WO2016024317A1 - 走行制御装置および走行制御方法 - Google Patents
走行制御装置および走行制御方法 Download PDFInfo
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- WO2016024317A1 WO2016024317A1 PCT/JP2014/071182 JP2014071182W WO2016024317A1 WO 2016024317 A1 WO2016024317 A1 WO 2016024317A1 JP 2014071182 W JP2014071182 W JP 2014071182W WO 2016024317 A1 WO2016024317 A1 WO 2016024317A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
Definitions
- the present invention relates to a travel control device and a travel control method for controlling travel of a vehicle.
- Patent Document 1 A technique for controlling traveling of a vehicle is known.
- the traveling of the host vehicle is controlled so that the distance along the vehicle width direction between the approaching vehicle and the host vehicle is equal to or greater than a certain distance.
- the host vehicle also fluctuated, which sometimes caused the passengers to feel uncomfortable.
- the problem to be solved by the present invention is to provide a travel control device capable of reducing the uncomfortable feeling given to the occupant when controlling the travel of the host vehicle.
- the present invention calculates the distance along the vehicle width direction between the host vehicle and the avoidance target when the host vehicle travels on the target route as the target vehicle width distance, and sets the range based on the target vehicle width distance as the allowable vehicle width distance.
- the above-mentioned problem is caused by causing the host vehicle to travel on a preset target route.
- the present invention even when the other vehicle to be avoided is staggered, if the actual distance along the vehicle width direction between the own vehicle and the subject to be avoided is within the allowable vehicle width distance range, Since the vehicle can travel on the preset target route, it is possible to effectively prevent the own vehicle from wandering due to the wobbling to be avoided.
- (A) is a figure which shows an example of an allowable vehicle width distance range and an actual vehicle width distance
- (B) is a figure which shows the horizontal position which the own vehicle drive
- the vehicle travel control apparatus according to the present invention is applied to a travel control system mounted on a vehicle
- the embodiment of the travel control device of the present invention is not limited, and can be applied to a mobile terminal device capable of exchanging information with the vehicle side.
- the travel control device, the travel control system, and the mobile terminal device are all computers that execute arithmetic processing.
- FIG. 1 is a diagram showing a block configuration of the traveling control system 1.
- the travel control system 1 of this embodiment is mounted on a vehicle and includes a travel control device 100 and an in-vehicle device 200. *
- the travel control device 100 recognizes the lane in which the host vehicle is traveling, and controls the travel of the host vehicle so that the position of the lane mark on the lane and the position of the host vehicle maintain a predetermined relationship. Lane departure prevention function (lane keep support function).
- the travel control device 100 of this embodiment controls the travel of the host vehicle so that the host vehicle travels in the center of the lane.
- the travel control apparatus 100 may control the travel of the host vehicle so that the distance along the road width direction from the lane mark of the lane to the host vehicle falls within a predetermined value range.
- the lane marker in the present embodiment is not limited as long as it has a function of defining a lane, and may be a diagram drawn on a road surface or planting existing between roads.
- the travel control device 100 has a communication device 20, the in-vehicle device 200 has a communication device 40, and both devices exchange information with each other by wired communication or wireless communication.
- the in-vehicle device 200 of the present embodiment includes a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110, and a navigation device 120.
- the devices constituting the in-vehicle device 200 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
- CAN Controller Area Network
- the detection device 50 detects the presence of an avoidance target that should be avoided by the host vehicle and the location of the avoidance target.
- the detection device 50 of the present embodiment includes a camera 51.
- the camera 51 of the present embodiment is a camera including an image sensor such as a CCD.
- the camera 51 of this embodiment is installed in the own vehicle, images the surroundings of the own vehicle, and acquires image data including the avoidance target existing around the own vehicle. A specific example of “avoidance target” described in this embodiment will be described later.
- the detection device 50 processes the acquired image data and calculates the distance from the own vehicle to the avoidance target based on the position of the avoidance target with respect to the own vehicle.
- the detection device 50 calculates, as target information, the relative speed between the host vehicle and the avoidance target and the relative acceleration between the host vehicle and the avoidance target from the temporal change in the position of the avoidance target.
- the method known at the time of filing this application can be used as appropriate.
- the detection device 50 may analyze the image data and identify the type of the avoidance target based on the analysis result.
- the detection device 50 can identify whether the avoidance target included in the image data is a vehicle, a pedestrian, or a sign using a pattern matching technique or the like. Further, the detection device 50 extracts an image of the object from the image data, and based on the size and shape of the image, the specific type of the object (four-wheeled vehicle, two-wheeled vehicle, bus, truck, construction vehicle, etc.), vehicle type ( Small cars and large cars). Furthermore, the detection device 50 can identify the type and model of the vehicle from the identifiers written on the license plate included in the image data. This identification information can be used in the target area setting process.
- the radar apparatus 52 may be used as the detection apparatus 50 of the present embodiment.
- a system known at the time of filing such as a millimeter wave radar, a laser radar, and an ultrasonic radar can be used.
- the target information including at least the position of the avoidance target detected in this way is sent to the traveling control device 100 side.
- the detection device 50 targets information such as relative speed information, relative acceleration information, type information of the avoidance target, and type of vehicle when the avoidance target is a vehicle, which is obtained from a change in the position of the avoidance target. It may be included in the information and sent to the travel control device 100 side.
- the “avoidance target” in the present embodiment is an object on which the host vehicle should travel avoiding itself (so as not to approach too much).
- the detection device 50 detects an object having a predetermined positional relationship with the host vehicle as an avoidance object.
- the detection device 50 can detect an object or the like existing around the host vehicle that is within a predetermined distance from the host vehicle as an avoidance target.
- the avoidance targets of the present embodiment include stationary objects and moving objects.
- stationary avoidance targets include other parked vehicles, other parked vehicles, road structures such as sidewalks, median strips, guardrails, road installations such as signs and power poles, fallen objects, and snow removed
- Other vehicles and pedestrians are included as moving avoidance targets.
- the other vehicle includes a vehicle ahead of the host vehicle, a rear vehicle, and an oncoming vehicle. Examples of vehicles include motorcycles such as bicycles and motorcycles, large vehicles such as buses and trucks, and special vehicles such as trailers and crane vehicles.
- the avoidance targets include objects that the host vehicle should avoid, such as a construction site, a damaged area of a road surface, and a puddle, although there is no object.
- the sensor 60 of this embodiment includes a steering angle sensor 61 and a vehicle speed sensor 62.
- the steering angle sensor 61 detects steering information related to steering such as the steering amount, steering speed, and steering acceleration of the host vehicle, and sends the steering information to the vehicle controller 70 and the travel control device 100.
- the vehicle speed sensor 62 detects the vehicle speed and acceleration of the host vehicle and sends them to the vehicle controller 70 and the travel control device 100.
- the vehicle controller 70 of the present embodiment is an in-vehicle computer such as an engine control unit (Engine Control Unit, ECU), and electronically controls the driving state of the vehicle.
- Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. it can.
- electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.
- the drive device 80 of this embodiment includes a drive mechanism for the host vehicle V1.
- the drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels.
- a braking device 81 and the like are included.
- the drive device 80 generates control signals for these drive mechanisms based on input signals from the driver's accelerator operation and brake operation, and control signals acquired from the vehicle controller 70 or the travel control device 100, and includes acceleration and deceleration of the vehicle. Run control. By sending the command information to the driving device 80, it is possible to automatically perform traveling control including acceleration / deceleration of the vehicle.
- torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 80.
- the steering device 90 of this embodiment includes a steering actuator.
- the steering actuator includes a motor and the like attached to the column shaft of the steering.
- the steering device 90 executes turning control of the vehicle based on the control signal acquired from the vehicle controller 70 or the input signal by the driver's steering operation.
- the vehicle controller 70 executes turn control by sending command information including the steering amount to the steering device 90.
- the traveling control apparatus 100 may execute the turn control by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 70 executes turn control of the vehicle by sending command information including the braking amount of each wheel to the braking device 81.
- the navigation device 120 calculates a route from the current position of the host vehicle to the destination, and outputs route guidance information via the output device 110 described later.
- the navigation device 120 includes a position detection device 121, road type, road width, road shape, and other road information 122, and map information 123 in which the road information 122 is associated with each point.
- the position detection device 121 of this embodiment includes a global positioning system (Global Positioning System, GPS), and detects a traveling position (latitude / longitude) of a traveling vehicle.
- the navigation device 120 specifies a road link on which the host vehicle travels based on the current position of the host vehicle detected by the position detection device 121.
- the road information 122 stores the road type, road width, road shape, passability (possibility of entry into adjacent lanes), and other road-related information for each road link identification information. .
- the navigation apparatus 120 acquires the information regarding the road to which the road link where the own vehicle drive
- the road type, road width, and road shape on which the host vehicle travels are used for calculating a target route on which the host vehicle travels in the travel control process.
- the output device 110 outputs various types of information related to driving support to the user or a passenger in the surrounding vehicle.
- the output device 110 includes information according to target information, information according to the position of the target area, information according to the position of the target route, and information according to command information that causes the host vehicle to travel on the target route. Any one or more of them are output.
- the output device 110 according to the present embodiment includes a display 111, a speaker 112, a vehicle exterior lamp 113, and a vehicle interior lamp 114.
- the vehicle exterior lamp 113 includes a headlight, a blinker lamp, and a brake lamp.
- the vehicle interior lamp 114 includes an indicator lighting display, a display 111 lighting indication, other lamps provided on the steering wheel, and lamps provided around the steering wheel.
- the output device 110 may output various types of information related to driving support to an external device such as an intelligent transportation system (ITS) via the communication device 40.
- An external device such as an intelligent road traffic system uses information related to travel support including vehicle speed, steering information, travel route, and the like for traffic management of a plurality of vehicles.
- a specific information output mode will be described by taking as an example a case where there is a parked vehicle to be avoided in front of the left side of the host vehicle.
- the output device 110 provides the occupant of the own vehicle with the direction and position where the parked vehicle exists as information corresponding to the target information.
- the display 111 displays the direction and position where the parked vehicle exists in a visible manner.
- the speaker 112 utters and outputs a text indicating the direction and position of the parked vehicle, such as “There is a parked vehicle in front of the left side”.
- the lamps provided on the left and right door mirrors that are the vehicle exterior lamps 113 only the left lamp may be blinked to notify the occupant of the host vehicle that a parked vehicle is present in front of the left side.
- the lamps provided on the left and right in the vicinity of the steering wheel which is the vehicle interior lamp 114, only the left lamp may blink to notify the occupant that there is a parked vehicle in front of the left side.
- the setting direction and the setting position of the target area may be output via the output device 110 as information corresponding to the position of the target area.
- the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114 can inform the occupant that the target area is set to the left front.
- the setting direction and setting position of the target area are output to the outside using the outside lamp 113 from the viewpoint of informing the passengers of other vehicles of the movement of the host vehicle in advance.
- the traveling direction of the host vehicle is changed to pass the side of the target area (turning is performed).
- the traveling direction of the host vehicle changes in order to pass the side of the target area.
- the right turn signal lamp (outside cabin lamp 113) is turned on so that the host vehicle moves to the right side to pass the side of the target area set on the left side. It is possible to notify an external vehicle or the like that the vehicle is moving.
- the shape of the target route and the position of the curved point can be notified to the occupant by the display 111 and the speaker 112.
- the display 111 displays the shape of the target route and the like as a visible diagram.
- the speaker 112 outputs an announcement such as “turn to the right to pass the side of the parked vehicle ahead”.
- information indicating that the turning operation and acceleration / deceleration are executed as information corresponding to the command information for causing the vehicle to travel on the target route. Inform the passenger of the own vehicle or the passenger of another vehicle in advance.
- the output device 110 may output the above-described information to an external device of the intelligent transportation system via the communication device 20.
- crew of another vehicle can respond
- the travel control device 100 of this embodiment includes a control device 10, a communication device 20, and an output device 30.
- the communication device 20 exchanges information with the in-vehicle device 200.
- the output device 30 has the same function as the output device 110 of the in-vehicle device 200 described above.
- the traveling control device 100 is a computer that can be carried by an occupant, the traveling control device 100 outputs command information for controlling blinking of the exterior lamp 113 and the interior lamp 114 of the in-vehicle device 200 to each device. May be.
- the control device 10 of the traveling control device 100 functions as the traveling control device 100 by executing a ROM (Read Only Memory) 12 in which a program for controlling the traveling of the host vehicle is stored and a program stored in the ROM 12.
- a computer including a CPU (Central Processing Unit) 11 as an operation circuit and a RAM (Random Access Memory) 13 functioning as an accessible storage device.
- CPU Central Processing Unit
- RAM Random Access Memory
- the control device 10 of the travel control device 100 has a host vehicle information acquisition function, a target information acquisition function, a target area setting function, a target route setting function, a control function, and a presentation function.
- the control apparatus 10 of this embodiment performs each function by cooperation of the software for implement
- the automatic information acquisition function acquires own vehicle information including the position of the own vehicle.
- the position of the host vehicle can be acquired by the position detection device 121 of the navigation device 120.
- the own vehicle information includes the vehicle speed and acceleration of the own vehicle.
- the control device 10 acquires the speed of the host vehicle from the vehicle speed sensor 62.
- the speed of the host vehicle can also be acquired based on the change over time of the position of the host vehicle.
- the acceleration of the host vehicle can be obtained from the speed of the host vehicle.
- the target information acquisition function of the control device 10 will be described.
- the target information acquisition function acquires target information including a position to be avoided that the host vehicle should avoid.
- the target information acquisition function acquires target information including the position of the avoidance target detected by the detection device 50.
- the target information includes a relative position, a relative speed, and a relative acceleration of the avoidance target.
- the control device 10 of the host vehicle detects the vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle as target information. You may get as Of course, the control device 10 can also acquire target information including the position, speed, and acceleration of other vehicles from an external device of the intelligent transportation system.
- the target area setting function of the control device 10 sets the target area R based on the relationship between the position of the host vehicle and the position to be avoided.
- FIG. 2 is a diagram illustrating an example of a method for setting the target region R.
- the traveling direction Vd1 of the host vehicle is the + y direction in the figure.
- the extending direction of the traveling lane Ln1 on which the host vehicle travels is also the + y direction in the figure.
- FIG. 2 is a view of the scene in which another vehicle V2 parked on the left shoulder of the driving lane Ln1 of the host vehicle is detected as viewed from above.
- the detected other vehicle V2 exists in the travel lane Ln1 of the host vehicle V1 and is a target to be avoided by the host vehicle V1 because the host vehicle V1 is prevented from traveling straight.
- the control device 10 sets a range including the other vehicle V2 as the target region R.
- the target region R has front and rear end portions RL1 and RL2.
- the front and rear end portions RL1 and RL2 are end lines that define the length of the target region R along the extending direction (+ y) of the traveling lane Ln1 of the host vehicle.
- the length along the extending direction (+ y) of the traveling lane Ln1 of the target region R shown in FIG. 2 is L0 which is the distance between (y1) of the front and rear end portion RL1 and the front and rear end portion RL2 (y2).
- a front and rear end portion positioned on the near side (upstream side) when viewed from the host vehicle V1 approaching the target region R is defined as a first end portion RL1.
- a front and rear end portion located on the far side (downstream side) when viewed from the own vehicle V1 approaching or passing through the target region R is defined as a second end portion RL2.
- the first end RL1 and the second end RL2 are located on the boundary of the target region R.
- the target region R has left and right end portions RW1 and RW2 on the left and right sides thereof.
- the left and right end portions RW1 and RW2 are end lines (end portions) that define a distance along the vehicle width direction from the host vehicle V1.
- the left and right end portions RW1 and RW2 are end lines that define the length (width) of the target region along the road width direction (X) of the travel lane Ln1 of the host vehicle.
- the length along (X) in the road width direction of the target region R shown in FIG. 2 is W0 which is the distance between the left and right end portions RW1 (x1) and the left and right end portions RW2 (x2).
- the host vehicle V1 When the host vehicle approaches the avoidance target V2 along the vehicle width direction among the left and right end portions RW1 and RW2, the host vehicle V1 when viewed from the host vehicle V1 among the left and right end portions RW1 and RW2 of the target region R.
- the left and right end portions located on the side of the first horizontal end portion RW1.
- the left and right end portions located on the side (road shoulder side) opposite to the side of the own vehicle V1 when viewed from the own vehicle V1 are defined as the second lateral end portion RW2.
- the first horizontal end RW1 and the second horizontal end RW2 are located on the boundary of the target region R.
- the other vehicle V3 when there is another vehicle V3 that faces the opposite lane Ln2 of the traveling lane Ln1 of the host vehicle V1, the other vehicle V3 is detected as an avoidance target.
- a target region in a range including the other vehicle V3 is set by the same method.
- the target region R is set at a timing when the avoidance target is detected, that is, at a timing before the turning operation of the host vehicle V1 is performed.
- the target route setting function of the control device 10 calculates the target route RT based on the set boundary position of the target region R.
- “calculating the target route RT based on the position of the target region R” may calculate the target route RT so that the host vehicle V1 does not enter the target region R.
- the target route RT may be calculated so that the area where the own vehicle V1 exists is less than a predetermined value, or a position separated from the boundary line of the target region R by a predetermined distance is calculated as the target route RT.
- the boundary line of the target region R may be calculated as the target route RT.
- the target region R is set such that the distance between the host vehicle V1 and the avoidance target is not less than a predetermined value, or the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold. Therefore, as a result, the target route RT is also set at a position where the distance between the host vehicle V1 and the avoidance target is not less than a predetermined value, or at a position where the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold. Is done.
- the control function of the control device 10 outputs command information for causing the host vehicle V1 to travel on the target route RT to the vehicle controller 70, the drive device 80, and the steering device 90 on the vehicle side.
- the vehicle controller 70 that has acquired the command information from the control device 10 controls the drive device 80 and the steering device 90 to drive the host vehicle V1 along the target route RT.
- the vehicle controller 70 uses the road shape detected by the detection device 50 and the lane marker model stored in the road information 122 and the map information 123 of the navigation device 120 to maintain the vehicle in a predetermined lateral position with respect to the lane.
- the steering device 90 is controlled to travel while traveling.
- the vehicle controller 70 calculates the turning control amount based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the vehicle speed sensor 62, current information of the steering actuator, and the like, and sends a current command to the steering actuator. Thus, control is performed so that the host vehicle travels in the target lateral position.
- the driving direction of the host vehicle V1 is determined by the difference in rotational speed between the left and right drive wheels using the driving device 80 and / or the braking device 81. (That is, the lateral position) may be controlled. In that sense, the “turning” of the vehicle includes not only the case of using the steering device 90 but also the case of using the driving device 80 and / or the braking device 81.
- the target region R including the avoidance target is set, and the target route RT is calculated so as to pass the side of the target region R. .
- the detection of the avoidance target, the setting of the target region R, the calculation of the target route RT, and the travel control based on the target route RT are repeatedly performed at regular intervals. Accordingly, the control device 10 can sequentially set the target route RT of the host vehicle V1 based on the latest surrounding situation of the host vehicle V1, and the route suitable for the surrounding situation of the host vehicle V1 is set to the host vehicle V1. It can be run.
- the control device 10 performs traveling control of the host vehicle V1 as described below in order to reduce the swing of the host vehicle V1 due to the swing of the other vehicle V2.
- the control device 10 causes the host vehicle V1 to travel based on the preset target route RT based on the distance along the vehicle width direction between the host vehicle V1 and the avoidance target, or to avoid it.
- a new target route RT is set based on the current position of the target, and it is determined whether to drive the host vehicle V1 based on the new target route RT.
- control device 10 first allows the host vehicle V1 to travel on the preset target route RT even when the distance along the vehicle width direction between the host vehicle V1 and the avoidance target varies.
- the range of the variable distance to be set is set as the allowable vehicle width distance range (a method for setting the allowable vehicle width distance range will be described later).
- the control apparatus 10 judges whether the actual distance (henceforth an actual vehicle width distance) along the vehicle width direction of the own vehicle V1 and an avoidance object is in the allowable vehicle width distance range. .
- the target route RT set in advance is caused to travel on the host vehicle V1 without newly setting the target route RT.
- a new target route RT is set based on the current position of the avoidance target, and the newly set target route RT travels to the host vehicle V1.
- the control device 10 starts turning the own vehicle V1 in order to pass the avoidance target side, and the own vehicle V1 is the avoidance target.
- the host vehicle V1 is controlled so as to return to a predetermined lateral position (for example, the lateral position before the overtaking starts) and start straight ahead.
- the period during which this series of control is performed is set as a process target period, and the above-described travel control process can be performed in this process target period.
- a period from when the vehicle V1 starts turning to pass the side to be avoided until a certain time elapses is set as a processing target period, and the above-described travel control process is performed in this processing target period. It is good. Further, in the same way, when the host vehicle V1 passes the avoidance target such as the oncoming vehicle V3, the host vehicle V1 and the avoidance target pass each other after the turn of the host vehicle V1 is started in order to pass the side of the avoidance target. A period until the vehicle returns to a predetermined lateral position (for example, the center position of the travel lane) and starts straight traveling is set as a process target period, and the above-described travel control process can be performed in the process target period.
- a predetermined lateral position for example, the center position of the travel lane
- FIG. 3 is a diagram illustrating a scene in which the host vehicle V1 and the other vehicle V2 to be avoided are running in parallel and the host vehicle V1 overtakes the other vehicle V2.
- FIG. 4 is a diagram for explaining a method of setting an allowable vehicle width distance range set in the scene shown in FIG.
- the time t1 is the time when the host vehicle V1 starts turning to pass the side of the avoidance target
- the time t2 is a predetermined time after the host vehicle V1 completes the overtaking of the avoidance target.
- the period from time t1 to time t2 is the processing target period described above (the same applies to FIGS. 5 to 8).
- the control device 10 determines that the host vehicle V1 starts turning before the host vehicle V1 passes the side of the other vehicle V2 (for example, in the example shown in FIG. From the previous position), the position of the other vehicle V2 is repeatedly detected, and the target route RT corresponding to the position of the other vehicle V2 is repeatedly calculated. And when the own vehicle V1 starts turning in order to pass the side of the other vehicle V2 (in the example shown in FIG. 3, when the own vehicle V1 becomes the position of the time t1), the control device 10 as shown in FIG.
- the control device 10 sets a predetermined distance range including the target vehicle width distance as an allowable vehicle width distance range based on the target vehicle width distance.
- control device 10 can set the width of the allowable inter-vehicle distance range in consideration of the following factors.
- the control device 10 can set the width of the allowable inter-vehicle distance range in consideration of the traveling speed of the host vehicle V1. Specifically, when the traveling speed of the host vehicle V1 is equal to or higher than the predetermined speed, the control device 10 has a width of the allowable inter-vehicle distance range as compared to the case where the traveling speed of the host vehicle V1 is less than the predetermined speed.
- the allowable inter-vehicle distance range can be set so as to increase. As a result, when the traveling speed of the host vehicle V1 is high, it is possible to more effectively prevent the host vehicle V1 from fluctuating, and to reduce the discomfort of the occupant.
- the control device 10 can set the width of the allowable inter-vehicle distance range in consideration of the width of the road on which the host vehicle V1 travels. Specifically, when the width of the road on which the host vehicle V1 travels is equal to or less than a predetermined value, the control device 10 allows the control device 10 to be permitted compared to the case where the width of the road on which the host vehicle V1 travels is greater than the predetermined value. The width of the inter-vehicle distance range can be increased. As a result, when the host vehicle V1 has a narrow road, it is possible to more effectively prevent the host vehicle V1 from wobbling and giving the passenger a sense of incongruity.
- the control device 10 can set the width of the allowable inter-vehicle distance range according to the type of road on which the host vehicle V1 travels. For example, when the type of road on which the host vehicle V1 travels is a highway, the control device 10 determines the width of the allowable inter-vehicle distance range compared to the case where the type of road on which the host vehicle V1 travels is a general road. Can be increased. Also in this case, it is possible to effectively prevent the wobbling of the host vehicle V1 in an environment where the traveling speed of the host vehicle V1 is increased.
- the control device 10 may set the width of the allowable inter-vehicle distance range according to the lane on which the host vehicle V1 travels. it can. For example, when the road on which the host vehicle V1 travels is a three-lane road and the lane on which the host vehicle V1 travels is an overtaking lane that has the highest priority for overtaking, the width of the allowable inter-vehicle distance range is widened. be able to. Also in this case, it is possible to effectively prevent the wobbling of the host vehicle V1 in an environment where the traveling speed of the host vehicle V1 is increased.
- the control device 10 can set the width of the allowable inter-vehicle distance range as follows.
- FIG. 5 (A) is a diagram for explaining another example of a method for setting the allowable inter-vehicle distance range
- FIG. 5 (B) is an enlarged view of a portion A shown in FIG. 5 (A). is there.
- the control device 10 sets, as the first vehicle width distance range, a range larger than the target vehicle width distance in the allowable inter-vehicle distance range, and is a distance longer than the target vehicle width distance.
- the allowable inter-vehicle distance range can be set so that the second vehicle width distance range is narrower than the first vehicle width distance range.
- the own vehicle V1 can react sensitively to the movement of the avoidance target, and when the own vehicle V1 leaves the avoidance target, Following the movement, the host vehicle V1 can be prevented from wobbling.
- the host vehicle V1 is set regardless of the distance along the vehicle width direction between the host vehicle V1 and the avoidance target.
- a configuration may be adopted in which the vehicle travels along a preset target route RT.
- the control device 10 determines that the section A until the host vehicle V1 starts overtaking the avoidance target and the host vehicle V1
- the allowable vehicle width distance range can be made different in section B while overtaking the avoidance target and section C after completing the overtaking of the avoidance target.
- FIG. 7 is a diagram exemplifying a scene in which the host vehicle V1 overtakes another vehicle V2 to be avoided.
- the positions of the host vehicle V1 and the other vehicle V2 at the times t1, t3, and t4 are shown.
- the control device 10 detects a position where the distance between the front end of the traveling vehicle V1 and the target region R is less than a predetermined distance (including zero) as the overtaking start position PS.
- the section from when the host vehicle V1 starts turning until it reaches the overtaking start position PS can be set as the section A.
- the other vehicle V2 to be avoided is traveling in the same traveling direction as the host vehicle V1. Therefore, the control device 10 considers the relative speed between the host vehicle V1 and the other vehicle V2, and at the time t3, the front end of the host vehicle V1 (t3) and the rear end RL1 of the target region R (t3) And the position of the host vehicle V1 at time t3 can be detected as the overtaking start position PS.
- the distance between the front end portion of the host vehicle V1 and the target region R is preferably a distance along the traveling direction of the host vehicle V1, but is a linear distance connecting the front end portion of the host vehicle V1 and the target region R. It can also be.
- control device 10 detects a position that increases after the distance between the rear end of the host vehicle V1 and the target region R decreases as the overtaking completion position PE, and after the host vehicle V1 reaches the overtaking start position PS.
- the section until reaching the overtaking completion position PE can be set as section B.
- control apparatus 10 can set the area until it returns to the predetermined
- the control device 10 considers the relative speed between the host vehicle V1 and the other vehicle V2, and at the time t4, the rear end of the host vehicle V1 (t4) and the target region R (t4).
- the position of the host vehicle V1 at the time t4 can be detected as the overtaking completion position PE.
- the distance between the rear end of the host vehicle V1 and the target region R is preferably a distance along the traveling direction of the host vehicle V1, but is a linear distance connecting the rear end of the host vehicle V1 and the target region R. It can also be.
- control apparatus 10 can make the width
- the distance between the host vehicle V1 and the avoidance target is shorter in the section A and the section C. Therefore, by narrowing the allowable vehicle width distance range corresponding to the section A and the section C, the avoidance target When the vehicle V1 is greatly approached, the vehicle can be quickly separated from the avoidance target.
- control device 10 may be configured to set the allowable inter-vehicle distance range only in the sections A and B among the sections A to C shown in FIG. Further, the control device 10 may be configured to set the allowable inter-vehicle distance range only in the section B. Furthermore, the control device 10 may be configured to set the allowable inter-vehicle distance range only in a part of the section B. By setting the allowable inter-vehicle distance range in this manner in the section where the distance along the vehicle width direction between the host vehicle V1 and the avoidance target is separated, the avoidance target may fluctuate when the avoidance target and the own vehicle V1 are separated from each other. It is possible to effectively prevent the wobbling of the host vehicle V1 accompanying the above.
- the example mentioned above illustrated and demonstrated the scene where the own vehicle V1 overtakes the avoidance target parallel to the own vehicle V1
- similarly in the scene where the own vehicle V1 overtakes the avoidance target stopped A section C can be set, and the width of the allowable vehicle distance range can be set for each section A to section C.
- the section A to the section C are similarly set, and the width of the allowable vehicle distance range is set for each of the sections A to C. Can do.
- a position where the distance between the front end of the host vehicle V1 and the target region R including the oncoming vehicle V3 is less than a predetermined distance (including zero) is detected as the passing start position PS, and the rear end of the host vehicle V1 is detected.
- the sections A to C can be set.
- the control device 10 determines the actual distance (actual vehicle width distance) along the vehicle width direction between the host vehicle V1 and the avoidance target. ) Is repeatedly calculated, and it is repeatedly determined whether or not the actual vehicle width distance exceeds the allowable vehicle width distance range.
- the control device 10 causes the host vehicle V1 to travel on the preset target route RT, while the actual vehicle width distance is allowable.
- a new target route RT is set based on the current position to be avoided, and the newly set target route RT is caused to travel on the host vehicle V1. Even when a new target route RT is set, the target route RT is calculated within a range not exceeding the lane on which the host vehicle V1 travels.
- FIG. 8A is a diagram showing an example of the allowable inter-vehicle distance range and the actual vehicle width distance shown in FIG.
- FIG. 8B is a diagram illustrating a lateral position where the host vehicle V1 travels in the scene illustrated in FIG.
- the actual vehicle width distance changes within the allowable inter-vehicle distance range. Therefore, in the example shown in FIG. 8A, as shown in FIG. 8B, the host vehicle V1 travels along a lateral position corresponding to a preset target route RT. As a result, even when the avoidance target fluctuates, the host vehicle V1 can travel without wobbling.
- the presentation function of the control device 10 of this embodiment includes calculated information according to the target information, information according to the position of the target region R, information according to the position of the target route, and information according to command information that causes the host vehicle to travel on the target route.
- the data is sent to the output device 110 and output to the outside in the manner described above.
- the travel control process shown in FIG. 9 is repeatedly executed at regular intervals.
- step S101 the control device 10 acquires host vehicle information including at least the position of the host vehicle V1.
- the own vehicle information may include the vehicle speed and acceleration of the own vehicle V1.
- step S102 the control device 10 acquires target information including a position to be avoided that the host vehicle V1 should avoid.
- the target information may include speed / acceleration to be avoided.
- step S103 the control device 10 acquires the detection result of the avoidance target from the detection device 50.
- the detection result of the avoidance target includes information on the position of the avoidance target.
- step S104 the control device 10 sets the target region R according to the position to be avoided.
- step S105 the control device 10 calculates a target route RT passing through the side of the target region R.
- the target route RT includes one or a plurality of target coordinates on which the host vehicle V1 travels.
- Each target coordinate includes a target horizontal position (target X coordinate) and a target vertical position (target Y coordinate).
- the target route RT is obtained by connecting the calculated one or more target coordinates and the current position of the host vehicle V1. The method for calculating the target coordinates shown in step S105 will be described later.
- step S106 the control device 10 acquires the target lateral position of the target coordinates calculated in step S105.
- step S107 the control device 10 calculates a feedback gain related to the lateral position based on the comparison result between the current lateral position of the host vehicle V1 and the target lateral position acquired in step S106.
- step S108 the control device 10 brings the host vehicle V1 onto the target lateral position based on the actual lateral position of the host vehicle V1, the target lateral position corresponding to the current position, and the feedback gain in step S107.
- a target control value related to the turning angle, turning angular velocity, etc. of the host vehicle V1 necessary for the movement is calculated.
- step S ⁇ b> 112 the control device 10 outputs the calculated target control value to the in-vehicle device 200. Accordingly, the host vehicle V1 can travel on the target route RT defined by the target lateral position.
- step S105 When a plurality of target coordinates are calculated in step S105, the processing of steps S106 to S112 is repeated each time the target lateral position is acquired, and the target control value for each of the acquired target lateral positions is obtained as the in-vehicle device 200. Output to.
- step S109 the control device 10 acquires a target vertical position for one or a plurality of target coordinates calculated in step S105.
- step S110 the control device 10 determines the current vertical position of the host vehicle V1, the vehicle speed and acceleration / deceleration at the current position, the target vertical position corresponding to the current vertical position, and the vehicle speed and acceleration / deceleration at the target vertical position. Based on the comparison result, a feedback gain related to the vertical position is calculated.
- step S111 the control device 10 calculates a target control value related to the vertical position based on the vehicle speed and acceleration / deceleration according to the target vertical position and the feedback gain of the vertical position calculated in step S110.
- the processing in steps S109 to S112 is repeated each time the target vertical position is acquired, similarly to steps S106 to S108 and S112 described above, and the target control value for each of the acquired target vertical positions is output to the in-vehicle device 200.
- the target control value in the vertical direction means the operation of a drive mechanism for realizing acceleration / deceleration and vehicle speed according to the target vertical position (in the case of an engine vehicle, the operation of an internal combustion engine, in the case of an electric vehicle system).
- the control device 10 determines the target intake air amount (target opening of the throttle valve) and the target fuel injection amount based on the calculated values of the current and target acceleration / deceleration and vehicle speed. This is calculated and sent to the driving device 80.
- the control device 10 calculates the acceleration / deceleration and the vehicle speed and sends them to the vehicle controller 70.
- the vehicle controller 70 operates the drive mechanism for realizing the acceleration / deceleration and the vehicle speed (in the case of an engine vehicle). Control values for the operation of the internal combustion engine, electric motor operation in the case of an electric vehicle system, and torque distribution between the internal combustion engine and the electric motor in a hybrid vehicle) and brake operation may be calculated respectively. .
- step S112 the control apparatus 10 outputs the target control value of the vertical direction calculated by step S111 to the vehicle-mounted apparatus 200.
- FIG. The vehicle controller 70 executes turn control and drive control, and causes the host vehicle to travel on the target route RT defined by the target lateral position and the target vertical position.
- step S113 the control device 10 causes the output device 110 to present information.
- the information to be presented to the output device 110 may be the position / velocity of the target area calculated in step S104, the shape of the target route calculated in step S105, or the in-vehicle device in step S112.
- the target control value output to 200 may be used.
- step S114 it is determined whether or not the driver has performed a steering operation or the like, and whether or not the driver has intervened. If no driver operation is detected, the process returns to step S101 to repeat the setting of a new target area, calculation of the target route, and travel control. On the other hand, when the driver performs an operation, the process proceeds to step S115, and the traveling control is interrupted. In the next step S116, information indicating that the traveling control has been interrupted is presented.
- step S105 the target coordinate calculation processing in step S105 will be described based on the flowchart shown in FIG.
- the target vertical position is calculated by the target route setting function of the control device 10.
- the target route setting function sets the target vertical position at regular distance intervals on the front side in the traveling direction of the host vehicle V1.
- step S202 the target route setting function determines whether or not an avoidance target has been detected based on the detection result of the avoidance target acquired in step S103. If an avoidance target is detected, the process proceeds to step S203. If an avoidance target is not detected, the process proceeds to step S215.
- step S215 since it is determined that the avoidance target is not detected, the target route setting function causes the host vehicle V1 to go straight in a predetermined lateral position (for example, the center position of the travel lane of the host vehicle V1). Each target horizontal position corresponding to each target vertical position calculated in step S201 is calculated.
- step S216 the target route RT including the target vertical position calculated in step S201 and the target horizontal position calculated in step S215 is stored in the RAM 13 of the control device 10 by the target route setting function.
- step S203 the target route setting function determines whether it is the processing target period.
- the processing target period is a period during which travel control using the allowable vehicle width distance range is performed. For example, after the host vehicle V1 starts turning to pass the side to be avoided, the host vehicle It can be a period from V1 overtaking the avoidance target to returning to a predetermined lateral position (for example, the center position of the travel lane) and starting straight ahead. Or it is good also as a period until a fixed time passes, after the own vehicle V1 starts turning in order to pass the side of avoidance. If it is determined that it is the processing target period, the process proceeds to step S204. On the other hand, if it is determined that it is not the processing target period, the process proceeds to step S213.
- each target calculated in step S201 is passed by the target route setting function so as to pass the side of the target region R set in step S104.
- Each target lateral position is calculated according to the vertical position.
- the target route RT including the target vertical position calculated in step S201 and the target horizontal position calculated in step S213 is stored in the RAM 13 of the control device 10 by the target route setting function.
- step S204 the target route setting function determines whether or not the allowable vehicle width distance range has already been set. For example, when the process of step S204 is performed for the first time after the start of the travel control process shown in FIG. 9 or when the setting of the allowable vehicle width distance range is canceled in step S212 described later, the allowable vehicle width distance range is set. It is judged that it is not done. If it is determined that the allowable vehicle width distance range is not set, the process proceeds to step S205. On the other hand, if it is determined that the allowable vehicle width distance range is already set, the process proceeds to step S207. .
- the target vehicle width distance is calculated by the target route setting function based on the preset target route RT.
- the target route setting function acquires the target route RT stored in the RAM 13.
- the target route setting function as shown in FIG. 3, the vehicle V1 is the distance W t the target vehicle width along in the case of traveling the target route RT, in the vehicle width direction to the avoidance from the vehicle V1 Calculate as distance.
- an allowable vehicle width distance range is set based on the target vehicle width distance calculated in step S205 by the target route setting function.
- the target route setting function when setting the allowable inter-vehicle distance range, appropriately sets the width of the allowable inter-vehicle distance range based on the vehicle speed, the road width, the road type, and the attribute of the lane on which the host vehicle V1 travels. Can be changed. For example, the target route setting function first determines whether or not the vehicle speed of the host vehicle V1 is equal to or higher than a predetermined speed. When the vehicle speed of the host vehicle V1 is equal to or higher than the predetermined speed, the allowable inter-vehicle distance range is set wide. On the other hand, when the vehicle speed of the host vehicle V1 is less than the predetermined speed, the host vehicle V1 Determine the width of the road you are traveling on.
- the width of the allowable inter-vehicle distance range is widened.
- the width of the road on which the host vehicle V1 travels is equal to or smaller than the predetermined value.
- the width of the road on which the host vehicle V1 travels is larger than the predetermined value.
- the type of road on which the host vehicle V1 travels is determined. If the road on which the host vehicle V1 travels is an expressway, the allowable inter-vehicle distance range is widened. On the other hand, if the type of road on which the host vehicle V1 travels is a general road, It is determined whether or not the lane in which the vehicle V1 travels is an overtaking lane.
- the width of the allowable inter-vehicle distance range is widened.
- the width of the allowable inter-vehicle distance range is increased. Can be made as it is.
- the configuration in which the width of the allowable vehicle width distance range is set by determining the vehicle speed, the width of the road, the type of the road, and the traveling lane in order is not limited to this configuration.
- the width of the allowable vehicle width distance range may be set in consideration of the vehicle speed, the road width, the road type, and the travel lane.
- step S207 an actual distance (actual vehicle width distance) along the vehicle width direction between the host vehicle V1 and the avoidance target is calculated by the target route setting function.
- the target route setting function determines whether or not the actual vehicle width distance calculated in step S207 exceeds the allowable vehicle width distance range set in step S206. If the actual vehicle width distance is within the allowable vehicle width distance range, the process proceeds to step S209. If the actual vehicle width distance exceeds the allowable vehicle width distance range, the process proceeds to step S210.
- step S209 since the actual vehicle width distance is determined to be within the allowable vehicle width distance range, the target lateral position is set based on the target route RT stored in the RAM 13 without setting a new target route RT. Is calculated. That is, each target lateral position is calculated according to each target vertical position set in step S201 so as to travel on a preset target route RT.
- step S210 since it is determined that the actual vehicle width distance exceeds the allowable vehicle width distance range, the target lateral position is newly calculated based on the current position to be avoided. That is, each target horizontal position corresponding to each target vertical position set in step S201 is calculated so as to pass the side of the target region R set based on the current position of the avoidance target.
- step S211 the target route RT including the target vertical position calculated in step S201 and the target horizontal position calculated in step S210 is stored in the RAM 13 of the control device 10 by the target route setting function.
- step S212 the setting of the allowable vehicle width distance range set in step S206 is canceled by the target route setting function.
- the allowable vehicle width distance range is set based on the target route RT set in the current travel control process.
- traveling control apparatus 100 Since the traveling control apparatus 100 according to the embodiment of the present invention is configured and operates as described above, the following effects can be obtained.
- the avoidance target may be a moving body such as a traveling vehicle.
- the avoidance target When the avoidance target is a moving object such as a traveling vehicle, the avoidance target fluctuates in the vehicle width direction according to the traveling conditions of the traveling vehicle that is the avoidance target, the skill of the driver of the traveling vehicle, and the vehicle performance of the traveling vehicle. It is assumed that the vehicle will travel while. Therefore, when the avoidance target is a moving body such as a traveling vehicle, a particularly remarkable effect can be obtained.
- a new target route RT is set based on the current position of the avoidance target, so that the avoidance target is temporarily set to the host vehicle V1. Even when approaching, the distance along the vehicle width direction between the avoidance target and the host vehicle V1 can be made appropriate.
- the travel control apparatus 100 of the present embodiment by outputting information related to travel control that passes the side of the target region R to the outside, the behavior of the own vehicle is displayed to the occupant of the own vehicle and / or another vehicle. You can inform in advance. Thereby, the passenger
- the travel control device 100 that constitutes the travel control system 1 together with the in-vehicle device 200 will be described as an example, but the present invention is limited to this. It is not a thing.
- the configuration in which the wobbling of the host vehicle V1 due to the wobbling of the other vehicle V2 is reduced by setting the allowable vehicle width range is exemplified.
- the present invention is not limited to this configuration. It is good also as a structure which reduces the fluctuation
- the own vehicle V1 and the avoidance target have a distance along the vehicle width direction that is equal to or less than the first distance W1.
- a new target route RT is set so that V1 is away from the avoidance target.
- the own vehicle V1 and the avoidance target are separated, the own vehicle V1 and the avoidance target are separated when the distance along the vehicle width direction is equal to or greater than the second distance W2 that is larger than the first distance W1.
- the target route RT can be newly set so that V1 approaches the avoidance target.
- the first distance W1 and the second distance W2 are set as different thresholds, and it is determined whether or not the target route RT is newly set, so that the fluctuation of the host vehicle V1 due to the fluctuation of the avoidance target is made effective. Can be prevented.
- FIG. 11 is a diagram for explaining the travel control process using hysteresis.
- the target route RT illustrating the configuration of calculating the distance W t along the vehicle width direction to the avoidance from the vehicle V1 when caused to travel in the host vehicle V1 as the target vehicle width distance
- the target vehicle RT is driven on the host vehicle V1
- the distance from the host vehicle V1 to the avoidance target side lane along the vehicle width direction, the host vehicle V1 and the target region R is not limited to this configuration.
- the distance along the vehicle width direction to the end line on the own vehicle V1 side or the distance along the vehicle width direction from the own vehicle V1 to the road shoulder on the avoidance target side can be calculated as the target vehicle width distance.
- the actual vehicle width distance is also the actual distance along the vehicle width direction from the own vehicle V1 to the avoidance target lane, in accordance with the target vehicle width distance, from the own vehicle V1 to the own vehicle V1 side in the target region R.
- the target information acquisition function of the above-described embodiment corresponds to the target information acquisition means of the present invention
- the target route setting function corresponds to the first setting means, the second setting means, and the setting means of the present invention
- the control function corresponds to the control means of the present invention
- the presentation function corresponds to the output means of the present invention.
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Abstract
Description
本実施形態におけるレーンマーカは、車線を規定する機能を有するものであれば限定されず、路面に描かれた線図であってもよいし、道路の間に存在する植栽であってもよいし、道路の路肩側に存在するガードレール、縁石、歩道、二輪車専用道路などの道路構造物であってもよい。また、道路の路肩側に存在する看板、標識、店舗、街路樹などの不動の物体であってもよい。これらのレーンマーカの検出手法は限定されず、本願出願時に知られたパターンマッチングなどの各種の手法を用いることができる。
走行制御装置100は通信装置20を有し、車載装置200は通信装置40を有し、両装置は有線通信又は無線通信により互いに情報の授受を行う。
本実施形態の車載装置200は、検出装置50と、センサ60と、車両コントローラ70と、駆動装置80と、操舵装置90と、出力装置110と、ナビゲーション装置120とを備える。車載装置200を構成する各装置は、相互に情報の授受を行うためにCAN(Controller Area Network)その他の車載LANによって接続されている。
検出装置50は、自車両が回避するべき回避対象の存在及びその存在位置を検出する。特に限定されないが、本実施形態の検出装置50はカメラ51を含む。本実施形態のカメラ51は、例えばCCD等の撮像素子を備えるカメラである。本実施形態のカメラ51は自車両に設置され、自車両の周囲を撮像し、自車両の周囲に存在する回避対象を含む画像データを取得する。なお、本実施形態で説明する「回避対象」の具体例等については後述する。
出力装置110は、対象情報に応じた情報として、駐車車両が存在する方向や位置を自車両の乗員に提供する。ディスプレイ111は、駐車車両が存在する方向や位置を視認可能な態様で表示する。スピーカ112は「左側前方に駐車車両が存在します」といった駐車車両が存在する方向や位置を伝えるテキストを発話出力する。車室外ランプ113である左右のドアミラーに設けられたランプのうち、左側のランプのみを点滅させて、左側前方に駐車車両が存在することを自車両の乗員に知らせてもよい。車室内ランプ114であるステアリング近傍の左右に設けられたランプのうち、左側のランプのみを点滅させて、左側前方に駐車車両が存在することを乗員に知らせてもよい。
まず、制御装置10の自車情報取得機能について説明する。自動情報取得機能は、自車両の位置を含む自車情報を取得する。自車両の位置は、ナビゲーション装置120の位置検出装置121により取得できる。自車情報は、自車両の車速、加速度を含む。制御装置10は、自車両の速度を車速センサ62から取得する。自車両の速度は、自車両の位置の経時的な変化に基づいて取得することもできる。自車両の加速度は、自車両の速度から求めることができる。
なお、自車両V1の横位置を制御する方法として、上述した操舵装置90を用いる他、駆動装置80及び/又は制動装置81を用いて左右の駆動輪の回転速度差により自車両V1の走行方向(すなわち、横位置)を制御してもよい。その意味において、車両の「転回」とは、操舵装置90による場合の他、駆動装置80及び/又は制動装置81による場合も含む趣旨である。
100…走行制御装置
10…制御装置
20…通信装置
30…出力装置
31…ディスプレイ
32…スピーカ
200…車載装置
40…通信装置
50…検出装置
60…センサ
70…車両コントローラ
80…駆動装置
90…操舵装置
110…出力装置
120…ナビゲーション装置
Claims (11)
- 自車両の周囲に存在する回避対象の位置を含む対象情報を取得する対象情報取得手段と、
自車両の位置と前記回避対象の位置とに基づいて、前記回避対象の側方を通過する目標経路を設定する第1設定手段と、
前記目標経路上を自車両に走行させるための指令情報を出力する制御手段と、
前記目標経路上を自車両に走行させた場合の自車両と前記回避対象との車幅方向に沿う距離を算出し、当該距離を基準とする許容車幅距離範囲を設定する第2設定手段と、を備え、
前記制御手段は、自車両から前記回避対象の位置までの車幅方向に沿う実際の距離が前記許容車幅距離範囲内である場合に、設定された前記目標経路に基づいて自車両を走行させることを特徴とする走行制御装置。 - 請求項1に記載の走行制御装置において、
前記制御手段は、自車両から前記回避対象の位置までの車幅方向に沿う実際の距離が前記許容車幅距離範囲を超える場合には、前記回避対象の現在位置に基づいて新たな前記目標経路を設定し、新たに設定した前記目標経路に基づいて自車両を走行させることを特徴とする走行制御装置。 - 請求項1または2に記載の走行制御装置において、
前記第2設定手段は、自車両の車速が所定速度以上である場合には、自車両の車速が前記所定速度未満である場合と比べて、前記許容車幅距離範囲の幅を広く設定することを特徴とする走行制御装置。 - 請求項1~3のいずれかに記載の走行制御装置において、
前記第2設定手段は、自車両が走行する道路の幅が所定値以下である場合には、自車両が走行する道路の幅が前記所定値よりも大きい場合と比べて、前記許容車幅距離範囲の幅を広く設定することを特徴とする走行制御装置。 - 請求項1~4のいずれかに記載の走行制御装置において、
前記第2設定手段は、自車両が走行する道路の種別に応じて、前記許容車幅距離範囲の幅を設定することを特徴とする走行制御装置。 - 請求項1~5のいずれかに記載の走行制御装置において、
前記第2設定手段は、自車両が走行する道路が複数のレーンを有する場合には、自車両が走行するレーンの属性に応じて、前記許容車幅距離範囲の幅を設定することを特徴とする走行制御装置。 - 請求項1~6のいずれかに記載の走行制御装置において、
前記第2設定手段は、前記許容車幅距離範囲のうち、前記目標車幅距離よりも距離が大きい範囲を第1距離範囲とし、前記目標車幅距離よりも距離の小さい範囲を第2距離範囲とした場合に、前記第1距離範囲の幅よりも前記第2距離範囲の幅が狭くなるように、前記許容車幅距離範囲を設定することを特徴とする走行制御装置。 - 請求項1~7のいずれかに記載の走行制御装置において、
前記第2設定手段は、自車両が前記回避対象の側方を通過する際に、自車両の前方端部から前記回避対象までの距離が所定距離未満となるすれ違い開始位置までの区間、および/または、自車両の後方端部と前記回避対象との距離が減少した後に増加するすれ違い完了位置以降の区間に対応する前記許容車幅距離範囲の幅が、前記すれ違い開始位置から前記すれ違い完了位置までの区間に対応する前記許容車幅距離の幅よりも狭くなるように、前記許容車幅距離範囲の幅を設定することを特徴とする走行制御装置。 - 請求項1~8のいずれかに記載の走行制御装置であって、
前記対象情報に応じた情報、前記回避対象に基づいて設定される対象領域の位置に応じた情報、前記目標経路の位置に応じた情報、および前記目標経路を自車両に走行させる指令情報に応じる情報のうち、何れか一つ以上の情報を外部に出力する出力手段を、さらに備えることを特徴とする走行制御装置。 - 自車両の周囲に存在する回避対象の位置を含む対象情報を取得する対象情報取得手段と、
前記回避対象の側方を通過するように、自車両の走行を制御する制御手段と、を備え、
前記制御手段は、自車両と前記回避対象との車幅方向に沿う距離が所定の第1距離以下となった場合には、自車両が前記回避対象から離れるように制御を行い、自車両と前記回避対象との車幅方向に沿う距離が前記第1距離よりも大きい第2距離以上となった場合には、自車両が前記回避対象に近づくように制御を行うことを特徴とする走行制御装置。 - 自車両の走行を制御するための指令情報を出力するコンピュータが実行する車両の走行制御方法であって、
自車両の周囲に存在する回避対象の位置を含む対象情報を取得する第1ステップと、
前記回避対象の位置に基づいて、前記回避対象の側方を通過する前記目標経路を設定する第2ステップと、
前記目標経路上を自車両に走行させるための指令情報を出力する制御する第3ステップと、を有し、
前記第3ステップにおいて、自車両と前記回避対象との車幅方向に沿う距離が変化した場合に、一定時間における前記距離の変化量が所定範囲内である場合には、前記第2ステップで設定された前記目標経路に基づいて前記自車両を走行させることを特徴とする走行制御方法。
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See also references of EP3181419A4 * |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3342667A1 (en) * | 2016-12-29 | 2018-07-04 | Baidu USA LLC | Method and system for improving stability of autonomous driving vehicles |
CN108255171A (zh) * | 2016-12-29 | 2018-07-06 | 百度(美国)有限责任公司 | 用于提高自主驾驶车辆的稳定性的方法和*** |
CN108255171B (zh) * | 2016-12-29 | 2021-10-08 | 百度(美国)有限责任公司 | 用于提高自主驾驶车辆的稳定性的方法和*** |
RU2685108C1 (ru) * | 2017-06-06 | 2019-04-16 | Тойота Дзидося Кабусики Кайся | Система поддержки рулевого управления |
JP2021511236A (ja) * | 2018-12-26 | 2021-05-06 | バイドゥ ドットコム タイムス テクノロジー (ベイジン) カンパニー リミテッド | 自動運転のための自己反転線の相互回避アルゴリズム |
WO2021005392A1 (ja) * | 2019-07-05 | 2021-01-14 | 日産自動車株式会社 | 運転制御方法及び運転制御装置 |
WO2023053331A1 (ja) * | 2021-09-30 | 2023-04-06 | 本田技研工業株式会社 | 運転支援制御装置 |
RU2793009C1 (ru) * | 2022-12-31 | 2023-03-28 | Автономная некоммерческая организация высшего образования "Университет Иннополис" | Система помощи водителю |
Also Published As
Publication number | Publication date |
---|---|
BR112017002416A2 (pt) | 2017-11-28 |
MX2017001482A (es) | 2017-05-09 |
JPWO2016024317A1 (ja) | 2017-06-01 |
CN106660552B (zh) | 2019-03-08 |
EP3181419B1 (en) | 2018-12-19 |
MX358044B (es) | 2018-08-03 |
JP6206595B2 (ja) | 2017-10-04 |
US20170217422A1 (en) | 2017-08-03 |
CN106660552A (zh) | 2017-05-10 |
RU2660158C1 (ru) | 2018-07-05 |
US9975539B2 (en) | 2018-05-22 |
EP3181419A1 (en) | 2017-06-21 |
BR112017002416B1 (pt) | 2021-11-30 |
EP3181419A4 (en) | 2017-11-22 |
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