスペースが有るか否かを判定する（Ｓ１５）。 When the travel determination unit 11 determines that the traveling of the following vehicle is obstructed (S13: YES), the travel determination unit 11 of the own vehicle when the roundabout continues to travel without entering the exit road based on the detection result in front of the vehicle. The position, that is, whether or not there is a vehicle space in front of the own vehicle is determined (S15).

走行判断部１１は、前方にスペースがない場合は（Ｓ１５：ＮＯ）、後続車両に注意喚起をすべきと判断し（Ｓ１７）、ステップＳ１１に進む。 If there is no space ahead (S15: NO), the travel determination unit 11 determines that the following vehicle should be alerted (S17), and proceeds to step S11.

走行制御部１２は、例えば、ステップＳ１７の判断結果に基づき、方向指示器８の両方の方向指示灯を連続して点滅させることで、後続車両に注意喚起する。 The travel control unit 12 alerts the following vehicle by continuously blinking both direction indicator lights of the direction indicator 8 based on the determination result of step S17, for example.

走行判断部１１は、前方にスペースが有る場合は（Ｓ１５：ＹＥＳ）、後続車両に注意喚起せず、また、退出路に進入せずにラウンドアバウト内の走行を継続すべきと判断し（Ｓ１９）、処理を終える。 If there is a space in front of the vehicle (S15: YES), the travel judgment unit 11 determines that the vehicle should not be alerted to the following vehicle and that the vehicle should continue traveling in the roundabout without entering the exit road (S19). ), Finish the process.

走行制御部１２は、例えば、ステップＳ１９の判断結果に基づき、アクチュエータ部７のアクセル開度可変部７１、ブレーキ量可変部７２及び操舵角可変部７３を駆動し、自車両を退出路に進入させず、ラウンドアバウトを走行させる。 The travel control unit 12 drives, for example, the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result of step S19, and causes the own vehicle to enter the exit path. Instead, run the roundabout.

仮に、自車両がラウンドアバウト内又は停止予定位置で停止した場合、後続車両の急制動が必要となったり、自車両と後続車両が衝突する可能性がある。すなわち、後続車両の走行を妨害する可能性がある。しかし、本実施の形態では、自車両を停止せず、ラウンドアバウトを走行させるので、後続車両の走行を妨害しない。つまり、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる。 If the own vehicle stops in the roundabout or at the planned stop position, sudden braking of the following vehicle may be required, or the own vehicle and the following vehicle may collide. That is, it may interfere with the running of the following vehicle. However, in the present embodiment, since the own vehicle is not stopped and the roundabout is traveled, the traveling of the following vehicle is not hindered. That is, the possibility of obstructing the flow of the vehicle in the roundabout can be reduced.

図３を参照して、具体的に説明する。
図３（ａ）に示すように、ラウンドアバウトＲＡに接続する道路Ｒ１〜Ｒ３のうちの道路Ｒ１が退出路であるとする。ラウンドアバウトＲＡを走行する自車両１００が道路Ｒ１に接近し、道路Ｒ１のラウンドアバウトＲＡ近傍に設けた横断歩道Ｒ１１を渡ろうとする歩行者Ｐがいた場合、停止要因が有る（Ｓ１：ＹＥＳ）と判定する。 A specific description will be given with reference to FIG.
As shown in FIG. 3A, it is assumed that the road R1 of the roads R1 to R3 connected to the roundabout RA is the exit road. When the own vehicle 100 traveling on the roundabout RA approaches the road R1 and there is a pedestrian P trying to cross the pedestrian crossing R11 provided near the roundabout RA on the road R1, there is a stop factor (S1: YES). judge.

自車両１００に後続車両１０１がある場合（Ｓ５：ＹＥＳ）、自車両１００の停止予定位置を求める（Ｓ７）。横断歩道Ｒ１１の手前で停止車両１０２が停止している場合、停止予定位置に停止すると、自車両１００がラウンドアバウトＲＡに位置する（Ｓ９：ＹＥＳ）場合がある。 When the own vehicle 100 has a following vehicle 101 (S5: YES), the planned stop position of the own vehicle 100 is obtained (S7). When the stopped vehicle 102 is stopped before the pedestrian crossing R11, the own vehicle 100 may be located at the roundabout RA (S9: YES) when the stopped vehicle 102 is stopped at the planned stop position.

さらに、停止予定位置に停止した自車両１００が後続車両１０１の走行を妨害し（Ｓ１３：ＹＥＳ）、前方にスペースが有る場合は（Ｓ１５：ＹＥＳ）、図３（ｂ）のように、道路Ｒ１（退出路）に進入せずにラウンドアバウトＲＡ内の走行を継続すべきと判断する（Ｓ１９）。 Further, when the own vehicle 100 stopped at the planned stop position obstructs the traveling of the following vehicle 101 (S13: YES) and there is a space in front (S15: YES), the road R1 is as shown in FIG. 3 (b). It is determined that the vehicle should continue running in the roundabout RA without entering the (exit road) (S19).

図３（ｃ）に示すように、停止車両１０２がない場合でも、横断歩道Ｒ１１の手前の停止予定位置に停止すると、自車両１００の一部がラウンドアバウトＲＡに位置する（Ｓ９：ＹＥＳ）場合がある。 As shown in FIG. 3C, even if there is no stopped vehicle 102, when the vehicle stops at the planned stop position in front of the pedestrian crossing R11, a part of the own vehicle 100 is located at the roundabout RA (S9: YES). There is.

さらに、後続車両１０１の走行を妨害し（Ｓ１３：ＹＥＳ）、前方にスペースが有る場合は（Ｓ１５：ＹＥＳ）、図３（ｄ）のように、道路Ｒ１（退出路）に進入せずにラウンドアバウトＲＡ内の走行を継続すべきと判断する（Ｓ１９）。 Further, if the following vehicle 101 is obstructed from running (S13: YES) and there is a space in front (S15: YES), as shown in FIG. 3 (d), the round does not enter the road R1 (exit road). It is determined that the running in the about RA should be continued (S19).

以上のように、本実施の形態では、走行判断回路（１１）により、ラウンドアバウトから退出路に退出する車両を停止させる停止要因が有るか否かを判定し、停止要因が有ると判定した場合、車両は退出路に進入せずにラウンドアバウトの走行を継続すべきと判断する。よって、停止要因により停止した自車両が後続車両の走行を妨害するということがなく、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる。 As described above, in the present embodiment, when it is determined by the traveling determination circuit (11) whether or not there is a stop factor for stopping the vehicle leaving the exit road from the roundabout, and it is determined that there is a stop factor. , Judge that the vehicle should continue the roundabout without entering the exit road. Therefore, the own vehicle that has stopped due to the stopping factor does not interfere with the running of the following vehicle, and the possibility of obstructing the flow of the vehicle at the roundabout can be reduced.

また、停止要因により車両が停止する際の停止予定位置に車両が停止した場合において車両の少なくとも一部がラウンドアバウトに位置するか否かを判定する。そして、車両の全部がラウンドアバウトに位置しないと判定した場合、車両は停止予定位置に停止すべきと判断する。 In addition, when the vehicle stops at the planned stop position when the vehicle stops due to a stop factor, it is determined whether or not at least a part of the vehicle is located at the roundabout. Then, when it is determined that not all of the vehicles are located at the roundabout, it is determined that the vehicle should stop at the planned stop position.

よって、自車がラウンドアバウト内にはみ出して停車しないなら、ラウンドアバウト内の他車の交通を阻害しないので、ラウンドアバウトから退出路に進入できる可能性が増す。従って、車両が退出路に進入せずにラウンドアバウトの走行を継続する頻度を低減できると共に、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる。 Therefore, if the own vehicle does not stop outside the roundabout, it does not obstruct the traffic of other vehicles in the roundabout, and the possibility of entering the exit route from the roundabout increases. Therefore, it is possible to reduce the frequency with which the vehicle continues to travel in the roundabout without entering the exit road, and it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

また、停止要因により車両が停止する際の停止予定位置に車両が停止した場合において車両の少なくとも一部がラウンドアバウトに位置し、且つ、停止予定位置に停止した車両が後続車両の走行を妨害するか否かを判定する。そして、車両の全部がラウンドアバウトに位置しない、又は、後続車両の走行を妨害しないと判定した場合、車両は停止予定位置に停止すべきと判断する。 In addition, when the vehicle stops at the planned stop position when the vehicle stops due to a stop factor, at least a part of the vehicle is located at the roundabout, and the vehicle stopped at the planned stop position interferes with the running of the following vehicle. Judge whether or not. Then, when it is determined that all of the vehicles are not located at the roundabout or do not interfere with the running of the following vehicle, it is determined that the vehicle should stop at the planned stop position.

よって、自車がラウンドアバウト内にはみ出して停車したとしても、例えば、後続車両がいないなど、後続車両を妨害しないなら、ラウンドアバウト内の他車の交通を阻害しないので、ラウンドアバウトから退出路に進入できる可能性が増す。従って、車両が退出路に進入せずにラウンドアバウトの走行を継続する頻度を低減できると共に、ラウンドアバウトにおける車両の流れを阻害する可能性を低減できる。 Therefore, even if your vehicle runs out of the roundabout and stops, if it does not interfere with the following vehicle, for example, there is no following vehicle, it will not obstruct the traffic of other vehicles in the roundabout, so you will be on the exit route from the roundabout. The chances of getting in are increased. Therefore, it is possible to reduce the frequency with which the vehicle continues to travel in the roundabout without entering the exit road, and it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

なお、本実施の形態では、ステップＳ１で停止要因が有ると判定した場合、ステップＳ５に進んだが、ステップＳ５に進まずステップＳ１９に進み、すなわち車両は退出路に進入せずにラウンドアバウト内の走行を継続すべきと判断してもよい。 In the present embodiment, if it is determined in step S1 that there is a stop factor, the process proceeds to step S5, but the process proceeds to step S19 without proceeding to step S5, that is, the vehicle does not enter the exit road and is in the roundabout. You may decide that you should continue running.

また、ステップＳ９で自車両の少なくとも一部がラウンドアバウトに位置すると判定した場合、ステップＳ１３に進まずステップＳ１９に進み、すなわち車両は退出路に進入せずにラウンドアバウト内の走行を継続すべきと判断してもよい。 Further, if it is determined in step S9 that at least a part of the own vehicle is located at the roundabout, the vehicle should proceed to step S19 without proceeding to step S13, that is, the vehicle should continue running in the roundabout without entering the exit road. You may judge that.

また、本実施の形態では、走行判断部１１の判断結果に基づき走行制御部１２が車両の走行を制御した。しかし、ステップＳ１９の判断結果に基づき、例えば、ナビゲーションシステム６の画面表示や音声により、「退出路に進入せずにラウンドアバウトを走行して下さい」等の内容を車両の運転者などに報知してもよい。また、ステップＳ１１の判断結果に基づき、例えば、ナビゲーションシステム６の画面表示や音声により、「退出路に進入し、横断歩道の手前で停止して下さい」等の内容を車両の運転者などに報知してもよい。また、ステップＳ１７の判断結果に基づき、例えば、ナビゲーションシステム６の画面表示や音声により、「ハザードランプを点滅して下さい」等の内容を車両の運転者などに報知してもよい。 Further, in the present embodiment, the travel control unit 12 controls the travel of the vehicle based on the determination result of the travel determination unit 11. However, based on the determination result of step S19, for example, the screen display or voice of the navigation system 6 is used to notify the driver of the vehicle of the content such as "Please drive the roundabout without entering the exit road". You may. Further, based on the determination result in step S11, for example, the screen display or voice of the navigation system 6 informs the driver of the vehicle of the content such as "Enter the exit road and stop before the pedestrian crossing". You may. Further, based on the determination result in step S17, for example, the driver of the vehicle may be notified of the content such as "Please blink the hazard lamp" by the screen display or voice of the navigation system 6.

また、本実施の形態では、ラウンドアバウトを走行する対象車両に走行判断装置を搭載した。しかし、対象車両に通信可能なサーバ装置又は対象車両でない他車両に走行判断装置を搭載し、必要な情報と指示はサーバ装置又は他車両と対象車両の間の通信により送受信することで、同様の走行判断方法を遠隔的に行ってもよい。サーバ装置と対象車両の間の通信は無線通信又は路車間通信により実行可能である。他車両と対象車両の間の通信は所謂車車間通信により実行可能である。 Further, in the present embodiment, the traveling determination device is mounted on the target vehicle traveling in the roundabout. However, the same is true by mounting a server device capable of communicating with the target vehicle or a travel judgment device on another vehicle that is not the target vehicle, and transmitting and receiving necessary information and instructions by communication between the server device or the other vehicle and the target vehicle. The traveling determination method may be performed remotely. Communication between the server device and the target vehicle can be executed by wireless communication or road-to-vehicle communication. Communication between another vehicle and the target vehicle can be executed by so-called vehicle-to-vehicle communication.

以上、本発明の実施形態を記載したが、この開示の一部をなす論述及び図面はこの発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。 Although embodiments of the present invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

１ 制御装置
２ 前方検出部
３ 後方検出部
４ ＧＰＳ電波受信部
５ 地図データベース
６ ナビゲーションシステム
７ アクチュエータ部
８ 方向指示器
１１ 走行判断部
１２ 走行制御部
２１、３１ レーダ装置
２２、３２ カメラ
１００ 自車両
１０１ 後続車両
１０２ 停止車両
Ｐ 歩行者
Ｒ１〜Ｒ３ 道路
Ｒ１１ 横断歩道
ＲＡ ラウンドアバウト 1 Control device 2 Front detection unit 3 Rear detection unit 4 GPS radio wave reception unit 5 Map database 6 Navigation system 7 Actuator unit 8 Direction indicator 11 Travel judgment unit 12 Travel control unit 21, 31 Radar device 22, 32 Camera 100 Own vehicle 101 Following vehicle 102 Stopped vehicle P Pedestrian R1 to R3 Road R11 Pedestrian crossing RA Round about

Claims (4)

自車両がラウンドアバウト内の走行を継続するか判断する制御装置の走行判断方法であって、
前記制御装置は、
前記ラウンドアバウトに接続する道路の位置及び前記自車両の走行予定路の情報を取得し、
前記走行予定路の情報に基づいて定まる前記道路である退出路にある、前記自車両を停止させる停止要因の検出結果を取得し、
前記検出結果に基づいて、前記停止要因が有るか否かを判定し、
前記停止要因が有ると判定した場合、前記自車両は前記退出路に進入せずに前記ラウンドアバウト内の走行を継続すべきと判断する
ことを特徴とする走行判断方法。 It is a running judgment method of the control device that judges whether the own vehicle will continue running in the roundabout.
The control device is
Obtain information on the position of the road connecting to the roundabout and the planned travel path of the own vehicle,
In Detchi withdrawal is determined the road based on the information of the intended travel path, obtains the detection result of the stop factor to stop the vehicle,
Based on the detection result, it is determined whether or not there is the stop factor.
A traveling determination method, characterized in that, when it is determined that there is a stopping factor, it is determined that the own vehicle should continue traveling in the roundabout without entering the exit road. 前記停止要因により前記自車両が停止する際の停止予定位置を求め、
前記停止予定位置に前記自車両が停止した場合において前記自車両の少なくとも一部が前記ラウンドアバウトに位置するか否かを判定し、
前記自車両の少なくとも一部が前記ラウンドアバウトに位置すると判定した場合、前記自車両は前記退出路に進入せずに前記ラウンドアバウトを走行すべきと判断する一方、前記自車両の全部が前記ラウンドアバウトに位置しないと判定した場合、前記自車両は前記停止予定位置に停止すべきと判断する
ことを特徴とする請求項１記載の走行判断方法。 Obtaining the planned stop position when the own vehicle stops due to the stop factor,
When the own vehicle stops at the planned stop position, it is determined whether or not at least a part of the own vehicle is located at the roundabout.
When it is determined that at least a part of the own vehicle is located in the roundabout, it is determined that the own vehicle should travel the roundabout without entering the exit road, while all of the own vehicle is in the roundabout. The traveling determination method according to claim 1, wherein when it is determined that the vehicle is not located at the about, it is determined that the own vehicle should stop at the planned stop position. 前記停止要因により前記自車両が停止する予定の停止予定位置を求め、
前記停止予定位置に前記自車両が停止した場合において前記自車両の少なくとも一部が前記ラウンドアバウトに位置し、且つ、前記停止予定位置に停止した前記自車両が前記自車両に後続する後続車両の走行を妨害するか否かを判定し、
前記自車両の少なくとも一部が前記ラウンドアバウトに位置し、且つ、前記後続車両の走行を妨害すると判定した場合、前記自車両は前記退出路に進入せずに前記ラウンドアバウトを走行すべきと判断する一方、前記自車両の全部が前記ラウンドアバウトに位置しない、又は、前記後続車両の走行を妨害しないと判定した場合、前記自車両は前記停止予定位置に停止すべきと判断する
ことを特徴とする請求項１記載の走行判断方法。 Obtaining the planned stop position where the own vehicle is scheduled to stop due to the stop factor,
When the own vehicle stops at the planned stop position, at least a part of the own vehicle is located at the roundabout, and the own vehicle stopped at the planned stop position is a following vehicle following the own vehicle. Determine if it interferes with driving,
When it is determined that at least a part of the own vehicle is located at the roundabout and interferes with the running of the following vehicle, it is determined that the own vehicle should run the roundabout without entering the exit road. On the other hand, if it is determined that not all of the own vehicle is located at the roundabout or does not interfere with the running of the following vehicle, it is determined that the own vehicle should stop at the planned stop position. The driving determination method according to claim 1. 自車両がラウンドアバウト内の走行を継続するか判断する制御装置を備える走行判断装置であって、
前記制御装置は、前記ラウンドアバウトに接続する道路の位置及び前記自車両の走行予定路の情報を取得し、前記自車両が前記走行予定路の情報に基づいて定まる前記道路である退出路にある、前記自車両を停止させる停止要因の検出結果を取得し、前記検出結果に基づいて、前記停止要因が有るか否かを判定し、前記停止要因が有ると判定した場合、前記自車両は前記退出路に進入せずに前記ラウンドアバウト内の走行を継続すべきと判断することを特徴とする走行判断装置。 It is a travel judgment device equipped with a control device that determines whether or not the own vehicle continues to travel in the roundabout.
The control device acquires the information of the intended travel path of the position and the vehicle road to be connected to the roundabout, the in the road and is retreat Detchi determined based on the vehicle information of the intended travel path , acquires the detection result of the stop factor to stop the vehicle, on the basis of the detection result, determines whether the stop factor is present, when it is determined that the stop factor is present, the own vehicle is the traveling determination apparatus characterized that you determines that without entering the exit road to continue traveling in said roundabout.
JP2017120427A 2017-06-20 2017-06-20 Driving judgment method and driving judgment device Active JP6943031B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017120427A JP6943031B2 (en) 2017-06-20 2017-06-20 Driving judgment method and driving judgment device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017120427A JP6943031B2 (en) 2017-06-20 2017-06-20 Driving judgment method and driving judgment device

Publications (2)

Publication Number Publication Date
JP2019008341A JP2019008341A (en) 2019-01-17
JP6943031B2 true JP6943031B2 (en) 2021-09-29

Family

ID=65029627

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017120427A Active JP6943031B2 (en) 2017-06-20 2017-06-20 Driving judgment method and driving judgment device

Country Status (1)

Country Link
JP (1) JP6943031B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112797993A (en) * 2019-11-14 2021-05-14 阿里巴巴集团控股有限公司 Method, device and storage medium for determining maximum likelihood path

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5051046B2 (en) * 2008-07-31 2012-10-17 アイシン・エィ・ダブリュ株式会社 Road information guidance device, road information guidance method, and computer program
JP2013096201A (en) * 2011-11-04 2013-05-20 Kictec Inc Self-luminous road rivet device
JP2014010809A (en) * 2012-07-03 2014-01-20 Mitsubishi Motors Corp Driving support device

Also Published As

Publication number Publication date
JP2019008341A (en) 2019-01-17

Similar Documents

Publication Publication Date Title
US11597396B2 (en) Vehicle control device
JP6380919B2 (en) Vehicle control device
JP6819788B2 (en) Driving support method and driving support device
JP6365390B2 (en) Lane change support device
JP6729220B2 (en) Vehicle driving support device
JP6007739B2 (en) Driving support device and driving support method
JP6809611B2 (en) Driving support method and driving support device
JP2016203745A (en) Vehicle traveling control device
JP6954469B2 (en) Driving support method and driving support device
JP7152339B2 (en) Travel control device, travel control method, and program
US11541892B2 (en) Vehicle control method and vehicle control device
CN112513955A (en) Travel track generation method and travel track generation device
JP2020113128A (en) Traveling control device, traveling control method, and program
JP2018086949A (en) Vehicle control device
JP6898388B2 (en) Vehicle control systems, vehicle control methods, and programs
JP6943031B2 (en) Driving judgment method and driving judgment device
JP2019139454A (en) Communication device and communication method
US11485365B2 (en) Vehicle control method and vehicle control device
JP5218174B2 (en) Vehicle control apparatus and vehicle control system
JP6822566B2 (en) Direction indicator control method and direction indicator control device
JP7284623B2 (en) Driving support method and driving support device
JP7257882B2 (en) Driving support method and driving support device
JP7038610B2 (en) Driving support method and driving support device
WO2023170820A1 (en) Vehicle control method and vehicle control device
JP2020164074A (en) Vehicle control method and vehicle control method

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20200409

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20210217

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210316

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210514

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20210810

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210823

R151 Written notification of patent or utility model registration

Ref document number: 6943031

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R151