WO2018012180A1 - 走行制御方法及び走行制御装置 - Google Patents
走行制御方法及び走行制御装置 Download PDFInfo
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- WO2018012180A1 WO2018012180A1 PCT/JP2017/021748 JP2017021748W WO2018012180A1 WO 2018012180 A1 WO2018012180 A1 WO 2018012180A1 JP 2017021748 W JP2017021748 W JP 2017021748W WO 2018012180 A1 WO2018012180 A1 WO 2018012180A1
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- vehicle
- lane
- host vehicle
- control
- traveling
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- 238000000034 method Methods 0.000 title claims description 22
- 238000012545 processing Methods 0.000 claims description 34
- 238000004891 communication Methods 0.000 description 6
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- 238000012423 maintenance Methods 0.000 description 1
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- 230000004044 response Effects 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
-
- 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
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/026—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation combined with automatic distance control, i.e. electronic tow bar
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
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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
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/08—Lane monitoring; Lane Keeping Systems
- B60T2201/081—Lane monitoring; Lane Keeping Systems using distance control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
Definitions
- the present invention relates to a traveling control method and a traveling control device for controlling traveling of a vehicle.
- a technology is known that recognizes a lane marking drawn on the road surface, causes the vehicle to travel along a lane defined by the lane marking, and causes the vehicle to follow the preceding vehicle if the lane marking is not recognized. (See Patent Document 1).
- an object of the present invention is to provide a travel control method and a travel control apparatus that can improve the reliability of lane keep control.
- the lane keeping control is canceled after a predetermined time has elapsed since the lane marking is not recognized.
- the predetermined time is shorter when the inter-vehicle distance between the host vehicle and the preceding vehicle is longer than a predetermined value, but less than the predetermined value.
- the reliability with respect to the lane keep control can be improved.
- FIG. 1 is a block diagram illustrating a basic configuration of a travel control apparatus according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing an example of a travel control method using the travel control apparatus according to the embodiment of the present invention.
- FIG. 3 is a diagram illustrating an example of lane keep control.
- FIG. 4 is a diagram illustrating an example of lane keep control.
- the travel control system 1 includes a vehicle drive controller 3, an engine controller 5, a camera 7, a communication unit 9, a GPS receiver 11, a radar 15, a vehicle speed sensor 17, and a switch 18.
- the travel control system 1 includes a driving support controller 19, a display 21, a speaker 23, a brake actuator 24, and a steering actuator 25.
- the travel control system 1 is mounted on the host vehicle, and the host vehicle is equipped with a system that follows the preceding vehicle ahead of the host vehicle, such as adaptive cruise control.
- the preceding vehicle refers to a vehicle that exists in front of the host vehicle and is on a lane in which the host vehicle travels.
- the vehicle drive controller 3 controls driving of the vehicle such as an anti-lock brake system, a traction control system, and a vehicle dynamics control.
- the engine controller 5 controls the engine.
- the camera 7 is an image sensor that captures an image in front of the host vehicle and acquires an image including a preceding vehicle and a lane marking. The image captured by the camera 7 is used to acquire information such as the inter-vehicle distance and relative speed with the preceding vehicle, and the position of the lane marking.
- the communication unit 9 is a communication device that performs transmission / reception of an information communication service using road-to-vehicle communication or a mobile phone line.
- the GPS receiver 11 receives information on the latitude, longitude, and altitude of the host vehicle from a satellite.
- the radar 15 measures the inter-vehicle distance and relative speed between the preceding vehicle and the host vehicle using, for example, a millimeter wave sensor.
- the vehicle speed sensor 17 measures the vehicle speed of the host vehicle.
- the switch 18 includes a lane keeping control mode for controlling the travel of the host vehicle so that the host vehicle is in a predetermined position with respect to the lane marking of the lane in which the host vehicle is traveling, and a manual operation mode for not controlling the travel of the host vehicle. And is operated by the driver of the host vehicle.
- the lane keep control mode is also switched to the manual operation mode by the intervention of the driver's driving operation. Thereafter, when the driver's intervention is completed, the driving control by the driving control device 100 is started again after a predetermined time. That is, the traveling control apparatus 100 switches from the manual operation mode to the lane keep control mode without operating the switch 18.
- the driving support controller 19 controls driving support systems such as adaptive cruise control, emergency brake, and auto hold brake. Furthermore, you may provide the system which added the steering control function to adaptive cruise control.
- the driving support controller 19 uses the camera 7 and the radar 15 to measure the presence / absence of the preceding vehicle, the detection of the lane line (lane detection), the inter-vehicle distance, the lateral position of the preceding vehicle with respect to the own vehicle or the lane line, Commands are sent to the brake actuator 24, the steering actuator 25, etc. to control acceleration / deceleration and steering of the host vehicle.
- the driving support controller 19 When there is no preceding vehicle, the driving support controller 19 performs vehicle speed control for traveling while keeping the set vehicle speed constant, and when there is a preceding vehicle, the driving support controller 19 performs inter-vehicle maintenance control for traveling while keeping the distance between the preceding vehicles constant. Do. When the preceding vehicle stops, the host vehicle also stops and performs stop holding control.
- a driving support system that requires an operation by the driver will be described as an example. However, an automatic driving system that further reduces the operation by the driver can be applied.
- Display 21 displays system status such as adaptive cruise control, emergency brake, and auto hold brake.
- the speaker 23 outputs a sound when presenting information or giving a warning from adaptive cruise control, emergency braking, auto hold braking, or the like.
- the brake actuator 24 receives a command from the driving support controller 19 and performs a brake operation for braking control of the host vehicle.
- the steering actuator 25 performs a steering operation for controlling the lateral position of the host vehicle.
- the traveling control device 100 is mounted on the host vehicle as a controller integrated with the driving support controller 19.
- the travel control device 100 recognizes the lane in which the host vehicle is traveling, and the host vehicle travels so that the host vehicle is at a predetermined position (for example, the center position of the left and right lane lines) with respect to the lane markings.
- the travel control device 100 controls at least one of steering or braking of the vehicle so that the lateral position of the host vehicle is a predetermined position with respect to the lane markings.
- the traveling control device 100 controls the steering of the vehicle by transmitting a control signal to the steering actuator 25.
- lane keeping control is defined as recognizing a lane in which the host vehicle is traveling and controlling the host vehicle so that the host vehicle is in a predetermined position with respect to the lane markings. .
- the traveling control device 100 is, for example, a general-purpose microcomputer including a CPU (Central Processing Unit), a memory, and an input / output unit.
- a computer program (travel control program) for causing the microcomputer to function as the travel control apparatus 100 is installed in the microcomputer and executed.
- the general-purpose microcomputer functions as the travel control device 100.
- achieves the traveling control apparatus 100 by software is shown here, of course, the hardware for exclusive use for performing each information processing shown below may be prepared and the traveling control apparatus 100 may be comprised. Is possible. Further, the plurality of units (110, 120, 130) included in the travel control apparatus 100 may be configured by individual hardware.
- traveling control device 100 not only the traveling control device 100 but also each of the vehicle drive controller 3, the engine controller 5, and the driving support controller 19 can be similarly realized as software or dedicated hardware. Furthermore, the travel control device 100 may also be used as an electronic control unit (ECU) used for other control related to the vehicle.
- ECU electronice control unit
- the traveling control device 100 includes a recognition processing unit 110, a vehicle control unit 120, and a release unit 130.
- the recognition processing unit 110 recognizes a lane marking that divides a lane in which the host vehicle travels from an image acquired by the camera 7.
- the vehicle control unit 120 controls the traveling of the host vehicle, for example, steering of the host vehicle, so that the lateral position of the host vehicle becomes a predetermined position with respect to the lane marking recognized by the recognition processing unit 110. Specifically, the vehicle control unit 120 controls the steering torque output from the steering actuator 25 by transmitting a control signal to the steering actuator 25. Thereby, the traveling control apparatus 100 can control the steering of the host vehicle.
- the canceling unit 130 cancels the lane keep control when the recognition processing unit 110 does not recognize the lane marking.
- the time from when the recognition processing unit 110 no longer recognizes the lane marking to when the cancellation unit 130 cancels the lane keeping control the distance between the host vehicle and the preceding vehicle is a predetermined value (for example, 7 to 8 m). ) It differs depending on whether it is longer or less than a predetermined value. Specifically, the time until the canceling unit 130 cancels the lane keeping control is longer when the inter-vehicle distance between the host vehicle and the preceding vehicle is equal to or smaller than a predetermined value, and shorter when the inter-vehicle distance is longer than the predetermined value.
- this point will be described in detail.
- the inter-vehicle distance is the inter-vehicle distance between the host vehicle and the preceding vehicle.
- a scene with a long inter-vehicle distance is, for example, a scene in which the host vehicle is traveling on an expressway and the inter-vehicle distance is sufficiently long.
- the non-detection factors of the camera 7 are the driving environment (backlight, rain, fog, etc.) and the lane state (fading, dirt, etc.). Therefore, when the inter-vehicle distance is longer than the predetermined value and the recognition processing unit 110 does not recognize the lane marking for the first predetermined time, the canceling unit 130 cancels the lane keeping control.
- the reason why the cancellation unit 130 waits for the first predetermined time is that the lane line (broken line) is far away from the general road on the expressway, and the time taken to detect the lane line is taken into account.
- a scene with a short inter-vehicle distance is, for example, a scene that stops at an intersection or traffic jam, or a scene that travels at a low speed.
- the lane marking is blocked by the preceding vehicle, and the lane marking in which the host vehicle travels may not be included within the angle of view of the camera 7.
- the recognition processing unit 110 cannot recognize the lane marking.
- the scene shown in FIG. 3 is a scene in which the preceding vehicle B travels in a predetermined distance range in front of the host vehicle A in the lane in which the host vehicle A travels.
- the positional relationship between the preceding vehicle B and the lane marking P is stored in advance in the computer using the camera 7 or the like, and the virtual lane marking is calculated from the current position of the preceding vehicle B based on this positional relationship. Let us estimate.
- the computer estimates the virtual lane marking R along the traveling direction of the host vehicle A or the preceding vehicle B at the position of the distance Q on the side of the preceding vehicle B.
- the travel of the host vehicle may be controlled so that the lateral position of the host vehicle becomes a predetermined position with respect to the estimated virtual lane marking R.
- the traveling of the own vehicle may be controlled so that the lateral position of the own vehicle becomes a predetermined position in the center in the vehicle width direction of the preceding vehicle.
- the lane keep control can be continued even when the recognition processing unit 110 cannot recognize the lane marking.
- the lane marking is included in the angle of view of the camera 7, and the recognition processing unit 110 may be able to recognize the lane marking again. is there.
- the release time can be made longer than when the inter-vehicle distance is longer than the predetermined value. Therefore, when the inter-vehicle distance is equal to or smaller than the predetermined value and the recognition processing unit 110 does not recognize the lane marking for the second predetermined time, the canceling unit 130 cancels the lane keeping control.
- the second predetermined time is longer than the first predetermined time.
- the driving support controller 19 can notify the driver that the lane keep control has been canceled via the display 21 or the speaker 23.
- FIG. 2 A series of processes shown in the flowchart of FIG. 2 is started when the driver presses the switch 18 and shifts to the lane keep control mode. In addition, this flowchart presupposes that the preceding vehicle exists ahead of the own vehicle.
- step S1 the recognition processing unit 110 detects a preceding vehicle ahead of the host vehicle from at least one of the image acquired by the camera 7 and the data acquired by the radar 15. In addition, the recognition processing unit 110 detects the inter-vehicle distance between the host vehicle and the preceding vehicle.
- step S2 the recognition processing unit 110 recognizes a lane marking in which the host vehicle travels from an image acquired by the camera 7 that captures the front of the host vehicle. If the recognition processing unit 110 recognizes the lane marking (YES in step S2), the process proceeds to step S3. On the other hand, when the recognition processing unit 110 does not recognize the lane marking (NO in step S2), the process proceeds to step S4.
- step S3 the vehicle control unit 120 continues the lane keeping control based on the lane marking recognized in step S2.
- step S4 the canceling unit 130 determines whether or not the distance between the host vehicle and the preceding vehicle is longer than a predetermined value. If the inter-vehicle distance is longer than the predetermined value (YES in step S4), the process proceeds to step S5. On the other hand, when the inter-vehicle distance is equal to or smaller than the predetermined value (NO in step S4), the process proceeds to step S6.
- step S5 the canceling unit 130 determines whether or not a first predetermined time has elapsed. If the first predetermined time has elapsed (YES in step S5), the process proceeds to step S7. On the other hand, when the first predetermined time has not elapsed (NO in step S5), the process returns to step S1.
- step S6 the canceling unit 130 determines whether or not a second predetermined time has elapsed. If the second predetermined time has elapsed (YES in step S6), the process proceeds to step S7. On the other hand, when the second predetermined time has not elapsed (NO in step S6), the process proceeds to step S3.
- step S7 the canceling unit 130 cancels the lane keep control.
- the canceling unit 130 cancels the lane keep control after a predetermined time has elapsed.
- the time from when the recognition processing unit 110 no longer recognizes the lane marking to when the cancellation unit 130 cancels the lane keeping control is less than or equal to the predetermined value when the distance between the host vehicle and the preceding vehicle is longer than the predetermined value. Shorter.
- the canceling unit 130 cancels the lane keep control after the first predetermined time (short time) has elapsed. Even when the recognition processing unit 110 cannot recognize the lane marking, the canceling unit 130 does not cancel the lane keep control until the second predetermined time (long time) has elapsed.
- the traveling control device 100 performs lane keeping control using information on the preceding vehicle. If the recognition processing unit 110 can recognize the lane marking again before the second predetermined time elapses, the traveling control device 100 can continue without releasing the lane keep control. Thereby, the traveling control apparatus 100 can improve the reliability with respect to the lane keep control.
- the vehicle control unit 120 may use the brake actuator 24 instead of the steering actuator 25 to perform control corresponding to steering of the host vehicle. That is, the brake actuator 24 can turn the host vehicle left and right by applying the left and right brakes asymmetrically while the host vehicle is traveling.
- the lane line recognized by the recognition processing unit 110 is not limited to the lane line painted on the road surface, and may be a lane boundary. That is, the lane marking recognized by the recognition processing unit 110 includes road structures such as a shoulder, a curb, and a guardrail. When recognizing a three-dimensional lane marking such as a curb stone, the recognition processing unit 110 may recognize the lane marking from the three-dimensional distance measurement data acquired by the radar 15.
- the inter-vehicle distance has been described as a condition for canceling the lane keep control.
- This inter-vehicle distance is detected by the camera 7 and the radar 15, but the inter-vehicle distance may be estimated by other methods. For example, when the vehicle speed measured by the vehicle speed sensor 17 is faster than a predetermined vehicle speed, the inter-vehicle distance may be estimated to be longer than a predetermined value, and when the vehicle speed is less than or equal to a predetermined vehicle speed, it may be estimated to be equal to or less than a predetermined value.
- release part 130 may cancel
- the release time is longer when the vehicle speed of the host vehicle is equal to or lower than the predetermined value, and shorter when the vehicle speed is higher than the predetermined value.
- other driving support systems such as follow-up control in which the preceding vehicle traveling in front of the host vehicle also follows the lateral movement can be started.
- the driving support system is continued by switching to the follow-up control only when the vehicle speed of the host vehicle is equal to or lower than the predetermined vehicle speed.
- the processing circuit includes a programmed processing device such as a processing device including an electrical circuit.
- the processing circuitry also includes devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions.
- ASICs application specific integrated circuits
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Abstract
Description
車間距離が長いシーンは、例えば自車両が高速道路を走行中であって車間距離が十分長いシーンである。このようなシーンでは、先行車両によって区画線が遮られる可能性は低く、カメラ7の画角内に自車両が走行する車線の区画線が含まれる蓋然性が高い。それにも関わらず、認識処理部110が区画線を認識しない場合、カメラ7の非検出が考えられる。例えばカメラ7の非検出要因は、走行環境(逆光、雨、霧など)やレーンの状態(かすれ、汚れなど)である。そこで、車間距離が所定値より長く、かつ、認識処理部110が第1所定時間、区画線を認識しない場合、解除部130は、レーンキープ制御を解除する。解除部130が第1所定時間待つ理由は、高速道路では区画線(破線)が一般道路と比較して離れており、区画線の検出までにかかる時間を考慮するためである。
車間距離が短いシーンは、例えば交差点や渋滞で停止しているシーンや、低速で走行しているシーンである。このようなシーンでは、先行車両によって区画線が遮られてしまい、カメラ7の画角内に自車両が走行する車線の区画線が含まれない場合がある。この場合、認識処理部110が区画線を認識できなくなってしまう。しかし、このような場合でもしばらくの間レーンキープ制御を継続できる方法がある。この方法について、図3及び図4を用いて説明する。図3に示すシーンは、自車両Aが走行する車線において、先行車両Bが自車両Aの前方の所定の距離範囲を走行するシーンである。図3に示すシーンにおいて、カメラ7などを用いて予め先行車両Bと区画線Pとの位置関係をコンピュータに記憶させ、この位置関係に基づいて現在の先行車両Bの位置から仮想区画線をコンピュータに推定させる。具体的には、図4に示すように先行車両Bの側方における距離Qの位置に、自車両A又は先行車両Bの進行方向に沿う仮想区画線Rをコンピュータに推定させる。そして、推定された仮想区画線Rに対して、自車両の横位置が所定の位置になるように、自車両の走行を制御すればよい。もしくは、先行車両の位置を車線内であると仮定して、先行車両の車幅方向の中央に自車両の横位置が所定の位置になるように、自車両の走行を制御してもよい。これにより、認識処理部110が区画線を認識できない場合でもレーンキープ制御を継続できる。また、仮想区画線に対して自車両の走行を制御している間に、カメラ7の画角内に区画線が含まれるようになり、再度認識処理部110が区画線を認識できる可能性がある。したがって、車間距離が所定値以下の場合は、車間距離が所定値より長い場合より解除時間を長くできる。そこで、車間距離が所定値以下、かつ、認識処理部110が第2所定時間、区画線を認識しない場合、解除部130はレーンキープ制御を解除する。ここで、第2所定時間は、第1所定時間より長い。
また、レーンキープ制御が解除された後、自車両の前方を走行する先行車両の横方向の移動も追従して行う追従制御など、その他の運転支援システムを開始することもできる。特に、レーンキープ制御が解除された後、自車両の車速が所定車速以下の場合にのみ、追従制御に切り替えて運転支援システムを継続することが好適である。
3 車両駆動コントローラ
5 エンジンコントローラ
7 カメラ
9 通信ユニット
11 受信機
15 レーダ
17 車速センサ
18 スイッチ
19 運転支援コントローラ
21 ディスプレイ
23 スピーカ
24 ブレーキアクチュエータ
25 ステアリングアクチュエータ
100 走行制御装置
110 認識処理部(認識処理回路)
120 車両制御部(車両制御回路)
130 解除部(解除回路)
Claims (3)
- 自車両が走行している車線の区画線を認識し、前記区画線に対して前記自車両の横位置が所定の位置となるようにレーンキープ制御を行う走行制御方法であって、
前記レーンキープ制御中に、前記車線において前記自車両の前方を走行する先行車両を検出する一方、前記区画線が認識されない場合、認識されなくなってから所定時間経過後に前記レーンキープ制御を解除し、
前記所定時間は、前記自車両と前記先行車両との車間距離が所定値より長い場合は前記所定値以下の場合より短いことを特徴とする走行制御方法。 - 前記自車両の車速を計測し、
前記車速が、所定車速より速い場合は、前記車間距離が前記所定値より長いと推定し、前記所定車速以下の場合は、前記所定値以下と推定することを特徴とする請求項1記載の走行制御方法。 - 自車両が走行している車線の区画線を認識する認識処理回路と、
前記区画線に対して前記自車両の横位置が所定の位置となるようにレーンキープ制御を行う車両制御回路と、
前記車線において前記自車両の前方を走行する先行車両を検出するセンサと、
前記レーンキープ制御中に、前記センサによって先行車を検出する一方、前記認識処理回路によって前記区画線が認識されない場合、認識されなくなってから所定時間経過後に前記レーンキープ制御を解除する解除回路とを備え、
前記所定時間は、前記自車両と前記先行車両との車間距離が所定値より長い場合は前記所定値以下の場合より短いことを特徴とする走行制御装置。
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