WO2014080940A1 - 車両制御装置 - Google Patents
車両制御装置 Download PDFInfo
- Publication number
- WO2014080940A1 WO2014080940A1 PCT/JP2013/081277 JP2013081277W WO2014080940A1 WO 2014080940 A1 WO2014080940 A1 WO 2014080940A1 JP 2013081277 W JP2013081277 W JP 2013081277W WO 2014080940 A1 WO2014080940 A1 WO 2014080940A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- control
- host vehicle
- state
- travel
- Prior art date
Links
- 238000001514 detection method Methods 0.000 claims description 30
- 230000004048 modification Effects 0.000 description 18
- 238000012986 modification Methods 0.000 description 18
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 13
- 230000001133 acceleration Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 239000000470 constituent Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 238000007500 overflow downdraw method Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
- B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- 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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/04—Vehicle stop
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2554/00—Input parameters relating to objects
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
-
- 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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/804—Relative longitudinal speed
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Definitions
- the present invention relates to a vehicle control device.
- This application claims priority based on Japanese Patent Application No. 2012-257318 filed on November 26, 2012, the contents of which are incorporated herein by reference.
- a vehicle control device that performs constant-speed traveling control called auto cruise that maintains a vehicle speed set by a driver is known.
- the trajectory estimation unit that estimates the trajectory of the own vehicle based on the detection results of the yaw rate detection unit and the vehicle speed detection unit is stopped.
- a stop trajectory estimation means that holds an estimated trajectory before entering a state as an estimated trajectory of the host vehicle, and a vehicle detection means such as a stereo camera or a millimeter wave radar that detects an object in a predetermined area ahead of the vehicle traveling direction. What was provided is known (for example, refer patent document 1).
- the trajectory estimation means can obtain an estimated trajectory close to the actual trajectory of the host vehicle even when the trajectory is stopped in the middle of the corner.
- the other vehicle on the traveling locus estimated by the locus estimating means can be accurately determined as the preceding vehicle, and the own vehicle can be accelerated and decelerated so as to follow the accurate preceding vehicle. It is said that.
- the conventional vehicle control apparatus has room for improvement in the following points. That is, when the host vehicle starts from a stopped state, for example, if another vehicle in the stopped state exists on the traveling locus estimated by the locus estimating unit, the other vehicle in which the vehicle detecting unit is in the stopped state is controlled. It will be detected as an object. Thereby, the vehicle control apparatus of the own vehicle tries to hold the own vehicle in the same stop state as the other vehicle in response to the other vehicle in the stopped state detected as the control object. Therefore, although the driver wants to start the host vehicle, the host vehicle cannot be started, and thus there is a problem that the travel control according to the driver's intention cannot be performed.
- the present invention has been made in view of the above-described circumstances, and can start without being affected by an object in front of the host vehicle at the start of driving of the host vehicle, and perform travel control in accordance with the driver's intention.
- An object of the present invention is to provide a vehicle control device that can perform the above-described operation.
- a vehicle control device recognizes an object detection device that detects an object in front of the host vehicle, the object detected by the object detection device as a control target, and the control target A travel control device that performs travel control corresponding to an object, wherein the travel control device starts the travel control when the host vehicle is in a stopped state. When it is determined that the vehicle has moved from the stop state to the traveling state, the control object is recognized.
- the traveling control device when the traveling control device starts traveling control from the case where the host vehicle is in the stopped state, the traveling control device determines that the host vehicle has shifted from the stopped state to the traveling state. Thus, until it is determined that the vehicle has shifted to the running state at the start of driving of the host vehicle, for example, even when there is another vehicle in a stopped state ahead, the other vehicle is recognized as a control object. Can be prevented. As a result, it is possible to prevent the host vehicle from being held in the same stopped state as the other vehicle in response to the other vehicle in the stopped state.
- the vehicle can be started without receiving the vehicle, and traveling control in accordance with the driver's intention can be performed.
- the control object when it is determined that the host vehicle has shifted from the stopped state to the traveling state, the control object is recognized. Therefore, after the transition to the traveling state, the control object is controlled in the same manner as in the prior art.
- the host vehicle can be accelerated and decelerated so as to follow the object.
- the traveling state may be a state in which the host vehicle has moved a predetermined distance from the stopped state.
- the traveling state is a state where the host vehicle has moved a predetermined distance from the stopped state
- the host vehicle starts traveling from the stopped state and moves to the traveling state after moving a predetermined distance.
- the traveling control device recognizes the control object.
- the own vehicle does not recognize the other vehicle in the stopped state as a control object. It can move a predetermined distance.
- the travel control device can recognize the new other vehicle as the control object after the own vehicle has moved a predetermined distance and the other vehicle in the stopped state is outside the detection range of the object detection device. Therefore, at the start of driving of the host vehicle, the vehicle can start without being affected by an object in front of the host vehicle, and traveling control in accordance with the driver's intention can be performed.
- the traveling state may be a state in which a predetermined time has elapsed since the host vehicle started traveling.
- the traveling state is a state where a predetermined time has elapsed since the host vehicle started traveling
- the host vehicle started traveling from the stopped state and moved after a predetermined time. Later, the vehicle travels to a traveling state and the traveling control device recognizes the control object.
- the traveling control device recognizes the new other vehicle as the control object after the predetermined time has elapsed and the other vehicle in the stopped state is outside the detection range of the object detection device. Therefore, at the start of driving of the host vehicle, the vehicle can start without being affected by an object in front of the host vehicle, and traveling control in accordance with the driver's intention can be performed.
- the traveling control device is configured to wait until the host vehicle determines that the vehicle has shifted from the stopped state to the traveling state. If it is determined that the detected object is a stationary object, the object is not recognized as the control target, and if it is determined that the object is a moving object, the object is You may recognize as a control target object.
- the object when it is determined that the object is a stationary object until it is determined that the host vehicle has shifted from the stopped state to the traveling state, the object is recognized as the control object. If it is determined that the object is a moving object, the object is recognized as a control object, so that it is possible to prevent unnecessary recognition of a stationary object as a control object, and the object is a moving object. In some cases, the moving object can be quickly recognized as the control object.
- the control object when it is determined that the host vehicle has shifted from the stopped state to the traveling state, the control object is recognized, so after the transition to the traveling state, the control object corresponds to the control object in the same manner as in the prior art.
- the host vehicle can be accelerated and decelerated to follow the object. Therefore, when the driving of the host vehicle is started, the vehicle can start without being affected by an object in front of the host vehicle, and the traveling control according to the driver's intention can be quickly performed.
- the travel control device when the travel control device starts travel control from the case where the host vehicle is in the stopped state, the travel control device selects the control object when it is determined that the host vehicle has shifted from the stopped state to the travel state. Therefore, until it is determined that the vehicle has shifted to the running state at the start of operation of the host vehicle, for example, even when there is another vehicle in a stopped state ahead, the other vehicle is recognized as a control object. Can be prevented. As a result, it is possible to prevent the host vehicle from being held in the same stopped state as the other vehicle in response to the other vehicle in the stopped state.
- the vehicle can be started without receiving the vehicle, and traveling control in accordance with the driver's intention can be performed.
- the control object when it is determined that the host vehicle has shifted from the stopped state to the traveling state, the control object is recognized. Therefore, after the transition to the traveling state, the control object is controlled in the same manner as in the prior art.
- the host vehicle can be accelerated and decelerated so as to follow the object.
- 1 is a block diagram of a vehicle control device according to an embodiment. It is a flowchart of traveling control concerning an embodiment. It is a flowchart of the traveling control which concerns on the 1st modification of embodiment. It is a flowchart of the traveling control which concerns on the 2nd modification of embodiment.
- FIG. 1 is a block diagram of a vehicle control device 1 according to the embodiment.
- a vehicle control apparatus 1 according to the embodiment is mounted on a vehicle that travels by transmitting a driving force generated by, for example, an internal combustion engine to driving wheels via a transmission.
- the steering angle sensor 12, the navigation device 13, the vehicle speed sensor 14, the camera unit 15 (object detection device), the radar device 16 (object detection device), the travel control setting switch 17, the acceleration actuator 21, and the deceleration An actuator 22, a control state notification unit 23, and a travel control device 30 are provided.
- the yaw rate sensor 11 detects a rotational angular velocity around the vertical axis of the vehicle center of gravity of the host vehicle, that is, a so-called yaw rate, and outputs it to the travel control device 30.
- the steering angle sensor 12 detects, for example, the steering angle (steering angle) of the steering wheel operated by the driver or the actual steering angle (steering angle) according to the steering angle of the steering wheel, and outputs the detected steering angle to the travel control device 30. To do.
- the navigation device 13 performs map matching on map data stored in the navigation device 13 based on current position information detected by GPS (Global Positioning System), D-GPS (Differential GPS), or the like. It performs processing such as route search to the ground and route guidance.
- the navigation device 13 outputs the current position information of the host vehicle detected by GPS, D-GPS, or the like to the travel control device 30.
- the vehicle speed sensor 14 detects the vehicle speed of the host vehicle and outputs it to the travel control device 30.
- the camera unit 15 can detect an object that exists in front of the host vehicle, such as another vehicle that precedes the host vehicle (hereinafter referred to as “preceding vehicle”) or another vehicle parked in front of the host vehicle. Detect. Specifically, a camera (not shown) provided with an image sensor such as a charge-coupled device (CCD) or a complementary metal oxide semiconductor (CMOS), and information on the image sensor are also included. And an image processing unit (not shown) that performs image processing. The image processing unit performs predetermined image processing such as filtering and binarization processing on an image of the external world ahead of the traveling direction of the host vehicle obtained by capturing with the camera, and is an image composed of pixels of a two-dimensional array.
- predetermined image processing such as filtering and binarization processing
- the travel control device 30 Data is generated and output to the travel control device 30. Further, the camera unit 15 detects information on a travel lane (for example, a white line) on the road surface and outputs the detected information to the travel control device 30.
- the travel control device 30 may include a so-called lane keep assist system that controls the steering so that the host vehicle travels along the lane based on the lane information.
- the radar device 16 transmits an electromagnetic wave such as a laser beam or a millimeter wave toward a detection region in an appropriate detection direction (for example, forward of the traveling direction of the host vehicle), and the transmitted electromagnetic wave is an object outside the host vehicle.
- the reflected wave is received when reflected by (for example, another vehicle existing in front of the host vehicle), an object is detected based on the received electromagnetic wave (reflected wave), and is output to the traveling control device 30.
- the travel control setting switch 17 is a switch that is operated when the driver intends to start and end the travel control.
- the travel control in the present embodiment is, for example, control performed corresponding to a preceding vehicle that is a control target, and performs inter-vehicle control mode in which only inter-vehicle distance control with the preceding vehicle and inter-vehicle distance control with the preceding vehicle are performed. This is performed in two control modes: a cruise mode with an inter-vehicle control function that keeps the speed of the host vehicle constant when there is no inter-vehicle control target.
- the travel control is started, for example, when the ignition is turned ON while the travel control setting switch 17 is ON, or when the travel control main switch of the travel control setting switch 17 is turned ON during traveling.
- the traveling control is automatically resumed when the accelerator pedal is depressed, for example, when the traveling vehicle is temporarily stopped with the traveling control switch turned on and then started.
- the travel control setting switch 17 is composed of, for example, a plurality of button switches.
- the travel control main switch is configured so that the travel control system can be switched on and off each time it is pressed, or a control mode for setting a control mode.
- a switch, an acceleration / deceleration operation switch for increasing / decreasing the set vehicle speed during cruise control, an inter-vehicle distance setting switch for setting the size of the inter-vehicle distance during inter-vehicle control, and the like are provided.
- the two control modes of the inter-vehicle control mode and the cruise mode with the inter-vehicle control function can be selected by the control mode switch of the travel control setting switch 17.
- the travel control setting switch 17 is installed on a spoke of the steering wheel of a vehicle (not shown), and is arranged so that the driver can press the travel control setting switch 17 while holding the steering wheel. .
- the travel control setting switch 17 configured in this way outputs a command signal corresponding to the command content by each switch operation of the driver to the travel control device 30.
- the acceleration actuator 21 controls the throttle opening, for example, according to a command from the travel control device 30 to accelerate the host vehicle.
- the deceleration actuator 22 controls the throttle opening and the brake fluid pressure, for example, according to a command from the travel control device 30, and decelerates the host vehicle.
- the control state notification unit 23 notifies the driver of the control state of the host vehicle with information on the travel control output from the travel control device 30.
- the control state notification unit 23 for example, an indicator light in a meter provided on an instrument panel in a vehicle interior, a display of a navigation device, a speaker capable of generating a warning sound, and the like are suitable.
- the control state notification unit 23 sets the ON / OFF state of the travel control system set by the driver of the host vehicle with the travel control setting switch 17, the control mode, the set vehicle speed during cruise control, and the inter-vehicle distance control.
- the control state of the host vehicle such as the size of the inter-vehicle distance is notified to a passenger of the host vehicle such as a driver using sound output or image display.
- the travel control device 30 includes a host vehicle trajectory estimation unit 31, a control target region setting unit 32, a host vehicle travel distance calculation processing unit 33, a control target determination unit 34, a control mode determination unit 35, and a control target value determination.
- a unit 36 and a vehicle control unit 37 are provided.
- the own vehicle trajectory estimation unit 31 calculates an estimated travel trajectory of the own vehicle.
- the own vehicle trajectory estimation unit 31 includes detection signals from the yaw rate sensor 11, the steering angle sensor 12, and the vehicle speed sensor 14, current position information of the own vehicle detected by the GPS or D-GPS of the navigation device 13, and a camera unit.
- the road lane information obtained from the 15 captured images is input.
- the own vehicle trajectory estimation unit 31 calculates an estimated travel trajectory of the own vehicle based on these input values, and outputs the estimated travel trajectory to the control target region setting unit 32.
- trajectory estimation part 31 is an example, and is not limited to these.
- the control target region setting unit 32 sets a region (hereinafter referred to as a control target region) in which an object that is a control target of the host vehicle can be detected by the camera unit 15 and the radar device 16.
- the control target area setting unit 32 sets the control target area based on the estimated travel path of the host vehicle calculated by the host vehicle path estimation unit 31.
- the vehicle has a predetermined width orthogonal to the estimated traveling locus, and extends within a certain distance range (for example, from the own vehicle). (Within a range of about 100 m) is set as the control target area.
- the control target area setting unit 32 outputs the control target area set as described above to the control target determining unit 34.
- the own vehicle travel distance calculation processing unit 33 calculates the travel distance of the own vehicle when the own vehicle starts traveling from the stop state.
- the host vehicle travel distance calculation processing unit 33 calculates the travel distance based on the vehicle speed and the travel time of the host vehicle detected by the vehicle speed sensor 14.
- the method for calculating the travel distance by the host vehicle travel distance calculation processing unit 33 is an example, and the present invention is not limited to this.
- the host vehicle mileage calculation processing unit 33 includes information on the current position of the host vehicle detected by the GPS or D-GPS of the navigation device 13, road lane information obtained from the captured image of the camera unit 15, and the like.
- the travel distance of the host vehicle when the host vehicle starts traveling from the stop state may be calculated.
- the own vehicle travel distance calculation processing unit 33 outputs the travel distance of the own vehicle calculated as described above to the control target determining unit 34.
- the control target determining unit 34 determines an object (for example, a preceding vehicle) to be a control target.
- the control target determination unit 34 controls the control target region from the detection data of the preceding vehicle detected based on the imaging data input from the camera unit 15 and the beat signal input from the radar device 16.
- the preceding vehicle existing in the control target determination area set by the setting unit 32 is extracted.
- the control target determining unit 34 calculates the relative distance, the relative speed, and the like between the extracted preceding vehicle and the host vehicle based on the imaging data input from the camera unit 15 and the beat signal input from the radar device 16.
- control target determining unit 34 determines that the extracted preceding vehicle should be the control target
- the control target value determining unit 36 sends information such as the relative distance and relative speed between the host vehicle and the preceding vehicle. Output.
- the determination condition of the control target by the control target determining unit 34 is, for example, other vehicles existing in the control target area, or from the own vehicle when a plurality of other vehicles are detected in the control target area. Giving priority to the other vehicle having the closest distance as the control object, giving priority to the other vehicle approaching the host vehicle as the control object, and the like.
- the own vehicle starts the traveling control from the stopped state
- the other vehicle in which the control target determining unit 34 is in the stopped state is detected as the control object, and the own vehicle is corresponding to the other vehicle in the stopped state detected as the control object.
- the same stop state as other vehicles was held in the same stop state as other vehicles.
- the travel control device 30 when starting the travel control from the case where the host vehicle is stopped, determines that the host vehicle has shifted from the stopped state to the travel state. We are going to recognize things. In other words, the control object is not recognized until it is determined that the host vehicle has shifted from the stopped state to the traveling state. Thus, when starting the traveling control from the case where the own vehicle is in the stopped state, the own vehicle can quickly start from the stopped state without being influenced by the other vehicle in the stopped state in front of the own vehicle.
- the “running state” refers to a state in which the host vehicle has moved a predetermined distance or more from the stopped state. Further, a specific processing flow of the traveling control will be described in detail later.
- the control mode determination unit 35 determines whether the control mode is the inter-vehicle control mode or the cruise mode with the inter-vehicle control function.
- the control mode is determined based on, for example, a command signal from the control mode switch of the travel control setting switch 17.
- the control target value determination unit 36 includes the command content input from the travel control setting switch 17 (for example, the set vehicle speed and the target inter-vehicle distance), the relative distance between the host vehicle and the preceding vehicle input from the control target determination unit 34, Based on the information such as the relative speed and the control mode input from the control mode determination unit 35, the control target values such as the start and end of the travel control, the set vehicle speed of the travel control, and the set inter-vehicle distance are determined. Then, the control target value determination unit 36 outputs information on each control target value necessary for traveling control to the vehicle control unit 37.
- the vehicle control unit 37 controls the driving of the host vehicle by controlling the acceleration actuator 21 and the deceleration actuator 22 based on the control target value (target vehicle speed, target acceleration / deceleration, etc.) determined by the control target value determination unit 36. At the same time, the current control state is output to the control state notification unit 23.
- the control target value target vehicle speed, target acceleration / deceleration, etc.
- FIG. 2 is a flowchart of travel control according to the embodiment.
- each step (S11 to S21) of the travel control according to the embodiment will be described with reference to the flowchart shown in FIG.
- the flowchart shown in FIG. 2 shows, for example, the travel performed by the travel control device 30 (see FIG. 1) after the ignition is turned on while the travel control setting switch 17 is in the ON state from when the host vehicle is in a stopped state. It shows the processing contents of the control.
- traveling control device 30 repeatedly executes this processing flow from START again.
- Step S11 As shown in FIG. 2, in the travel control of the present embodiment, first, in step S11, an object existing in front of the host vehicle is detected.
- the object to be detected ahead of the host vehicle is detected by the control target determining unit 34 based on the imaging data input from the camera unit 15 and the beat signal input from the radar device 16.
- the process proceeds to step S13.
- step S13 the estimated travel locus of the host vehicle is calculated.
- the calculation of the estimated traveling locus of the host vehicle is performed by, for example, detecting each signal of the yaw rate sensor 11, the steering angle sensor 12, and the vehicle speed sensor 14, and the current position information of the host vehicle detected by the GPS or D-GPS of the navigation device 13. Based on the road lane information obtained from the captured image of the camera unit 15, the vehicle trajectory estimation unit 31 performs this.
- the process proceeds to step S15.
- step S15 it is determined whether or not an object exists on the estimated traveling locus of the host vehicle. For example, whether or not an object exists on the estimated traveling locus of the host vehicle is determined by, for example, information on the object existing in front of the host vehicle detected in step S11 and the estimated traveling of the host vehicle calculated in step S13. Based on the trajectory, the control target determining unit 34 performs the processing. If it is determined in step S15 that “there is an object on the estimated travel locus of the host vehicle” (YES), the process proceeds to step S17.
- Step S17 it is determined whether or not the moving distance of the host vehicle from the stopped state is a predetermined value or more.
- the “running state” refers to a state in which the host vehicle has moved a predetermined distance or more from the stopped state. That is, in step S17, it is determined whether or not the host vehicle has shifted from the stopped state to the traveling state by determining whether or not the travel distance of the host vehicle is greater than or equal to a predetermined value.
- the determination as to whether or not the moving distance of the host vehicle is greater than or equal to a predetermined value is, for example, a detection signal of the vehicle speed sensor 14, current position information of the host vehicle detected by the GPS or D-GPS of the navigation device 13, and the camera unit 15 Based on the road lane information obtained from the captured image, the host vehicle travel distance calculation processing unit 33 performs the processing. If it is determined in step S17 that "the moving distance of the host vehicle is greater than or equal to a predetermined value" (YES), it is determined that the host vehicle has shifted to the traveling state, and the process proceeds to step S19.
- Step S19 an object on the estimated travel locus of the host vehicle is set as a control object.
- step S17 it is determined that the travel distance of the host vehicle is greater than or equal to a predetermined value, and the host vehicle is in a running state. That is, in step S19, when it is determined that the host vehicle has shifted from the stopped state to the traveling state (when “YES” is determined in step S17), an object (for example, a preceding vehicle) on the estimated traveling locus of the host vehicle is determined. It recognizes as a control object and performs traveling control.
- the host vehicle can follow the vehicle corresponding to the preceding vehicle, which is the control object, in a state where the host vehicle is controlled by either the inter-vehicle distance control mode or the cruise mode with the inter-vehicle distance control function.
- Step S21 On the other hand, if it is determined in step S15 that “there is no object on the estimated travel locus of the host vehicle” (NO), the process proceeds to step S21. In step S21, it is determined that “there is no control object” ahead of the host vehicle, and the processing flow is ended. Accordingly, the host vehicle can cruise, for example, in a state in which one of the inter-vehicle control mode and the cruise mode with inter-vehicle control function is set.
- step S17 If it is determined in step S17 that "the moving distance of the host vehicle is not greater than or equal to a predetermined value" (NO), the process proceeds to step S21 assuming that the host vehicle has not shifted to the traveling state.
- step S15 although it is determined in step S15 that “there is an object on the estimated travel locus of the host vehicle” (YES), “no control object” is displayed in front of the host vehicle in step S21. Judgment is made and the processing flow is ended. That is, even when there is another vehicle in a stopped state in front of the host vehicle, for example, the processing flow is terminated without recognizing it as a control object.
- step S17 the processing flow is repeatedly executed by executing the processing from START again, and when it is determined in step S17 that “the moving distance of the own vehicle is not less than a predetermined value” (YES) (that is, the own vehicle is in a stopped state).
- YES a predetermined value
- step S19 an object (for example, a preceding vehicle) on the estimated traveling locus of the host vehicle is recognized as a control object (step S19), and traveling control corresponding to the preceding vehicle is performed.
- the travel control of the present embodiment even if there is another vehicle in a stopped state ahead, for example, until it is determined that the vehicle has shifted to the travel state at the start of operation of the host vehicle, the other vehicle Is not recognized as a control object, and it is determined that there is no control object.
- the traveling control device 30 determines that the host vehicle has shifted from the stopped state to the traveling state ("YES" in step S17). ”) (Step S19), for example, when there is another vehicle in a stopped state ahead until it is determined that the vehicle has shifted to the running state at the start of operation of the host vehicle. Even if it exists, it can prevent recognizing this other vehicle as a controlled object (when it is judged as "NO" at Step S17, and Step S21). As a result, it is possible to prevent the host vehicle from being held in the same stopped state as the other vehicle in response to the other vehicle in the stopped state.
- the vehicle can be started without receiving the vehicle, and traveling control in accordance with the driver's intention can be performed.
- traveling control in accordance with the driver's intention can be performed.
- the control object is recognized. Therefore, after the transition to the traveling state, the control object is controlled in the same manner as in the prior art.
- the host vehicle can be accelerated and decelerated so as to follow the object.
- the traveling state is a state where the host vehicle has moved a predetermined distance from the stopped state
- the host vehicle starts traveling from the stopped state and moves after a predetermined period of time, and then shifts to the traveling state to control the traveling.
- the device 30 recognizes the control object (when it is determined “YES” in step S17 and step S19). Thereby, even when there is another vehicle in a stopped state ahead, for example, when the host vehicle starts, the other vehicle in the stopped state is not recognized as a control object (step S21).
- the host vehicle can move a predetermined distance.
- the travel control device can recognize the new other vehicle as the control object after the own vehicle has moved a predetermined distance and the other vehicle in the stopped state is outside the detection range of the object detection device. Therefore, when the driving of the host vehicle is started, the vehicle can start without being influenced by other vehicles in front of the host vehicle, and the traveling control according to the driver's intention can be performed.
- FIG. 3 is a flowchart of travel control according to the first modification of the embodiment. Subsequently, each step (S11 to S21) of the travel control according to the first modification of the embodiment will be described with reference to the flowchart shown in FIG. In the following description of the traveling control, refer to FIG.
- step S17 it is determined whether or not the moving distance of the host vehicle is greater than or equal to a predetermined value from the stop state. If it is determined as “NO”, the process proceeds to step S21 and it is determined that “there is no control object” ahead of the host vehicle (see FIG. 2). On the other hand, as shown in FIG. 3, in the processing flow of the travel control according to the first modification of the embodiment, in step S ⁇ b> 17, “whether the moving distance of the host vehicle is a predetermined value or more” from the stop state.
- Step S18 If it is determined in step S17 that "the moving distance of the host vehicle is not equal to or greater than a predetermined value" (NO), the process proceeds to step S18. In step S18, “whether the object is a moving object” or not is determined for an object present on the estimated traveling locus of the host vehicle.
- step S18 If it is determined in step S18 that “the object is a moving object” (YES), the process proceeds to step S19. Thereby, it is determined that “the object on the estimated traveling locus of the host vehicle is a control target” (step S19). That is, when the object on the estimated travel locus of the host vehicle is a moving object (for example, another vehicle in a moving state), the control object is promptly recognized. As a result, the host vehicle can follow the other vehicle in the moving state, which is the control target, in a state controlled by either the inter-vehicle control mode or the cruise mode with the inter-vehicle control function. Become.
- step S18 when it is determined in step S18 that “the object is not a moving object” (NO), that is, the object on the estimated traveling locus of the own vehicle is a stationary object (for example, another vehicle in a stopped state).
- the process proceeds to step S21.
- step S15 although it is determined in step S15 that “the object is on the estimated traveling locus of the host vehicle” (YES), “the object is not a moving object” (that is, the object is a stationary object). If there is such a case, it is determined in step S21 that there is no control object in front of the host vehicle, and the process flow ends. Then, by executing the processing from START again, the processing flow is repeatedly executed to perform traveling control.
- the traveling control device 30 determines that the detected object is a stationary object (for example, another vehicle in the stopped state) until it is determined that the host vehicle has shifted from the stopped state to the traveling state. If the object is determined not to be recognized as a control object and is determined to be a moving object (for example, another vehicle in a moving state), the object is recognized as a control object.
- step S17 even before it is determined that the vehicle has shifted to the travel state at the start of operation of the host vehicle (determined as “NO” in step S17), for example, forward If there is another vehicle in a moving state (determined as “YES” in step S18), it is immediately recognized as a control object (step S19).
- the host vehicle can quickly follow the other vehicle in the moving state, which is the controlled object, in a state controlled by either the inter-vehicle control mode or the cruise mode with the inter-vehicle control function. It becomes possible.
- step S17 when it is determined that the host vehicle has shifted from the stopped state to the traveling state (determined as “YES” in step S17), the control object is recognized (step S19). Similar to the technology, the host vehicle can be accelerated and decelerated so as to follow the control object in accordance with the control object. Therefore, when the driving of the host vehicle is started, the vehicle can start without being affected by an object in front of the host vehicle, and the traveling control according to the driver's intention can be quickly performed.
- FIG. 4 is a flowchart of travel control according to the second modification of the embodiment. Subsequently, each step (S11 to S21) of the traveling control according to the second modification of the embodiment will be described with reference to the flowchart shown in FIG. In the following description of the traveling control, refer to FIG.
- step S17 it is determined whether or not the travel distance of the host vehicle is greater than or equal to a predetermined value from the stop state in step S17. It was determined whether or not the vehicle was in the running state (see FIGS. 2 and 3).
- step S ⁇ b> 17 “whether or not a predetermined time has elapsed since the host vehicle started travelling”.
- step S ⁇ b> 17 “whether or not a predetermined time has elapsed since the host vehicle started travelling”.
- step S217 it is determined whether or not a predetermined time has elapsed since the host vehicle started running from the stopped state.
- the “running state” is a state in which the vehicle has started running from a stopped state and a predetermined time has elapsed. That is, in step S217, by determining whether or not a predetermined time has elapsed since the host vehicle started running from the stopped state, it is determined whether or not the host vehicle has shifted from the stopped state to the running state. Yes.
- step S217 when the count by the built-in timer reaches a predetermined number of times and it is determined that “a predetermined time has elapsed since the host vehicle started running” (YES), the host vehicle is assumed to have shifted to the running state. Proceed to step S19.
- step S21 it is determined that “there is no control object” ahead of the host vehicle, and the processing flow is ended. As a result, the host vehicle can travel in a state controlled by either the inter-vehicle control mode or the cruise mode with the inter-vehicle control function.
- the traveling state is a state in which a predetermined time has elapsed since the host vehicle started traveling
- the host vehicle started traveling from the stopped state and moved after a predetermined time.
- the travel control device 30 recognizes the control object by shifting to the travel state.
- the host vehicle starts, for example, even when there is another vehicle in a stopped state ahead
- the other vehicle in the stopped state is recognized as a control object until the traveling control device 30 has elapsed for a predetermined time. Without the vehicle being able to move for a predetermined time.
- the traveling control device 30 moves the new vehicle to the control object after the other vehicle in the stopped state is out of the detection range of the camera unit 15 and the radar device 16. Can be recognized as. Therefore, at the start of driving of the host vehicle, the vehicle can start without being affected by an object in front of the host vehicle, and traveling control in accordance with the driver's intention can be performed.
- the camera unit 15 and the radar device 16 are employed as the object detection device, but the object detection device is not limited to these. Further, in the embodiment and the modified example of the embodiment, a so-called fusion method in which the camera unit 15 and the radar device 16 are used together as the object detection device is employed, but only one of the camera unit 15 and the radar device 16 is used. May be employed as the object detection device.
- Embodiments and modifications of the embodiments may be combined. For example, by combining the embodiment and the second modification of the embodiment, it is possible to determine whether or not the travel distance of the host vehicle is greater than or equal to a predetermined value (step S17) and “after the host vehicle starts to travel. If the determination of whether or not the predetermined time has passed (step S217) is satisfied early, it may be determined that the vehicle has shifted to the running state.
- step S21-7 it is determined whether or not a predetermined time has elapsed since the host vehicle started running (step S217), If it is determined that the predetermined time has not elapsed since the host vehicle started traveling (NO), it may be determined whether or not the object is a moving object (step S18).
- Vehicle control device 15 Camera unit (object detection device) 16 Radar device (object detection device) 30 Travel control device
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
Description
本願は、2012年11月26日に出願された日本国特願2012-257318号に基づき優先権を主張し、その内容をここに援用する。
すなわち、自車両が停止状態から発進する時に、軌跡推定手段が推定した進行軌跡上に、例えば停止状態にある他車両が存在した場合には、車両検知手段が停止状態にある他車両を制御対象物として検知することになる。これにより、自車両の車両制御装置は、制御対象物として検知した停止状態にある他車両に対応して、自車両を他車両と同じ停止状態に保持しようとする。したがって、運転者が自車両を発進させたいにもかかわらず、自車両を発進させることができないため、運転者の意図に沿った走行制御ができないという課題があった。
(1)本発明に係る一態様の車両制御装置は、自車両の前方の物体を検知する物体検知装置と、前記物体検知装置により検知された前記物体を制御対象物として認識し、前記制御対象物に対応した走行制御を行う走行制御装置と、を備えた車両制御装置において、前記走行制御装置は、前記自車両が停止状態である場合から前記走行制御を開始するにあたって、前記自車両が前記停止状態から前記走行状態に移行したと判定した場合に、前記制御対象物を認識する。
また、自車両が停止状態から走行状態に移行したと判定した場合には、制御対象物を認識するので、走行状態に移行した後は、従来技術と同様に制御対象物に対応して、制御対象物を追従するよう自車両の加速および減速を行うことができる。
また、自車両が停止状態から走行状態に移行したと判定した場合には、制御対象物を認識するので、走行状態に移行した後は、従来技術と同様に制御対象物に対応して、制御対象物を追従するよう自車両の加速および減速を行うことができる。
図1は、実施形態に係る車両制御装置1のブロック図である。
図1に示すように、実施形態に係る車両制御装置1は、例えば内燃機関等で発生する駆動力をトランスミッションを介して駆動輪に伝達して走行する車両に搭載されており、ヨーレートセンサ11と、舵角センサ12と、ナビゲーション装置13と、車速センサ14と、カメラユニット15(物体検知装置)と、レーダ装置16(物体検知装置)と、走行制御設定スイッチ17と、加速アクチュエータ21と、減速アクチュエータ22と、制御状態告知部23と、走行制御装置30と、を備えている。
舵角センサ12は、例えば、運転者により操作されるステアリングホイールの舵角(操舵角度)あるいはステアリングホイールの舵角に応じた実舵角(転舵角度)を検出し、走行制御装置30へ出力する。
車速センサ14は、自車両の車速を検出し、走行制御装置30へ出力する。
また、カメラユニット15は、路面上の走行車線(たとえば、白線)の情報を検知して、走行制御装置30へ出力する。なお、走行制御装置30は、この車線情報をもとに、車線に沿って自車が走行するように操舵を制御する、いわゆるレーンキープアシストシステムを備えてもよい。
本実施形態における走行制御は、例えば、制御対象物となる先行車両に対応して行われる制御であり、先行車両との車間制御のみを行う車間制御モード、および先行車両との車間制御を行うとともに車間制御対象が存在しないときに自車両の速度を一定に保つ車間制御機能付きクルーズモードの2つの制御モードにより行われる。
このように構成された走行制御設定スイッチ17は、運転者の各スイッチ操作による指令内容に応じた指令信号を走行制御装置30へ出力する。
減速アクチュエータ22は、走行制御装置30の指令にしたがって例えばスロットル開度やブレーキ液圧を制御し、自車両を減速する。
制御状態告知部23としては、例えば、車室内のインストルメントパネルに設けられたメータ内の表示灯や、ナビゲーション装置のディスプレイ、警告音を発生可能なスピーカ等が好適である。具体的には、制御状態告知部23は、自車両の運転者が走行制御設定スイッチ17で設定した走行制御システムのON/OFF状態や、制御モード、クルーズコントロール時の設定車速、車間制御時の車間距離の大きさ等の自車両の制御状態を、音声出力や画像表示を用いて運転者等の自車両の搭乗者へ報知する。
走行制御装置30は、自車軌跡推定部31と、制御対象領域設定部32と、自車走行距離算出処理部33と、制御対象決定部34と、制御モード決定部35と、制御目標値決定部36と、車両制御部37とを備えている。
制御対象領域設定部32は、自車軌跡推定部31により算出された自車両の推定走行軌跡に基づいて制御対象領域を設定する。本実施形態では、例えば、自車両の推定走行軌跡に基づき、その推定走行軌跡に対して直交する所定幅を有し、該推定走行軌跡に沿って延びる一定の距離範囲内(例えば、自車両から100m程度の範囲内)を制御対象領域に設定する。
制御対象領域設定部32は、上述のように設定した制御対象領域を制御対象決定部34へ出力する。
自車走行距離算出処理部33は、上述のように算出した自車両の走行距離を制御対象決定部34へ出力する。
制御対象決定部34は、抽出した先行車両を制御対象物とするべきであると判定した場合には、自車両と先行車両との相対距離や相対速度等の情報を制御目標値決定部36へ出力する。
このとき、従来の走行制御装置においては、制御対象決定部34が停止状態にある他車両を制御対象物として検知し、制御対象物として検知した停止状態にある他車両に対応して、自車両を他車両と同じ停止状態に保持していた。
図2は、実施形態に係る走行制御のフローチャートである。
続いて、実施形態に係る走行制御の各ステップ(S11~S21)について、図2に示すフローチャートを用いて説明する。なお、以下の走行制御の説明において、各部の符号については、図1を参照されたい。
図2に示すフローチャートは、例えば、自車両が停止状態である場合から、走行制御設定スイッチ17がON状態のままイグニッションがON操作された後に、走行制御装置30(図1参照)で行われる走行制御の処理内容を示すものである。また、走行制御装置30は、図2に示すフローチャートのSTARTからENDまでの一工程が終了すると、再度STARTからこの処理フローを繰り返し実行する。
図2に示すように、本実施形態の走行制御では、まずステップS11において、自車両の前方に存在する物体の検知を行う。自車両の前方に存在する物体の検知は、カメラユニット15から入力される撮像データおよびレーダ装置16から入力されるビート信号に基づいて、制御対象決定部34が行う。自車両の前方に存在する物体の検知が終了した時点で、ステップS13に進む。
ステップS13では、自車両の推定走行軌跡の算出を行う。自車両の推定走行軌跡の算出は、例えば、ヨーレートセンサ11、舵角センサ12、車速センサ14の各検出信号や、ナビゲーション装置13のGPSやD-GPS等により検出された自車両の現在位置情報、カメラユニット15の撮像画像から得られる道路の車線情報等に基づいて、自車軌跡推定部31が行う。自車両の推定走行軌跡の算出が終了した時点で、ステップS15に進む。
ステップS15では、自車両の推定走行軌跡上に物体が存在するか否かの判定を行う。
自車両の推定走行軌跡上に物体が存在するか否かの判定は、例えば、ステップS11により検知された自車両の前方に存在する物体の情報、およびステップS13により算出された自車両の推定走行軌跡に基づいて、制御対象決定部34が行う。
ステップS15において、「自車両の推定走行軌跡上に物体が存在する」(YES)と判定した場合には、ステップS17に進む。
ステップS17では、停止状態からの自車両の移動距離が所定値以上か否かの判定を行う。ここで、本実施形態の走行制御において、「走行状態」とは、自車両が停止状態から所定距離以上移動した状態をいう。すなわち、ステップS17においては、自車両の移動距離が所定値以上か否かの判定を行うことにより、自車両が停止状態から走行状態に移行したか否かの判定を行っている。
ステップS19では、自車両の推定走行軌跡上の物体を制御対象物とする。ここで、ステップS17において、自車両の移動距離が所定値以上であり、自車両は走行状態であると判定している。すなわち、ステップS19では、自車両が停止状態から走行状態に移行したと判定した場合(ステップS17で「YES」と判定した場合)に、自車両の推定走行軌跡上の物体(例えば先行車両)を制御対象物として認識し走行制御を行う。これにより、自車両は、車間制御モードおよび車間制御機能付きクルーズモードのいずれかの制御モードにより制御された状態で、制御対象物である先行車両に対応した追従走行が可能となる。
一方、ステップS15において「自車両の推定走行軌跡上に物体が存在しない」(NO)と判定した場合には、ステップS21に進む。ステップS21では、自車両の前方に「制御対象物なし」と判断して、処理フローを終了する。これにより、自車両は、車間制御モードおよび車間制御機能付きクルーズモードのいずれかの制御モードが設定された状態で、例えばクルーズ走行が可能となる。
この場合においては、ステップS15において「自車両の推定走行軌跡上に物体が存在する」(YES)と判定しているにも関わらず、ステップS21で自車両の前方に「制御対象物なし」と判断して、処理フローを終了する。すなわち、自車両の前方に、例えば停車状態の他車両が存在している場合であっても、制御対象物として認識することなく処理フローを終了する。
そして、再度STARTからの処理を実行することにより処理フローを繰り返し実行し、ステップS17において「自車両の移動距離は所定値以上である」(YES)と判定した場合(すなわち自車両が停止状態から走行状態に移行したと判定した場合)に、自車両の推定走行軌跡上の物体(例えば先行車両)を制御対象物として認識し(ステップS19)、先行車両に対応した走行制御を行う。このように、本実施形態の走行制御においては、自車両の運転開始時に走行状態に移行したと判定するまで、例えば前方に停止状態にある他車両が存在する場合であっても、該他車両を制御対象物として認識せず、制御対象物がないと判断する。
本実施形態によれば、走行制御装置30は、自車両が停止状態である場合から走行制御を開始するにあたって、自車両が停止状態から走行状態に移行したと判定した場合(ステップS17で「YES」と判定した場合)に制御対象物を認識するので(ステップS19)、自車両の運転開始時に走行状態に移行したと判定するまでは、例えば前方に停止状態にある他車両が存在する場合であっても、該他車両を制御対象物として認識するのを防止できる(ステップS17で「NO」と判定した場合、およびステップS21)。これにより、自車両が、停止状態にある他車両に対応して、他車両と同じ停止状態に保持されるのを防止できるので、自車両の運転開始時に、自車両の前方の物体から影響を受けることなく発進でき、運転者の意図に沿った走行制御を行うことができる。
また、自車両が停止状態から走行状態に移行したと判定した場合には、制御対象物を認識するので、走行状態に移行した後は、従来技術と同様に制御対象物に対応して、制御対象物を追従するよう自車両の加速および減速を行うことができる。
図3は、実施形態の第一変形例に係る走行制御のフローチャートである。
続いて、実施形態の第一変形例に係る走行制御の各ステップ(S11~S21)について、図3に示すフローチャートを用いて説明する。なお、以下の走行制御の説明において、各部の符号については、図1を参照されたい。
これに対して、図3に示すように、実施形態の第一変形例に係る走行制御の処理フローでは、ステップS17において、停止状態から「自車両の移動距離は所定値以上か否か」の判定を行い、「自車両の移動距離は所定値以上ではない」(NO)と判定した場合に、ステップS18で「物体は移動物か否か」の判定をする点で、実施形態とは異なっている。なお、実施形態と同様の構成部分については説明を省略し、異なる構成部分についてのみ説明をする。
ステップS17において「自車両の移動距離は所定値以上ではない」(NO)と判定した場合には、ステップS18に進む。
ステップS18では、自車両の推定走行軌跡上に存在する物体について、「物体は移動物か否か」を判定している。
この場合においては、ステップS15において「自車両の推定走行軌跡上に物体が存在する」(YES)と判定しているにも関わらず、「物体は移動物ではない」(すなわち物体が静止物である)場合には、ステップS21で自車両の前方に「制御対象物なし」と判断して処理フローを終了する。そして、再度STARTからの処理を実行することにより処理フローを繰り返し実行して走行制御を行う。したがって、走行制御装置30は、自車両が停止状態から走行状態に移行したと判定するまでの間、検知された物体が静止物(例えば、停止状態にある他車両)であると判定された場合には、該物体を制御対象物として認識せず、物体が移動物(例えば、移動状態にある他車両)であると判定された場合には、該物体を制御対象物として認識する。
実施形態の第一変形例によれば、自車両が停止状態である場合から走行制御を開始してから、自車両が停止状態から走行状態に移行したと判定(ステップS17において「YES」と判定)するまでの間、物体が静止物である場合(ステップS18において「NO」と判定)には、物体を制御対象物として認識せず(ステップS21)、物体が移動物である場合(ステップS18において「YES」と判定)には、物体を制御対象物として認識する(ステップS19)そのため、静止物を不要に制御対象物と認識するのを防止できるとともに、物体が移動物である場合には速やかに移動物を制御対象物として認識できる。また、自車両が停止状態から走行状態に移行したと判定(ステップS17において「YES」と判定)した場合に、制御対象物を認識するので(ステップS19)、走行状態に移行した後は、従来技術と同様に制御対象物に対応して、制御対象物に追従するよう自車両の加速および減速を行うことができる。したがって、自車両の運転開始時に、自車両の前方の物体から影響を受けることなく発進でき、運転者の意図に沿った走行制御を速やかに行うことができる。
図4は、実施形態の第二変形例に係る走行制御のフローチャートである。
続いて、実施形態の第二変形例に係る走行制御の各ステップ(S11~S21)について、図4に示すフローチャートを用いて説明する。なお、以下の走行制御の説明において、各部の符号については、図1を参照されたい。
これに対して、図4に示すように、実施形態の第二変形例に係る走行制御の処理フローでは、ステップS17において停止状態から「自車両が走行を開始してから所定時間経過したか否か」の判定を行い、自車両が停止状態から走行状態に移行したか否かの判定をしる点で、実施形態および実施形態の第一変形例とは異なっている。なお、実施形態と同様の構成部分については説明を省略し、異なる構成部分についてのみ説明をする。
ステップS217では、停止状態から「自車両が走行を開始してから所定時間経過したか否か」の判定を行う。ここで、実施形態の第二変形例の走行制御において、「走行状態」とは、自車両が停止状態から走行を開始し、所定時間経過した状態とされている。すなわち、ステップS217において、自車両が停止状態から走行を開始して所定時間経過したか否かの判定を行うことにより、自車両が停止状態から走行状態に移行したか否かの判定を行っている。
これにより、自車両は、車間制御モードおよび車間制御機能付きクルーズモードのいずれかの制御モードにより制御された状態で走行が可能となる。
実施形態の第二変形例によれば、走行状態は、自車両が走行を開始してから所定時間経過した状態であるので、自車両が停止状態から走行を開始して所定時間経過して移動した後に、走行状態に移行して、走行制御装置30が制御対象物を認識することになる。これにより、自車両の発進時に、例えば前方に停止状態にある他車両が存在する場合であっても、走行制御装置30が所定時間経過するまで停止状態にある他車両を制御対象物として認識することなく、自車両が所定時間移動できる。そして、走行制御装置30は、所定時間経過して自車両が移動し、停止状態にある他車両がカメラユニット15およびレーダ装置16の検知範囲外となった後に、新たな他車両を制御対象物として認識できる。したがって、自車両の運転開始時に、自車両の前方の物体から影響を受けることなく発進でき、運転者の意図に沿った走行制御を行うことができる。
Claims (4)
- 自車両の前方の物体を検知する物体検知装置と、
前記物体検知装置により検知された前記物体を制御対象物として認識し、前記制御対象物に対応した走行制御を行う走行制御装置と、
を備えた車両制御装置において、
前記走行制御装置は、前記自車両が停止状態である場合から前記走行制御を開始するにあたって、前記自車両が前記停止状態から走行状態に移行したと判定した場合に、前記制御対象物を認識することを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記走行状態は、前記自車両が前記停止状態から所定距離移動した状態であることを特徴とする車両制御装置。 - 請求項1に記載の車両制御装置であって、
前記走行状態は、前記自車両が走行を開始してから所定時間経過した状態であることを特徴とする車両制御装置。 - 請求項1から3のいずれか1項に記載の車両制御装置であって、
前記走行制御装置は、前記自車両が前記停止状態から前記走行状態に移行したと判定するまでの間、前記物体検知装置により検知された前記物体が静止物であると判定された場合には、前記物体を前記制御対象物として認識せず、前記物体が移動物であると判定された場合には、前記物体を前記制御対象物として認識することを特徴とする車両制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014548597A JP5938483B2 (ja) | 2012-11-26 | 2013-11-20 | 車両制御装置 |
CN201380061380.3A CN104812649B (zh) | 2012-11-26 | 2013-11-20 | 车辆控制装置 |
CA2887118A CA2887118C (en) | 2012-11-26 | 2013-11-20 | Vehicle control device |
US14/433,905 US9409575B2 (en) | 2012-11-26 | 2013-11-20 | Vehicle control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012-257318 | 2012-11-26 | ||
JP2012257318 | 2012-11-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014080940A1 true WO2014080940A1 (ja) | 2014-05-30 |
Family
ID=50776120
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2013/081277 WO2014080940A1 (ja) | 2012-11-26 | 2013-11-20 | 車両制御装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9409575B2 (ja) |
JP (1) | JP5938483B2 (ja) |
CN (1) | CN104812649B (ja) |
CA (1) | CA2887118C (ja) |
WO (1) | WO2014080940A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2553688B (en) * | 2014-02-18 | 2018-09-12 | Jaguar Land Rover Ltd | Control system and method |
US20160297438A1 (en) * | 2015-04-13 | 2016-10-13 | Mando Corporation | Active cruise control system in vehicle and method thereof |
JP6418407B2 (ja) * | 2016-05-06 | 2018-11-07 | トヨタ自動車株式会社 | 車両のブレーキ制御装置 |
CN109154820B (zh) * | 2016-05-16 | 2021-10-22 | 本田技研工业株式会社 | 车辆控制***、车辆控制方法及存储介质 |
JP6774297B2 (ja) * | 2016-10-17 | 2020-10-21 | 株式会社デンソー | 車両認識装置及び車両認識方法 |
US11004000B1 (en) * | 2017-01-30 | 2021-05-11 | Waymo Llc | Predicting trajectory intersection by another road user |
US10489105B2 (en) * | 2017-03-31 | 2019-11-26 | Toyota Motor Engineering & Manufacturing North America, Inc. | Quiet-all input for two or more audio sources in a vehicle |
JP6805105B2 (ja) * | 2017-09-28 | 2020-12-23 | 株式会社デンソー | 制御対象車両設定装置、制御対象車両設定システムおよび制御対象車両設定方法 |
EP3693230B1 (en) * | 2017-10-05 | 2023-12-13 | Nissan Motor Co., Ltd. | Parking control method and parking control device |
WO2020146983A1 (zh) * | 2019-01-14 | 2020-07-23 | 深圳市大疆创新科技有限公司 | 一种车道检测方法、装置及车道检测设备、移动平台 |
CN111731289B (zh) * | 2020-06-24 | 2021-07-20 | 中国第一汽车股份有限公司 | 跟车控制方法、装置、车辆及存储介质 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001233084A (ja) * | 2000-02-24 | 2001-08-28 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2009063439A (ja) * | 2007-09-06 | 2009-03-26 | Honda Motor Co Ltd | 制御対象認識装置 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3644777B2 (ja) * | 1996-11-18 | 2005-05-11 | 三菱電機株式会社 | 車両用追従走行制御装置 |
EP1204540B1 (en) * | 2000-05-16 | 2008-09-10 | Nissan Motor Co., Ltd. | System and method for controlling vehicle velocity and inter-vehicle distance |
JP4606638B2 (ja) | 2001-04-20 | 2011-01-05 | 本田技研工業株式会社 | 車両の軌跡推定装置及びこれを用いた車両の走行安全装置 |
US7085634B2 (en) * | 2003-04-11 | 2006-08-01 | Toyota Jidosha Kabushiki Kaisha | Parking assist apparatus and parking assist method for vehicle |
CN1737501A (zh) * | 2004-08-20 | 2006-02-22 | 爱信精机株式会社 | 用于车辆的停车辅助装置与停车辅助方法 |
EP1858745B1 (de) * | 2005-03-03 | 2013-05-08 | Continental Teves AG & Co. oHG | Verfahren und vorrichtung zum vermeiden einer kollision bei einem spurwechsel eines fahrzeugs |
JP4224096B2 (ja) * | 2006-10-27 | 2009-02-12 | 三菱電機株式会社 | レーダ装置 |
JP4811343B2 (ja) * | 2007-05-11 | 2011-11-09 | トヨタ自動車株式会社 | 物体検出装置 |
JP4306764B2 (ja) * | 2007-06-04 | 2009-08-05 | トヨタ自動車株式会社 | 車間距離制御装置 |
DE102007036787A1 (de) * | 2007-08-03 | 2009-02-05 | Robert Bosch Gmbh | Abstandsregler mit automatischer Anhaltefunktion |
US7733266B2 (en) * | 2007-09-06 | 2010-06-08 | Honda Motor Co., Ltd. | Control target recognition system and vehicle object detection system |
JP5176184B2 (ja) * | 2008-03-28 | 2013-04-03 | 本田技研工業株式会社 | クラッチ制御装置 |
US8605947B2 (en) * | 2008-04-24 | 2013-12-10 | GM Global Technology Operations LLC | Method for detecting a clear path of travel for a vehicle enhanced by object detection |
JP5057166B2 (ja) * | 2008-10-30 | 2012-10-24 | アイシン・エィ・ダブリュ株式会社 | 安全運転評価システム及び安全運転評価プログラム |
US8812226B2 (en) * | 2009-01-26 | 2014-08-19 | GM Global Technology Operations LLC | Multiobject fusion module for collision preparation system |
DE102011007329A1 (de) * | 2011-04-13 | 2012-10-18 | Robert Bosch Gmbh | Verfahren zum Betreiben eines Kraftfahrzeugs, Vorrichtung |
JP5577460B2 (ja) * | 2011-05-18 | 2014-08-20 | 本田技研工業株式会社 | 走行制御装置 |
-
2013
- 2013-11-20 WO PCT/JP2013/081277 patent/WO2014080940A1/ja active Application Filing
- 2013-11-20 CN CN201380061380.3A patent/CN104812649B/zh active Active
- 2013-11-20 JP JP2014548597A patent/JP5938483B2/ja active Active
- 2013-11-20 US US14/433,905 patent/US9409575B2/en active Active
- 2013-11-20 CA CA2887118A patent/CA2887118C/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001233084A (ja) * | 2000-02-24 | 2001-08-28 | Nissan Motor Co Ltd | 車両用追従走行制御装置 |
JP2009063439A (ja) * | 2007-09-06 | 2009-03-26 | Honda Motor Co Ltd | 制御対象認識装置 |
Also Published As
Publication number | Publication date |
---|---|
US20150258992A1 (en) | 2015-09-17 |
CA2887118A1 (en) | 2014-05-30 |
CN104812649B (zh) | 2017-06-23 |
JP5938483B2 (ja) | 2016-06-22 |
CA2887118C (en) | 2017-03-14 |
CN104812649A (zh) | 2015-07-29 |
JPWO2014080940A1 (ja) | 2017-01-05 |
US9409575B2 (en) | 2016-08-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP5938483B2 (ja) | 車両制御装置 | |
US10807608B2 (en) | Vehicle control system, vehicle control method, and storage medium | |
CN109017791B (zh) | 车道变更辅助装置 | |
JP6361567B2 (ja) | 自動運転車両システム | |
US9896098B2 (en) | Vehicle travel control device | |
US20170001642A1 (en) | Vehicle traveling control device | |
US20180322349A1 (en) | Parking Space Detection Method and Device | |
JP2006347252A (ja) | 車両の走行安全装置 | |
JP2018088060A (ja) | 自動運転装置 | |
JP2014182632A (ja) | 車両周辺監視装置 | |
JP4646990B2 (ja) | 車両制御装置 | |
JP2017214011A (ja) | 駐車支援装置 | |
JP2018075900A (ja) | 車両制御装置、車両制御方法、および車両制御プログラム | |
US20200180510A1 (en) | Parking Assistance Method and Parking Assistance Device | |
US20230294674A1 (en) | Driving assistance device, driving assistance method, and storage medium | |
JP2020091789A (ja) | 衝突回避支援装置 | |
WO2019244676A1 (ja) | 走行制御装置及び走行制御方法 | |
JP5927721B2 (ja) | ペダル反力制御装置 | |
JP7421692B2 (ja) | 車両制御装置 | |
US20230294676A1 (en) | Driving assistance device, driving assistance method, and storage medium | |
US20230294679A1 (en) | Driving assistance device, driving assistance method, and storage medium | |
WO2020195420A1 (ja) | 障害物回避制御装置、車両、障害物回避制御方法、および障害物回避制御プログラム | |
US20230294675A1 (en) | Driving assistance device, driving assistance method, and storage medium | |
JP7075550B1 (ja) | 車両制御装置、車両制御方法、およびプログラム | |
CN112124094B (zh) | 驻车辅助*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13857432 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2014548597 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2887118 Country of ref document: CA |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14433905 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13857432 Country of ref document: EP Kind code of ref document: A1 |