WO2019026210A1 - 走行支援方法及び走行支援装置 - Google Patents
走行支援方法及び走行支援装置 Download PDFInfo
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- WO2019026210A1 WO2019026210A1 PCT/JP2017/028093 JP2017028093W WO2019026210A1 WO 2019026210 A1 WO2019026210 A1 WO 2019026210A1 JP 2017028093 W JP2017028093 W JP 2017028093W WO 2019026210 A1 WO2019026210 A1 WO 2019026210A1
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- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Definitions
- the present invention relates to a driving support method and a driving support apparatus.
- Patent document 1 takes over from automatic driving control based on map information to manual driving by a user's driving operation when there is a turning point ahead of the vehicle, and after passing the turning point by manual driving Disclosed is a technology for restoring automatic operation control.
- the vehicle when the vehicle enters an area without map information by a travel route based on map information and then switches to another travel route based on a preceding vehicle trajectory or the like, the vehicle may perform an unnatural behavior depending on the travel route.
- the present invention provides a driving support method and a driving support apparatus capable of suppressing unnatural behavior of a vehicle when switching from a driving route based on map information to another driving route. To aim.
- One aspect of the present invention generates a first travel route based on map information around the host vehicle, generates a second travel route based on the surrounding environment of the host vehicle, and the host vehicle follows the first travel route.
- the gist of the present invention is a control support method of controlling the host vehicle to transition from the first travel route to the second travel route when it is determined that
- a driving support device method and a driving support device capable of suppressing unnatural behavior of a vehicle when switching from a travel route based on map information to another travel route.
- the driving support apparatus according to the embodiment of the present invention is mounted, for example, on a vehicle (hereinafter, a vehicle on which the driving support apparatus according to the embodiment is mounted is referred to as "own vehicle").
- the driving support apparatus according to the embodiment includes, as driving support, automatic driving that automatically drives the host vehicle to travel along the travel route and guidance for prompting the driver to cause the host vehicle to travel along the travel route. It is feasible.
- the automatic driving includes the case of executing all control of driving, braking and steering of the own vehicle without the involvement of the occupant (driver) and also performing at least one of the driving, braking and steering of the own vehicle. Including.
- the automatic driving may be preceding vehicle follow-up control, inter-vehicle distance control, lane deviation prevention control or the like.
- the manual driving means driving by the driver's operation without the driving support device according to the embodiment of the present invention performing any control of driving, braking and steering of the own vehicle.
- the driving support apparatus includes a processing circuit (traveling path switching device) 1, a vehicle sensor 2, a surrounding sensor 3, a storage device 4, a user interface (I / F) 5, an actuator 6 and A vehicle control device 7 is provided.
- the processing circuit 1, the vehicle sensor 2, the surrounding sensor 3, the storage device 4, the user I / F 5, the actuator 6 and the vehicle control device (vehicle control circuit) 7 are wired or wireless such as a controller area network (CAN) bus Data and signals can be transmitted and received between each other.
- CAN controller area network
- the vehicle sensor 2 is a sensor that detects the position information of the host vehicle and the traveling state of the host vehicle.
- the vehicle sensor 2 includes a Global Positioning System (GNSS) receiver 21, a vehicle speed sensor 22, an acceleration sensor 23, and a gyro sensor 24.
- GNSS Global Positioning System
- the GNSS receiver 21 is a global positioning system (GPS) receiver or the like, acquires position information of the host vehicle based on radio signals received from a plurality of navigation satellites, and processes the acquired position information of the host vehicle 1
- GPS global positioning system
- the vehicle speed sensor 22 detects the vehicle speed from the wheel speed of the host vehicle, for example, and outputs the detected vehicle speed to the processing circuit 1.
- the acceleration sensor 23 detects accelerations in the front-rear direction, vehicle width direction, and the like of the host vehicle, and outputs the detected accelerations to the processing circuit 1.
- the gyro sensor 24 detects an angular velocity around the yaw axis of the host vehicle and outputs the detected angular velocity to the processing circuit 1.
- the surrounding sensor 3 is a sensor that detects the surrounding environment (surrounding situation) of the vehicle including the environment in front of the vehicle.
- the ambient sensor 3 comprises a camera 31, a radar 32 and a communicator 33.
- the kind and number of objects of the surrounding sensor 3 are not limited to this.
- a CCD camera or the like can be used.
- a monocular camera, a stereo camera, an omnidirectional camera or the like can be adopted.
- the camera 31 captures an image of the surrounding environment of the host vehicle, and from the captured image, the relative position of the vehicle such as a leading vehicle (other vehicle), an object such as a pedestrian or a bicycle to the host vehicle, the distance between the object and the host vehicle, Road shapes, road structures such as lane boundaries on roads (white lines), etc. are detected as data of the surrounding environment of the vehicle, and data of the detected surrounding environment is output to the processing circuit 1.
- the radar 32 for example, a millimeter wave radar, an ultrasonic radar, a laser range finder (LRF) or the like can be used.
- the radar 32 detects the relative position of the object with respect to the host vehicle, the distance between the object and the host vehicle, the relative velocity of the object with respect to the host vehicle, etc. as data of the surrounding environment of the host vehicle, and detects data of the detected surrounding environment.
- the communicator 33 performs inter-vehicle communication with another vehicle, road-to-vehicle communication with a roadside device, communication with a traffic information center, etc., to thereby communicate the position of the other vehicle, the speed of the other vehicle, etc.
- the received data of the surrounding environment is output to the processing circuit 1.
- the storage device 4 a semiconductor storage device, a magnetic storage device, an optical storage device or the like can be used, and may be incorporated in the processing circuit 1.
- the storage device 4 may be configured as a single piece of hardware or a plurality of pieces of hardware.
- the storage device 4 includes a high accuracy map information storage unit 41 for storing high accuracy map information (map information), and a navigation map information storage unit 42 for storing navigation map information (hereinafter referred to as "navi map information"). Equipped with The server manages a database of navigation map information and high precision map information, acquires only the updated difference data of the navigation map information and high precision map information through, for example, a telematics service, and stores it in the navigation map information storage unit 42.
- the updated navigation map information and the high accuracy map information stored in the high accuracy map information storage unit 41 may be updated.
- the navigation map information stored in the navigation map information storage unit 42 includes road unit information.
- the navigation map information is information of a road unit, information of a road node indicating a reference point on a road reference line (for example, a central line of the road) and information of a road link indicating a section mode of a road between road nodes Including.
- the road node information includes the identification number of the road node, the position coordinates, the number of connected road links, and the identification number of the connected road links.
- the road link information includes the road link identification number, the road standard, the link length, the number of lanes, the width of the road, and the speed limit.
- the high accuracy map information stored in the high accuracy map information storage unit 41 is map information with higher accuracy than the navigation map information, and includes lane unit information that is more detailed than road unit information. For example, when there is a plurality of lanes on a one-way road, information is provided for each lane.
- high-accuracy map information is information on a lane basis, such as lane node information indicating a reference point on a lane reference line (for example, a center line in the lane), and lane link information indicating a section of lanes between lane nodes Contains information.
- the lane node information includes the identification number of the lane node, the position coordinates, the number of connected lane links, and the identification number of the connected lane links.
- the lane link information includes the lane link identification number, lane type, lane width, lane boundary type, lane shape, and lane reference line shape.
- the high-precision map information further includes types and position coordinates of features such as traffic lights, stop lines, signs, buildings, telephone poles, curbs, pedestrian crossings, etc. existing on or near the lanes, and lanes corresponding to position coordinates of features. It includes feature information such as the identification number of the node and the identification number of the lane link.
- the high-precision map includes lane-based node and link information, so that it is possible to identify the lane in which the vehicle travels on the travel route.
- the high-accuracy map has position information in the lane, that is, coordinate information that can represent the position in the extension direction and the width direction of the lane.
- the high-precision map has coordinates (e.g., longitude, latitude and altitude) that can represent the position in the three-dimensional space, and the lanes and the features can be described as shapes in the three-dimensional space.
- the processing circuit 1 and the vehicle control device 7 are controllers such as an electronic control unit (ECU) that performs arithmetic logic operation of processing required for the operation performed by the travel support device according to the embodiment of the present invention.
- a device and an input / output I / F may be provided.
- the processor can correspond to a microprocessor or the like equivalent to a central processing unit (CPU) including an arithmetic logic unit (ALU), a control circuit (control unit), and various registers.
- a storage device built in or externally attached to the processing circuit 1 and the vehicle control device 7 includes a semiconductor memory, a disk medium, and the like, and includes storage media such as a register, a cache memory, and ROM and RAM used as a main storage device. It may be For example, the processor may execute a program (travel support program) stored in advance in the storage device and indicating a series of processes necessary for the operation of the travel support device according to the embodiment of the present invention.
- a program travel support program
- the processing circuit 1 includes logical blocks such as the first route generation unit 11, the second route generation unit 12, the route switching determination unit 13, the transition interval setting unit 14, the route determination unit 15, the trajectory generation unit 16 and the presentation control unit 17. It is provided as a functional or physical hardware resource. These logic blocks may be physically configured by programmable logic devices (PLDs) such as field programmable gate arrays (FPGAs), and are equivalently processed by software in a general-purpose semiconductor integrated circuit. It may be a functional logic circuit or the like set to.
- PLDs programmable logic devices
- FPGAs field programmable gate arrays
- the first route generation unit 11, the second route generation unit 12, the route switching determination unit 13, the transition interval setting unit 14, the route determination unit 15, the trajectory generation unit 16, the presentation control unit 17 and the like that constitute the processing circuit 1 may be composed of a single piece of hardware, or may be composed of separate pieces of hardware.
- the vehicle control device 7 may be incorporated in the processing circuit 1 and integrally formed.
- the processing circuit 1 can be configured by a car navigation system such as an in-vehicle infotainment (IVI) system
- the vehicle control device 7 can be configured by a driving support system such as an advanced driving support system (ADAS).
- ADAS advanced driving support system
- the first route generation unit 11 generates a first travel route (NDP: Navigation Drive Path) based on at least the high accuracy map information stored in the high accuracy map information storage unit 41.
- the first travel route is a travel route when performing travel support control on the host vehicle.
- the first route generation unit 11 generates a first travel route in the lane of high accuracy map information based on the high accuracy map information stored in the high accuracy map information storage unit 41 and the current position of the vehicle.
- the first travel route may be generated to pass through the center in the lane in the high precision map information.
- the first route generation unit 11 performs straight or left turn along the planned travel route in the section of the planned travel route from the departure place to the destination in the navigation map information stored in the navigation map information storage unit 42.
- a first travel route in high accuracy map information may be generated.
- the first route generation unit 11 may generate a first travel route up to a predetermined section from the current position of the host vehicle to a predetermined distance.
- the predetermined section can be appropriately set within the range in which the high accuracy map information exists.
- the second route generation unit 12 generates a second travel route based on at least the surrounding environment of the host vehicle detected by the surrounding sensor 3.
- the second travel route is a candidate for a travel route when performing travel support control on the host vehicle.
- the second route generation unit 12 calculates the traveling locus of the preceding vehicle based on the preceding vehicle detected by the surrounding sensor 3 and calculates the preceding vehicle
- the traveling path of the vehicle is generated as a second traveling path (CFP: Car Following Path).
- CCP Car Following Path
- the second travel route based on the travel path of the preceding vehicle is, for example, about 100 m long, and is sequentially updated if the preceding vehicle travels.
- the second route generation unit 12 may generate the traveling trajectory of the preceding vehicle as it is as the second traveling route, or may generate the trajectory in which the traveling trajectory of the preceding vehicle is offset in the width direction of the lane as the first traveling route.
- "preceding vehicle” means a vehicle traveling in front of the own vehicle in the traveling direction of the own vehicle on the same road as the own vehicle without being limited to a vehicle traveling in the same lane as the own vehicle. .
- the second route generation unit 12 may generate the second travel route with reference to the navigation map information stored in the navigation map information storage unit 42.
- the second route generation unit 12 sets the destination in the navigation map information based on the instruction information from the occupant.
- the second route generation unit 12 searches for a planned travel route from the current position (departure) of the vehicle in the navigation map information to the destination using the Dijkstra method or the like.
- the second route generation unit 12 performs, for example, a lane on the basis of the surrounding environment of the vehicle such as the position of the lane boundary detected by the surrounding sensor 3 so as to go straight or turn right or left along the searched travel route.
- the second traveling route is generated at the inside position.
- the second route generation unit 12 does not refer to the navigation map information stored in the navigation map information storage unit 42, and based on the surrounding environment of the vehicle such as the position of the lane boundary detected by the surrounding sensor 3
- the target trajectory may be calculated, and the calculated target trajectory may be generated as a second travel route. That is, the second travel route may be a travel trajectory of the vehicle according to the driver's manual driving.
- the second route generation unit 12 may generate a second travel route in a predetermined section from the current position of the host vehicle to a predetermined distance.
- the predetermined section can be appropriately set within a range in which the surrounding environment necessary for the driving support control of the vehicle can be detected by the surrounding sensor 3.
- the route switching determination unit 13 needs to switch from the first travel route to the second travel route based on the information on the first travel route while the host vehicle is traveling along the first travel route. It is determined whether or not. When the route switching determination unit 13 detects that the first traveling route will not be generated in the future while the host vehicle is traveling along the first traveling route, the first traveling route to the second traveling route are detected. It is determined that a switch to is necessary.
- the future that the first travel route will not be generated in the future means the front from the host vehicle to a predetermined distance, for example, a position 300 m away from the host vehicle or 10 seconds after the host vehicle Means a range of up to.
- the fact that the first travel route will not be generated in the future means, for example, that the first travel route is in a predetermined state defined as having a low quality.
- a vehicle (self-vehicle) V equipped with the driving assistance apparatus is traveling along a first traveling path P1 passing through one lane of a road having a plurality of lanes Explain the scene.
- the first route generation unit 11 generates a first travel route P1 passing through the inside of the lane based on the high accuracy map information around the vehicle V. That is, the vehicle V is located in the first section s1 in which the corresponding high precision map information in the vicinity exists.
- the route switching determination unit 13 needs to switch to the second traveling route P2 because the quality of the first traveling route P1 is low when there is no high-accuracy map information beyond the first traveling route P1. It is determined that The second travel route P2 is a route based on the travel locus of the preceding vehicle C1 traveling in the same lane as the vehicle V.
- the route switching determination unit 13 determines that the quality of the first traveling route is low and that switching to the second traveling route P2 is necessary. judge.
- the reception state is deteriorated, the accuracy of the position information of the vehicle V is also deteriorated.
- the state in which the reception state has deteriorated includes, for example, a state in which the electric field strength of the signal received by the GNSS receiver 21 is decreased, a state in which the number of navigation satellites in which the GNSS receiver 21 is received is reduced, etc. .
- a state in which the electric field strength of the signal received by the GNSS receiver 21 is decreased, a state in which the number of navigation satellites in which the GNSS receiver 21 is received is reduced, etc. .
- the signal is blocked by a tunnel or building and the number of satellites becomes 4 to 5 or less. It may be defined as a state in which the
- the route switching determination unit 13 evaluates the quality of the high accuracy map information based on the history information by the vehicle traveling on the road on the first travel route P1 in the past, and the quality of the high accuracy map information is low It may be determined that switching to the second travel route P2 is necessary. For example, when the vehicle V travels the road on the first travel path P1, the processing circuit 1 detects a difference between the high-accuracy map information and the surrounding environment such as the road shape acquired by the surrounding sensor 3 I assume. The processing circuit 1 associates the difference between the real environment and the high precision map information with the position information of the vehicle V, and records it as history information.
- the route switching determination unit 13 determines that the quality of the high precision map information is low when the vehicle V travels a section where the difference between the real environment and the high precision map information is equal to or larger than a predetermined threshold value based on the history information.
- the vehicle targeted by the history information is not limited to the vehicle V, and may be another vehicle. In this case, the history information may be acquired by the path switching determination unit 13 from a server connected to an external network via the communication device 33.
- the transition section setting unit 14 sets a transition section sT from the point where the vehicle V starts the transition from the first travel path P1 to the second travel path P2 to the end point.
- the first travel path P1 and the second travel path P2 pass in the same lane on a straight road.
- the transition section sT is on the near side of the front fixation point distance (the distance from the vehicle V to the front fixation point) from the end point of the first section s1. Since the forward fixation point distance becomes longer as the vehicle speed increases, the transition section setting unit 14 calculates the forward fixation point distance by, for example, a previously defined function having the vehicle speed of the vehicle V as a variable.
- the end point of the transition section sT is not limited to the end point of the first section s1, and may be set before the end point of the first section s1.
- the transition segment setting unit 14 sets a segment from the end point of the first segment s1 to a point before the forward gaze point distance as the transition segment sT, the transition segment sT has the shortest distance considering safety.
- the vehicle V can travel as long as possible along the first travel path P1 based on the high accuracy map information.
- the second travel route P2 is the travel trajectory of the preceding vehicle C1
- the second travel route P2 fluctuates according to the behavior of the preceding vehicle C1.
- the first travel route P1 is being generated, it is possible to continue the highly reliable automatic operation for a long time by traveling along the first travel route P1 as much as possible.
- the transition segment setting unit 14 sets the transition segment sT in the already generated first traveling route P1, that is, in the first segment s1 in which the high-accuracy map information is present.
- the vehicle V can start and complete the transition to the second travel route P2 while traveling the first section s1 where the first travel route P1 can be generated.
- the vehicle V can make a transition to the second travel path P2 in a state where the relative position of the second travel path P2 with respect to the first travel path P1 can be detected. Therefore, at the time of switching from the first travel route P1 to the second travel route P2 based on high accuracy map information, it is possible to suppress unnatural behavior of the vehicle V and perform switching smoothly.
- the transition section setting unit 14 may calculate the amount of divergence between the first travel path P1 and the second travel path P2, and adjust the transition segment sT to be longer as the amount of divergence is larger.
- the deviation amount is, for example, a distance between the first and second travel paths in the road width direction.
- the transition section sT may be short.
- the vehicle V can smoothly transition from the first travel path P1 to the second travel path P2.
- the transition section setting unit 14 may adjust the transition section sT to be longer as the curvature of the road on the first travel path P1 is larger.
- the curvature of the road may be acquired by the surrounding sensor 3, or may be acquired from the high accuracy map information storage unit 41 or the navigation map information storage unit 42.
- switching to the second travel path P2 is relatively easy, so shortening the transition section sT makes transition to the second travel path P2 in a short time It can be carried out.
- a predetermined road structure defined as being suitable for passage on the second travel route P2, such as an intersection Q scheduled to turn right, ahead of the first travel route P1 traveled by the vehicle V Consider the scene to be detected.
- the transition segment setting unit 14 sets the transition segment sT within a range from the end point of the first segment s1, that is, a point before the predetermined distance from the end of the high precision map information to the end point of the first segment s1. Do.
- a predetermined road structure other than an intersection, the location etc. which need to turn right and left are mentioned.
- the transition section setting unit 14 may set the current position of the vehicle V as the start point of the transition section sT. As a result, the vehicle V is prevented from making a sudden transition up to the intersection point Q suitable for traveling on the second travel path P2, and a smooth and safe transition can be performed.
- the route determination unit 15 evaluates the quality of each of the plurality of second travel routes P2_1 and P2_2 generated by the second route generation unit 12 and determines the second travel route with the highest quality. , And is determined as a traveling route to be switched from the first traveling route P1. For example, the route determination unit 15 highly evaluates the quality of the second travel paths P2_1 and P2_2 as the amount of deviation from the first travel path P1 decreases. In the example shown in FIG. 5, the quality of the second travel route P2_1 based on the travel trajectory of the preceding vehicle C1 traveling in the same lane as the vehicle V is the second travel route based on the travel trajectory of the preceding vehicle C2 traveling in the adjacent lane.
- the route determination unit 15 may highly evaluate the quality of the second travel routes P2_1 and P2_2 as the fluctuation in the left-right direction is smaller.
- the quality of the second traveling path P2_2 is the second traveling of the preceding vehicle C1 which is continuing straight ahead. It is evaluated lower than the route P2_1.
- the route determination unit 15 may highly evaluate the quality of the second traveling route P2 that follows the preceding vehicle traveling in the same direction as the traveling direction of the vehicle V. That is, when the planned travel route of the vehicle V is set, the route determination unit 15 sets the quality of the second travel route P2, which is the travel locus of the preceding vehicle traveling in the lane along the planned travel route You may make it evaluate highly. Even if the planned travel route is not set, the preceding vehicle traveling in the lane following the direction different from the first traveling route P1 eventually comes out of the detection range of the surrounding sensor 3 and thus follows the preceding vehicle The second travel route P2 can not be generated. For this reason, the route determination unit 15 may evaluate the quality of the second traveling route P2 following the preceding vehicle traveling in a direction different from the traveling direction of the vehicle V low and exclude it from the traveling route candidates to be switched. .
- the route determination unit 15 may evaluate the quality of the second traveling route P2 that follows a preceding vehicle with a low relative speed with respect to the vehicle V. For example, if the relative speed of the preceding vehicle is too high or too low, the preceding vehicle will immediately leave the detection range of the surrounding sensor 3, and the second travel path P2 following the preceding vehicle will not be generated. Therefore, the route determination unit 15 may evaluate the quality of the second traveling route P2 that follows the preceding vehicle whose relative speed with respect to the vehicle V is out of the predetermined range low and exclude it from the traveling route candidates to be switched.
- the trajectory generation unit 16 is a travel trajectory of the vehicle V from the first travel route P1 to the second travel route P2 determined by the route determination unit 15 as a travel route to be switched.
- the transition locus TT is a locus in which the vehicle V transitions from the first travel path P1 to the second travel path P2 between the start point and the end point of the transition section sT set and adjusted by the transition section setting unit 14.
- the trajectory generation unit 16 generates the transition trajectory TT such that, for example, the acceleration and the angular velocity of the vehicle V transitioning from the first travel route P1 to the second travel route P2 fall within a predetermined range.
- the presentation control unit 17 may, for example, display the guidance information indicating that the vehicle travels from the first travel route P1 to the second travel route P2 along the transition trajectory TT generated by the trajectory generation unit 16. Control I / F5. Alternatively, the presentation control unit 17 may control the user I / F 5 to present guidance information for prompting the driver to travel along the transition locus TT.
- the user I / F 5 includes an input device 51, a display 52, and a speaker 53.
- the input device 51 various switches can be adopted in addition to a pointing device including a touch panel, a microphone, and a keyboard.
- the input device 51 receives information for setting a destination of the host vehicle, information for instructing switching between automatic driving and manual driving, information for permitting switching from the first travel path P1 to the second travel path P2, etc. Accept.
- the display 52 is a display device such as a liquid crystal display (LCD), for example, and displays an image such as character information and an icon based on a control signal from the presentation control unit 17.
- the speaker 53 outputs voice and notification sound based on the control signal from the presentation control unit 17.
- the vehicle control device 7 outputs a control signal for controlling the actuator 6 so as to travel along the first travel path P1, the transition trajectory TT, and the second travel path P2.
- the vehicle control apparatus 7 may perform the automatic driving
- the vehicle control device 7 may perform acceleration / deceleration control to make the current vehicle speed of the host vehicle approach the vehicle speed of the preceding vehicle in order to follow the preceding vehicle that is the basis of the second traveling path P2 in the transition locus TT. .
- the actuator 6 controls the traveling of the own vehicle according to the control signal from the vehicle control device 7.
- the actuator 6 includes, for example, a drive actuator 61, a brake actuator 62, and a steering actuator 63.
- the drive actuator 61 is, for example, an electronic control throttle valve, and controls the accelerator opening degree of the vehicle based on a control signal from the vehicle control device 7.
- the brake actuator 62 is formed of, for example, a hydraulic circuit, and controls the braking operation of the brake of the own vehicle based on a control signal from the vehicle control device 7.
- the steering actuator 63 controls the steering of the own vehicle based on the control signal from the vehicle control device 7.
- the first route generation unit 11 generates a first travel route P1, which is the current travel route of the vehicle, based on the high accuracy map information stored in the high accuracy map information storage unit 41. .
- the first route generation unit 11 extracts the road structure in front of the vehicle from the high accuracy map information stored in the high accuracy map information storage unit 41, and executes the first traveling in the lane based on the extracted road structure. Generate a path P1.
- step S ⁇ b> 2 the second route generation unit 12 generates a second travel route P ⁇ b> 2 that is a candidate for the travel route of the own vehicle based on the surrounding environment of the own vehicle detected by the surrounding sensor 3.
- the second route generation unit 12 calculates the traveling trajectory of the preceding vehicle detected by the surrounding sensor 3 and generates the calculated traveling trajectory of the preceding vehicle as the second traveling route P2.
- the traveling track of the preceding vehicle is sequentially updated in accordance with the traveling of the preceding vehicle, and the second traveling path P2 is also sequentially generated.
- the second route generation unit 12 generates a plurality of second travel routes P2 according to the number of preceding vehicles.
- step S3 the route switching determination unit 13 determines whether it is necessary to switch from the first travel route to the second travel route while the host vehicle is traveling along the first travel route. .
- the route switching determination unit 13 detects that the first travel route will not be generated in the future, for example, when the high precision map information at the end of the first travel route does not exist, and the second travel from the first travel route is detected. It is determined that switching to a route is necessary. If it is determined that switching to the second travel route is necessary, the process proceeds to step S4. If it is determined that switching to the second travel route is unnecessary, the process returns to step S1.
- step S4 the transition section setting unit 14 sets a transition section sT from the point where the vehicle V starts the transition from the first travel path P1 to the second travel path P2 to the point where the transition is ended.
- the transition section setting unit 14 can smoothly transition to the second traveling route P2 based on, for example, the vehicle speed of the vehicle V, the traveling locus of the preceding vehicle, the vehicle speed of the preceding vehicle, the road shape of the first traveling route P1, and the like. Generate a possible transition interval sT.
- the transition section sT is set for each of the second travel routes generated in step S2.
- step S5 when the plurality of second travel routes P2 are generated in step S2, the route determination unit 15 evaluates the quality of each of the second travel routes P2.
- the route determining unit 15 determines the amount of deviation from the first traveling route P1, the degree of fluctuation in the lateral direction, the traveling direction and the relative speed of the preceding vehicle, etc. Based on the quality of each of the plurality of second travel paths P2 is evaluated.
- step S6 the route determination unit 15 determines the second travel route P2 having the highest quality evaluated in step S5 as a travel route to be switched from the first travel route.
- step S7 the trajectory generation unit 16 generates a transition trajectory TT in which transition from the first traveling route P1 to the second traveling route P2 occurs in the transition section sT corresponding to the second traveling route P2 determined in step S6.
- the vehicle control device 7 changes the host vehicle from the first travel path P1 to the second travel path P2 by controlling the actuator 6 such that the host vehicle travels along the transition trajectory TT.
- the travel support device of the present embodiment it is detected in advance that the first travel path P1 will not be generated, and travels along the second travel path P2 while the first travel path P1 is generated. Control your vehicle. If the vehicle is switched to the second travel route P2 after entering a section in which the first travel route P1 is not generated, there is a possibility that the vehicle itself may behave unnaturally due to large deviation between the travel routes. On the other hand, according to the travel support device of the present embodiment, switching from the first travel path P1 to the second travel path P2 in a state where the relative position of the second travel path P2 with respect to the first travel path P1 can be detected. Can. Therefore, when switching from the first travel route P1 based on high precision map information to another second travel route P2, it is possible to suppress unnatural behavior of the host vehicle, and switch the travel route smoothly. Can.
- switching of the traveling route is performed using the map information from the own vehicle to the predetermined distance regardless of the presence or absence of the map information at a position distant from the predetermined distance. Can be determined.
- the period in which the first travel route is generated can be shortened, and accordingly, the period of travel along the first travel route can be extended. Can. Therefore, since the period which drive
- the travel support device of the present embodiment it is determined that switching to the second travel path P2 is necessary when the first travel path P1 is in a predetermined state defined as having a low quality. Therefore, the second travel route P2 can be used with priority over the first travel route P1 whose quality has been lowered, so stable travel support can be performed.
- the map information in the tip of the 1st driving path P1 when the map information in the tip of the 1st driving path P1 does not exist, it defines as the quality of the 1st driving path P1 being low.
- the vehicle by detecting in advance that the host vehicle travels in the second section s2 in which the high accuracy map information does not exist, the vehicle is switched to the second travel route P2 while the first travel route P1 is generated and traveled It will be possible to carry out stable driving support.
- the second travel route P2 can be used with priority over the first travel route P1 whose reliability has been reduced, so stable travel support can be performed.
- the first travel route P1 of the section where the quality of the map information is defined to be low is based on the history information by the vehicle traveling on the first travel route P1 in the past. Define low quality.
- the second travel route P2 can be used with priority over the first travel route P1 whose reliability has been reduced, so stable travel support can be performed.
- the driving support device since the first travel route using the high accuracy map can be generated, it is possible to generate the first travel route according to the surrounding situation, which is stable. I will be able to run.
- the driving support device it is possible to start the transition to the second travel route P2 while the host vehicle travels in the first section s1 in which the high precision map information exists. . That is, the transition from the first travel route P1 to the second travel route P2 can be started in a state where the position of the vehicle in the high accuracy map information can be detected. Therefore, the unnatural behavior of the host vehicle can be suppressed, and the travel route can be switched smoothly.
- the transition to the second travel route P2 can be completed while the host vehicle travels in the first section s1 in which the high precision map information exists. . That is, the transition to the second travel route P2 can be completed in a state where the position of the host vehicle in the high accuracy map information can be detected. Therefore, highly reliable automatic driving can be continued for a long time, unnatural behavior of the host vehicle can be suppressed, and the driving route can be switched smoothly. Furthermore, when the second travel route P2 is a route that follows the preceding vehicle, matching the end point of the transition section sT to the end point of the first section s1 prolongs the time for evaluating the quality of the second travel path P2. It is possible to determine the more reliable second traveling route P2 as the traveling route to be switched.
- the driving support device of the present embodiment it is possible to adjust the transition section sT from the start to the end of the transition based on the surrounding environment of the host vehicle. As a result, an appropriate distance is secured for the transition from the first travel path P1 to the second travel path P2, so unnatural behavior of the host vehicle is suppressed, and a smooth and safe transition can be performed.
- the transition section sT is set to be longer as the amount of divergence between the first travel route P1 and the second travel route P2 is larger. As a result, an appropriate distance is secured for the transition from the first travel path P1 to the second travel path P2, so unnatural behavior of the host vehicle is suppressed, and a smooth and safe transition can be performed.
- the transition area sT is set long, so that the curvature of the road of 1st driving path P1 is large.
- an appropriate distance is secured for the transition from the first travel path P1 to the second travel path P2, so unnatural behavior of the host vehicle is suppressed, and a smooth and safe transition can be performed.
- the driving support device when there is a predetermined road structure defined as being suitable for traveling by the second traveling route P2, the first traveling route P1 to the second traveling route are provided. Switch to P2.
- the vehicle can travel stably on the second traveling route P2 on a predetermined road structure such as an intersection.
- the transition from the current position of the host vehicle to the second travel route P2 may be started.
- an unreasonable transition can be suppressed, so unnatural behavior of the host vehicle can be suppressed, and a smooth and safe transition can be performed.
- the second travel path P2 having the highest quality among the plurality of second travel paths P2 is the transition destination It can be set as a route.
- the quality of the second travel path P2 can be evaluated based on, for example, the amount of deviation from the first travel path P1, the magnitude of the fluctuation in the left-right direction, and the like.
- the automatic driving can be continued on the second traveling route P2 without interrupting the automatic driving at the end point of the first traveling route P1.
- the quality of each of the plurality of second travel paths P2 can be evaluated based on the traveling direction and the relative speed of the preceding vehicle.
- the second traveling route P2 with the highest quality can be set as the transition destination route, unnatural behavior of the host vehicle can be suppressed, and smooth and safe transition can be performed.
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Abstract
Description
本発明の実施形態に係る走行支援装置は、例えば車両に搭載される(以下、実施形態に係る走行支援装置が搭載される車両を「自車両」という)。実施形態に係る走行支援装置は、自車両が走行経路に従って走行するように自動で運転する自動運転と、自車両が走行経路に従って走行するように運転者に対して促す案内とを、走行支援として実行可能である。自動運転は、乗員(運転者)が関与せずに自車両の駆動、制動及び操舵のすべての制御を実行する場合を含み、自車両の駆動、制動及び操舵の少なくとも1つの制御を行う場合も含む。自動運転は、先行車追従制御、車間距離制御、車線逸脱防止制御等であってもよい。一方、手動運転は、本発明の実施形態に係る走行支援装置が自車両の駆動、制動及び操舵のいずれの制御も行わず、運転者の操作による運転を意味する。
次に、図6のフローチャートを参照して、本発明の実施形態に係る走行支援装置を用いた走行支援方法の一例を説明する。
上記のように、本発明の実施形態を記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例及び運用技術が明らかとなろう。例えば、上記の実施形態において説明される各構成を任意に応用した構成等、本発明はここでは記載していない様々な実施形態等を含むことは勿論である。したがって、本発明の技術的範囲は上記の説明から妥当な特許請求の範囲に係る発明特定事項によってのみ定められるものである。
2 車両センサ
3 周囲センサ
4 記憶装置
6 アクチュエータ
7 車両制御装置
11 第1経路生成部
12 第2経路生成部
13 経路切替判定部
14 遷移区間設定部
15 経路決定部
16 軌跡生成部
17 提示制御部
21 全地球航法測位システム(GNSS)受信機
C1 先行車
C2 先行車
P1 第1走行経路
P2 第2走行経路
s1 第1区間
s2 第2区間
sT 遷移区間
TT 遷移軌跡
V 車両(自車両)
Claims (20)
- 自車両の周囲環境を検出し、
前記自車両の周囲の地図情報に基づいて第1走行経路を生成し、
前記周囲環境に基づいて第2走行経路を生成し、
前記自車両が前記第1走行経路に沿って走行している間において、前記自車両の前方の前記第1走行経路が生成されなくなる場合、前記第1走行経路から前記第2走行経路への切り替えが必要であると判定し、
前記切り替えが必要であると判定された場合、前記第1走行経路から前記第2走行経路に遷移するように前記自車両を制御することを特徴とする走行支援方法。 - 前記自車両から予め定めた距離までの前方において、前記第1走行経路が生成されなくなる場合に、前記第1走行経路から前記第2走行経路への切り替えが必要であると判定することを特徴とする請求項1に記載の走行支援方法。
- 前記自車両の周囲の地図情報の品質が低いと定義される所定状態の場合、前記切り替えが必要であると判定することを特徴とする請求項1または2に記載の走行支援方法。
- 前記所定状態は、前記第1走行経路の先における前記地図情報が存在しない状態であることを特徴とする請求項3に記載の走行支援方法。
- 前記所定状態は、航法衛星から受信した信号に基づいて前記自車両の位置情報を取得する受信機において、前記信号の受信状況が悪化した状態であることを特徴とする請求項3に記載の走行支援方法。
- 前記所定状態は、過去に前記第1走行経路の道路を走行した車両による履歴情報に基づいて前記地図情報の品質が低いと定義される状態であることを特徴とする請求項3に記載の走行支援方法。
- 前記地図情報は、車線内の位置情報を含む高精度地図情報であることを特徴とする請求項1乃至6の何れか1項に記載の走行支援方法。
- 前記自車両が前記第1走行経路に沿って走行している間に、前記遷移を開始することを特徴とする請求項1乃至7の何れか1項に記載の走行支援方法。
- 前記自車両が前記第1走行経路に沿って走行している間に、前記遷移を完了することを特徴とする請求項1乃至8の何れか1項に記載の走行支援方法。
- 前記周囲環境に基づいて、前記遷移の開始から完了までの区間を調整することを特徴とする請求項1乃至9の何れか1項に記載の走行支援方法。
- 前記第1走行経路及び前記第2走行経路の間の乖離量を算出し、
前記乖離量が大きいほど、前記遷移の開始から完了までの区間の長さを長くすることを特徴とする請求項10に記載の走行支援方法。 - 前記第1走行経路の道路の曲率が大きいほど、前記遷移の開始から完了までの区間を長くすることを特徴とする請求項10又は11に記載の走行支援方法。
- 前記自車両の前方の前記第1走行経路が生成される場合において、前記自車両の前方において所定の道路構造を検出した場合、前記第1走行経路から前記第2走行経路に遷移するように前記自車両を制御することを特徴とする請求項1乃至12の何れか1項に記載の走行支援方法。
- 前記自車両から前記所定の道路構造までの距離が所定の閾値より短い場合、前記自車両の現在位置から前記遷移を開始することを特徴とする請求項13に記載の走行支援方法。
- 前記周囲環境に基づいて複数の前記第2走行経路を生成し、
前記複数の第2走行経路の品質を評価し、
前記切り替えが必要であると判定された場合、第1走行経路から前記品質の最も高い前記第2走行経路に遷移するように前記自車両を制御することを特徴とする請求項1乃至14の何れか1項に記載の走行支援方法。 - 前記第2走行経路の品質を、前記第1走行経路との乖離量が小さいほど、高く評価することを特徴とする請求項15に記載の走行支援方法。
- 前記第2走行経路の品質を、左右方向のふらつきが小さいほど、高く評価することを特徴とする請求項15又は16に記載の走行支援方法。
- 前記第2走行経路は、前記自車両の先行車が走行した軌跡であり、
前記第2走行経路の品質を、前記先行車が前記自車両の進行方向と同一方向に進行する場合、高く評価することを特徴とする請求項15乃至17の何れか1項に記載の走行支援方法。 - 前記第2走行経路は、前記自車両の先行車が走行した軌跡であり、
前記第2走行経路の品質を、前記自車両に対する前記先行車の相対速度が小さいほど、高く評価することを特徴とする請求項15乃至17の何れか1項に記載の走行支援方法。 - 自車両の周囲環境を検出するセンサと、
前記自車両の周囲の地図情報に基づいて第1走行経路を生成する第1経路生成部と、
前記周囲環境に基づいて第2走行経路を生成する第2経路生成部と、
前記自車両が前記第1走行経路に沿って走行している間において、自車両の前方の前記第1走行経路が生成されなくなる場合、前記第1走行経路から前記第2走行経路への切り替えが必要であると判定する経路切替判定部と、
前記切り替えが必要であると判定された場合、前記第1走行経路から前記第2走行経路に遷移するように前記自車両を制御する車両制御回路と
を備えることを特徴とする走行支援装置。
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EP17920248.6A EP3664062B1 (en) | 2017-08-02 | 2017-08-02 | Travel assistance method and travel assistance device |
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EP (1) | EP3664062B1 (ja) |
JP (1) | JP6819788B2 (ja) |
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CN (1) | CN110998691B (ja) |
BR (1) | BR112020002069A2 (ja) |
CA (1) | CA3071780A1 (ja) |
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JP2022543591A (ja) * | 2019-08-01 | 2022-10-13 | ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー | 周囲のエリア内で車両を位置特定するための方法およびデバイス |
JP7498079B2 (ja) | 2020-10-02 | 2024-06-11 | 株式会社Subaru | 車両制御システム |
WO2024122485A1 (ja) * | 2022-12-07 | 2024-06-13 | 日立Astemo株式会社 | 車両制御装置、車両制御方法、及び車両制御システム |
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Also Published As
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RU2732634C1 (ru) | 2020-09-21 |
KR20200029587A (ko) | 2020-03-18 |
US11414100B2 (en) | 2022-08-16 |
EP3664062A1 (en) | 2020-06-10 |
EP3664062A4 (en) | 2020-09-02 |
JP6819788B2 (ja) | 2021-01-27 |
EP3664062B1 (en) | 2024-04-03 |
CA3071780A1 (en) | 2019-02-07 |
JPWO2019026210A1 (ja) | 2020-10-08 |
MX2020001209A (es) | 2020-03-20 |
CN110998691B (zh) | 2022-07-01 |
US20200223449A1 (en) | 2020-07-16 |
BR112020002069A2 (pt) | 2020-07-21 |
CN110998691A (zh) | 2020-04-10 |
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