WO2015186648A1 - 車両の走行制御装置 - Google Patents
車両の走行制御装置 Download PDFInfo
- Publication number
- WO2015186648A1 WO2015186648A1 PCT/JP2015/065718 JP2015065718W WO2015186648A1 WO 2015186648 A1 WO2015186648 A1 WO 2015186648A1 JP 2015065718 W JP2015065718 W JP 2015065718W WO 2015186648 A1 WO2015186648 A1 WO 2015186648A1
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- Prior art keywords
- vehicle
- preliminary operation
- preliminary
- operation control
- control device
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- 230000000007 visual effect Effects 0.000 abstract description 3
- 238000004891 communication Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 7
- 238000000926 separation method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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Definitions
- the present invention relates to a travel control device for a vehicle that causes various devices that support driving of the host vehicle to perform a preliminary operation to prepare for an event that may occur in the future.
- Patent Document 1 discloses a travel control system that controls the travel speed of the host vehicle so that the distance between the host vehicle and the preceding vehicle is maintained at a predetermined distance.
- overtaking appropriateness determination means for determining whether or not the preceding vehicle is overtaking based on the traveling state of the own vehicle and the preceding vehicle, and preparation for overtaking when it is determined that the preceding vehicle is appropriate.
- Overtaking preparation operation execution means for executing an operation
- overtaking availability determination means for determining whether or not the preceding vehicle can be overtaken based on the traveling environment and the traveling state of the own vehicle and the preceding vehicle, and overtaking of the preceding vehicle are possible
- overtaking means for executing overtaking when it is determined that.
- the first target speed is calculated according to the inter-vehicle distance from the preceding vehicle ahead of the host vehicle
- the second target speed is calculated according to the road information
- the first target speed is calculated. Accordingly, when switching from the first control mode for controlling the speed of the host vehicle to the second control mode for controlling the speed of the host vehicle according to the second target speed, the acceleration / deceleration of the host vehicle is within a predetermined range.
- a travel control device that controls the speed of the vehicle so as to be inside is disclosed. By applying this travel control device, it is assumed that speed control that does not give a sense of incongruity to the occupant of the host vehicle is realized before decelerating to the target speed in curve travel during follow-up travel.
- the preliminary operation is similarly performed based on the external world information, so that the occupant of the subsequent vehicle does not feel a sense of incongruity. It is desirable that
- the present invention relates to a travel control device for an autonomous driving vehicle, which does not require visual notification to other vehicles, and makes an occupant of another vehicle surrounding the own vehicle feel uncomfortable with the preliminary operation of the own vehicle.
- An object of the present invention is to provide a traveling control device for a vehicle that never happens.
- a vehicle travel control apparatus is a vehicle travel control apparatus that performs various preliminary operations to prepare for events that may occur in the future with respect to various devices that support driving of the host vehicle.
- An external information acquisition unit for acquiring external information
- an own vehicle information acquisition unit for acquiring information on the own vehicle
- other vehicle information acquisition for acquiring other vehicle information including whether or not the other vehicle has an automatic driving function.
- a preliminary operation control unit that calculates a preliminary operation control amount of each of the various devices based on the outside world information, the information on the host vehicle, and the other vehicle information, and whether the other vehicle is in automatic driving In response to the determination, the preliminary operation control unit determines whether or not the preliminary operation control amount needs to be adjusted.
- the preliminary operation control amount is maintained as the final preliminary operation control amount. If the adjustment is necessary, the preliminary operation system By adjusting the amount and final preliminary operation control quantity, in which to execute the preliminary operation on the device based on the preliminary operation control amount of the final.
- the vehicle travel control apparatus of the present invention by setting or adjusting the necessity of preliminary operation and the preliminary operation control amount of various devices that determine whether or not the other vehicle is in automatic driving and assist driving, the other vehicle It is possible to reduce a sense of discomfort with respect to the passenger, and it is possible to realize safe and smooth travel by performing the preliminary operation.
- FIG. 1 is a configuration diagram of a travel control device of the present invention.
- the traveling control device 10 includes an outside world information acquisition unit 1, a host vehicle information acquisition unit 2, another vehicle information acquisition unit 3, a necessity determination unit 4, and a preliminary operation control unit 5.
- the external world information acquisition unit 1 includes a stereo camera 1a and a millimeter wave radar 1b that can measure the distance and relative speed with obstacles around the host vehicle, a monocular camera 1c that can recognize white lines on the road, a traffic light, and the like.
- the wireless communication device 1d that can acquire the switching timing and traffic jam information
- the map information acquisition device 1e that can acquire information on the road on which the vehicle travels, such as the position of the traffic light.
- the own vehicle information acquisition unit 2 includes a GPS (Global Positioning System) 2a that can acquire the position of the own vehicle, a vehicle speed sensor 2b that detects the vehicle speed, and a route to the destination registered by the occupant. It comprises a route creation device 2c to be provided.
- GPS Global Positioning System
- the other vehicle information acquisition unit 3 includes a wireless communication device, a camera, and the like, and through communication with a plurality of other vehicles, whether or not the other vehicle is an autonomous driving vehicle or whether or not it has a specific preliminary operation control device. Information, the speed and position of other vehicles, the separation distance from the host vehicle, and the like.
- the necessity determination part 4 is comprised from control ECU4a and the determination part 4b, as shown in FIG.
- the control ECU 4a includes a CPU (Central Processing Unit) and a RAM (Random Access Memor).
- y is a computer equipped with a ROM (Read Only Memory) and the like, and calculates and outputs a preliminary operation control amount in accordance with input external information and own vehicle information.
- the determination unit 4b is configured so that the outside world information acquired by the outside world information acquisition unit 1, the information of the host vehicle acquired by the host vehicle information acquisition unit 2, and the other vehicle acquired by the other vehicle information acquisition unit 3 have an automatic driving function. Based on the other vehicle information including whether or not it has, it is determined whether or not it is necessary to calculate a preliminary operation control amount in the preliminary operation control unit 5 described later.
- the other vehicle If the other vehicle has an automatic driving function, the other vehicle also understands the preliminary operation of the device that supports driving of the host vehicle, and similarly executes the preliminary operation of the device that supports driving of the other vehicle. Become.
- the “automatic driving function” is a function that literally automatically drives the vehicle based on external information received by communication without requiring operation of various devices by the occupant.
- “during automatic driving” means that the automatic driving function is operating, and even if it has the automatic driving function, it does not operate or the own vehicle and other vehicles If the distance between the vehicles is too long to receive that it has an automatic driving function or is operating, it is not included in “automatic driving”.
- any preliminary operation control is performed on a device that supports driving of the host vehicle, such as an accelerator or a brake. Is not executed. In such a case, the passengers of other vehicles do not feel uncomfortable even if the device is not controlled for preliminary operation.
- the preliminary operation control unit 5 includes a preliminary operation control amount calculation unit 5a and a preliminary operation adjustment unit 6, as shown in FIG.
- the preliminary operation control amount calculation unit 5a is configured to provide external information (for example, signal information including a signal switching timing from a traffic signal ahead in the traveling direction) and other vehicle information (for example, a following vehicle) with respect to the information on the own vehicle (for example, current speed information). Based on the fact that the vehicle is not in automatic driving and information on the speed and separation distance of the following vehicle), for example, a preliminary operation control amount for reducing the speed is calculated.
- external information for example, signal information including a signal switching timing from a traffic signal ahead in the traveling direction
- vehicle information for example, a following vehicle
- the determination unit 4 b determines whether or not the other vehicle is in automatic driving, but the preliminary operation adjustment unit 6 determines the preliminary operation control amount. Determine whether adjustment is necessary.
- the preliminary motion adjustment amount is calculated, the preliminary motion control amount calculated by the preliminary motion control unit 5 is corrected based on the preliminary motion control amount, and the final The preliminary operation control amount is calculated.
- the preliminary motion control unit 6 determines that adjustment of the preliminary motion control amount is unnecessary, the preliminary motion control amount calculated by the preliminary motion control unit 5 is maintained as it is, and the maintained preliminary motion control amount is finalized.
- the preliminary operation control amount is the preliminary operation control amount.
- correction of the preliminary motion control amount based on the preliminary motion adjustment amount means that the amount of deceleration by the accelerator is reduced by multiplying the preliminary motion control amount by the calculated preliminary motion adjustment amount (for example, a correction coefficient). It means that.
- the traveling control apparatus 10 of the present invention it is determined whether or not the other vehicle is in an automatic operation, and by setting or adjusting the necessity of the preliminary operation and the preliminary operation control amount of various devices that support driving, A sense of incongruity to the occupant is not felt, or a sense of incongruity can be reduced. Furthermore, safe and smooth travel can be realized by the preliminary operation of the device that supports driving of the host vehicle.
- FIG. 6 is a diagram showing an automobile exclusive road to which the travel control device of the present invention is applied
- FIG. 7 is a diagram showing Embodiment 1 of the control flow of the travel control device of the present invention.
- the own vehicle 11 receives the signal information 14 including the signal switching timing from the traffic signal 12 in front at the outside information acquisition unit 1 constituting the mounted traveling control device 10 during traveling.
- the host vehicle 11 receives the other vehicle information 15 from the succeeding vehicle 13 at the other vehicle information acquisition unit 3 constituting the travel control device 10.
- the automatic driving control device 10 includes the received signal information 14 and other vehicle information 15 (whether or not the other vehicle is in automatic driving, the speed of the other vehicle, the inter-vehicle distance, etc.), and further the own vehicle information acquisition unit Based on the information (speed etc.) of the host vehicle acquired in step 2, the necessity determination unit 4 constituting the travel control device 10 determines whether or not it is necessary to generate a preliminary operation control amount for decelerating the host vehicle 11 or the like. To do.
- the preliminary operation control unit 5 of the travel control device 10 calculates the preliminary operation control amount of a device such as an accelerator or a brake.
- the preliminary motion control unit 6 determines whether or not the preliminary motion control amount needs to be adjusted. If it is determined that the preliminary motion control amount is necessary, the preliminary motion control amount is Correction is made with the operation adjustment amount, and control of devices such as an accelerator and a brake is executed based on the final preliminary operation control amount after the correction.
- step S101 information about the signal switching timing (how many seconds later the switch from blue to red, etc.) is acquired by the wireless communication device 1d (step S101).
- step S102 the time until the host vehicle 11 passes the traffic light 12 and the time until the signal switches from blue to red are compared, and it is determined whether or not the signal can pass at the current vehicle speed (step S102). ).
- This determination is executed by the necessity determination unit 4.
- the automatic operation control device 10 does not perform preliminary operation control of the device.
- the host vehicle 11 passes through the traffic light 12 while maintaining the current vehicle speed.
- the calculation of the deceleration is executed by the preliminary operation control unit 5.
- the deceleration is calculated by, for example, the formula (current vehicle speed 2 ) / ⁇ 2 ⁇ (distance from the vehicle 11 to the stop position 16) ⁇ .
- the wireless communication device 1d and the other vehicle information acquisition unit 3 acquire the information on the following vehicle 13 (step S104).
- the information of the succeeding vehicle 13 includes whether or not the succeeding vehicle 13 is in automatic operation, and the necessity determination unit 4 makes an actual determination (step S105).
- step S104 if the following vehicle 13 is not equipped with the wireless communication device 1d, or if it is installed, if the distance is too long to communicate, the other vehicle information 15 cannot be acquired accurately.
- a preliminary operation adjustment amount (correction coefficient) that suppresses deceleration so as not to give a sense of incongruity to the occupant of the subsequent vehicle 13 is calculated, and the deceleration amount is adjusted.
- This preliminary movement adjustment amount is set so that the final preliminary movement control amount satisfies the inter-vehicle time-deceleration preliminary movement control amount relationship graph shown in FIG. It is calculated by.
- the preliminary operation adjustment amount is calculated so as to decelerate at the deceleration required to stop at the stop position 16 without considering the following vehicle 13 (step S106). ), The preliminary operation control amount is corrected based on the calculated preliminary operation adjustment amount.
- the preliminary operation adjustment amount is calculated so as not to further decelerate (step S106).
- step S105 If it is determined in step S105 that the succeeding vehicle 13 is in automatic driving, the necessity determining unit 4 further determines whether the succeeding vehicle 13 is approaching the host vehicle 11 (step S107). ).
- step S106 When it is determined that the succeeding vehicle 13 is approaching, a preliminary operation adjustment amount for suppressing deceleration is calculated (step S106), and control is performed so as not to decelerate too much.
- the preliminary motion control amount calculated in step S103 is multiplied by the preliminary motion adjustment amount (correction coefficient, etc.) calculated in step S106 to correct the preliminary motion control amount, and the final preliminary motion control amount is calculated. Calculated (step S108).
- both the own vehicle 11 and the succeeding vehicle 13 perform a preliminary deceleration operation by predicting that the green signal will be switched to the red signal.
- the occupant can realize smooth running without feeling uncomfortable.
- FIG. 9 is a diagram showing a case where there is an oncoming vehicle during automatic driving at an intersection to which the traveling control device of the present invention is applied, and FIG. 10 is during automatic driving at an intersection to which the traveling control device of the present invention is applied. It is the figure which showed the case where the oncoming vehicle which is not.
- FIG. 11 is a diagram showing a second embodiment of the control flow of the traveling control apparatus of the present invention.
- the own vehicles 21 and 31 that are automatically driving are going to turn right at the intersection, and whether or not the oncoming vehicles 22 and 32 are temporarily stopped are switched depending on whether or not the oncoming vehicles 22 and 32 are automatically driving. ing.
- the road shape and position information at the intersection is acquired from the map information acquisition device 1e (step S201).
- a route to the destination registered in advance by the passenger is acquired from the route creation device 2c (step S202).
- the distance between the oncoming vehicles 22 and 32 and the relative speed are acquired from the stereo camera 1a or the millimeter wave radar 1b (step S203).
- a trajectory for making a right turn at the intersection is calculated (step S204).
- the trajectory is temporarily stopped in the intersection, and when it is possible to turn right, the trajectory to make a right turn at an appropriate speed is calculated.
- the trajectory calculation performed here is performed in the preliminary motion adjustment unit 6 and is calculated so that the margin time for making a right turn is as short as possible.
- control based on the other vehicle information is also executed in parallel with the series of control until the trajectory for the right turn at the intersection in step S201 to step S204 is calculated.
- oncoming vehicle information is acquired from the wireless communication device 1d (step S205).
- This information includes “whether or not the oncoming vehicles 22 and 32 are in automatic driving”, and the necessity determination unit 4 makes an actual determination (step S206).
- the oncoming vehicles 22 and 32 are not equipped with the wireless communication device 1d or if the distance is too long to communicate even if they are installed, the oncoming vehicles 22 and 32 are in automatic operation. Therefore, the safer control is performed so as not to give a sense of incongruity to the passengers of the oncoming vehicles 22 and 32.
- a trajectory adjustment amount for preliminary operation such as temporary stop in the intersection is calculated.
- the preliminary operation adjustment amount in this case is calculated so that the oncoming vehicle pauses when the speed of the oncoming vehicle is high so as not to give the oncoming vehicle a sense of incongruity.
- FIG. 12 is statistical data showing the relationship between the distance to the oncoming vehicle (right turn determination distance) and the speed of the oncoming vehicle that are determined to be right when turning right.
- the trajectory (preliminary motion control amount) is corrected based on the calculated preliminary motion adjustment amount, and the final trajectory (final preliminary motion control amount) is calculated (step S208).
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Abstract
Description
、他車両の乗員に対する違和感を低減することができ、予備動作を行うことによる安全でスムーズな走行を実現することができる。
図1は本発明の走行制御装置の構成図である。
的地までの経路を提供するルート作成機器2cから構成される。
y)、ROM(Read Only Memory)等を備えたコンピュータであり、入力される外界情報と
自車両情報に応じて、予備動作制御量を演算して出力する。
通信にて受信した外部情報に基づいて文字通り自動で運転する機能のことである。
図6は本発明の走行制御装置が適用される自動車専用道路を示した図であり、図7は本発明の走行制御装置の制御フローの実施の形態1を示した図である。
て取得されている自車両の情報(速度等)に基づき、走行制御装置10を構成する要否判断部4にて自車両11を減速等させる予備動作制御量の生成の要否を判断する。
まず、無線通信機器1dにより、信号の切り替わりタイミング(何秒後に青から赤に切
り替わるか等)の情報を取得する(ステップS101)。
)。
、したがって通過できないと判断した場合は、信号機12に対して停止位置16で停止するのに必要な減速度を算出する(ステップS103)。
での距離)}にて算出される。
)、算出された予備動作調整量に基づいて予備動作制御量が補正される。
、これ以上減速しないように予備動作調整量が算出される(ステップS106)。
、自車両11に対して後続車13が接近しているかどうかが要否判断部4にて判断される(ステップS107)。
。
図9は本発明の走行制御装置が適用される交差点において自動運転中の対向車が存在する場合を示した図であり、図10は本発明の走行制御装置が適用される交差点において自動運転中でない対向車が存在する場合を示した図である。さらに図11は本発明の走行制御装置の制御フローの実施の形態2を示した図である。
、対向車22、32が自動運転中か否かに応じて、交差点内で一時停止するか否かを切り替えている。
S201)。
この情報には、対向車22、32が”自動運転中か否か”が含まれており、要否判断部4にて実際の判断がなされる(ステップS206)。
、搭載していたとしても通信するには距離が遠すぎる場合、対向車22、32は自動運転中ではないと判断され、対向車22、32の乗員に対して違和感を与えないよう、より安全側の制御が行われる。
、直進する後続車23を待たせることがなくなるため、スムーズな交通の流れを形成できるという効果が奏される。
2 自車両情報取得部
3 他車両情報取得部
4 要否判断部
5 予備動作制御部
6 予備動作調整部
10 走行制御装置
Claims (7)
- 自車両を運転支援する各種のデバイスに対し、将来生じ得る事象に対して準備する予備動作を行わせる車両の走行制御装置であって、
外界情報を取得する外界情報取得部と、
自車両の情報を取得する自車両情報取得部と、
他車両が自動運転機能を有するか否かを含む他車両情報を取得する他車両情報取得部と
、
前記外界情報と前記自車両の情報と前記他車両情報に基づいて、前記各種のデバイスの予備動作制御量を算出する予備動作制御部とを備え、
他車両が自動運転中であるか否かの判断に応じて、前記予備動作制御部では、前記予備動作制御量の調整の要否を判断し、調整不要の場合は該予備動作制御量を維持して最終の予備動作制御量とし、調整要の場合は該予備動作制御量を調整して最終の予備動作制御量とし、該最終の予備動作制御量に基づいて前記デバイスに予備動作を実行させる車両の走行制御装置。 - 請求項1に記載の車両の走行制御装置において、
前記走行制御装置は、前記外界情報と前記自車両の情報と前記他車両情報に基づいて前記予備動作制御部における予備動作制御量の算出の要否を判断する要否判断部をさらに備えており、
前記要否判断部にて予備動作制御量の算出が必要であると判断された際に前記予備動作制御部にて前記予備動作制御量が算出される車両の走行制御装置。 - 請求項1または2に記載の車両の走行制御装置において、
前記予備動作制御部には予備動作調整部が含まれており、
前記予備動作調整部にて予備動作調整量が算出され、
前記予備動作制御部にて算出された前記予備動作制御量を前記予備動作調整量にて補正することにより、前記最終の予備動作制御量を算出する車両の走行制御装置。 - 請求項3に記載の車両の走行制御装置において、
他車両が自動運転中でないと判断された場合、前記予備動作調整部にて予備動作調整量が算出される車両の走行制御装置。 - 請求項3に記載の車両の走行制御装置において、
他車両が自動運転中であると判断された場合であって、かつ該他車両が接近していると判断された場合に、前記予備動作調整部にて予備動作調整量が算出される車両の走行制御装置。 - 請求項3に記載の車両の走行制御装置において、
他車両が自動運転中であると判断された場合であって、かつ該他車両が接近していないと判断された場合に、前記予備動作調整量は算出されず、前記予備動作制御量を前記最終の予備動作制御量とする車両の走行制御装置。 - 請求項3に記載の車両の走行制御装置において、
他車両が自動運転機能を有していない場合、もしくは自動運転機能を有しているか否かに関する情報が存在しない場合は、他車両が自動運転中でないと判断し、前記予備動作調整部にて予備動作調整量が算出される車両の走行制御装置。
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US15/308,115 US20170043784A1 (en) | 2014-06-06 | 2015-06-01 | Vehicle Travel Control Device |
JP2016525152A JP6325098B2 (ja) | 2014-06-06 | 2015-06-01 | 車両の走行制御装置 |
EP15803029.6A EP3153370A4 (en) | 2014-06-06 | 2015-06-01 | Vehicle travel control device |
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CN106458215A (zh) | 2017-02-22 |
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JPWO2015186648A1 (ja) | 2017-04-20 |
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US20170043784A1 (en) | 2017-02-16 |
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