WO2020002962A1 - 走行支援方法及び車両制御装置 - Google Patents
走行支援方法及び車両制御装置 Download PDFInfo
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- WO2020002962A1 WO2020002962A1 PCT/IB2018/000874 IB2018000874W WO2020002962A1 WO 2020002962 A1 WO2020002962 A1 WO 2020002962A1 IB 2018000874 W IB2018000874 W IB 2018000874W WO 2020002962 A1 WO2020002962 A1 WO 2020002962A1
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- merging
- vehicle
- lane
- driving support
- traveling
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000008859 change Effects 0.000 description 31
- 238000004891 communication Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 12
- 230000006870 function Effects 0.000 description 12
- 238000013459 approach Methods 0.000 description 11
- 238000001514 detection method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 230000007246 mechanism Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
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- 238000002485 combustion reaction Methods 0.000 description 2
- 241000283070 Equus zebra Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Classifications
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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
-
- 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
- B60W30/14—Adaptive cruise 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
- 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
- B60W40/06—Road conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
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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
- G08G1/09—Arrangements for giving variable traffic instructions
-
- 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
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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
- B60W2552/10—Number of lanes
-
- 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
- B60W2554/40—Dynamic objects, e.g. animals, windblown objects
- B60W2554/404—Characteristics
- B60W2554/4041—Position
Definitions
- the present invention relates to a vehicle control method and a vehicle control device.
- the driving support device includes a driving support unit that calculates a target traveling speed of the target vehicle as a control target when the target vehicle is traveling on a merged road, and a communication unit that communicates with a vehicle traveling on the merged road.
- a range acquisition unit that acquires a detection range for detecting a vehicle that may reach the junction at the same time as the target vehicle, among the vehicles traveling on the merged road, and the range acquisition unit acquires the detection range.
- a vehicle that sets the at least one of the communicable vehicles as a to-be-merged vehicle to which the target vehicle should merge in front of the vehicle when there is a vehicle with which the communication unit can communicate in the detected range.
- a setting unit (For example, Patent Document 1).
- the driving assistance is performed on the premise that the target vehicle merges in front of the merged vehicle.
- the merging position of the vehicle and the merging determination standard are actually affected by the road structure. For this reason, there is a problem that the above-described conventional driving support device cannot execute appropriate merging control.
- the problem to be solved by the present invention is to provide a driving support method or a driving support device that can execute appropriate merging support control.
- the present invention detects a road structure including a merging point where a merging lane and a merging lane merge, detects a state of another vehicle traveling toward the merging point, and based on the road structure, travels in the merging lane.
- the state of the own vehicle, the status of other vehicles, and the criterion whether merging is possible at the merging position is determined. The above-mentioned problem is solved by determining whether the above is true or not.
- the present invention can execute appropriate merging control.
- FIG. 1 is a configuration diagram illustrating a configuration of the driving support device according to the present embodiment.
- FIG. 2 is a flowchart illustrating a control flow of the control device.
- FIG. 3 is a diagram for explaining control when the own vehicle merges from a merging lane to an adjacent lane.
- FIG. 4 is a diagram for explaining control when the own vehicle merges from a merging lane to an adjacent lane.
- FIG. 5 is a diagram for describing control when the own vehicle merges from a merging lane to an adjacent lane.
- FIG. 6 is a diagram for explaining control when the own vehicle merges from a merging lane to an adjacent lane.
- FIG. 7 is a diagram for explaining control when another vehicle merges from a merging lane to an adjacent lane.
- FIG. 8 is a diagram for explaining control when another vehicle merges from a merging lane to an adjacent lane.
- FIG. 1 is a diagram illustrating a configuration of a driving support device 100 according to the present embodiment.
- the driving support device 100 includes a sensor group 110, a host vehicle position detection device 120, a map database 130, an in-vehicle device 140, a notification device 150, and an input device 160.
- These devices are connected to each other by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
- CAN Controller Area Network
- the group of sensors 110 includes an external sensor for detecting a state (external state) around the own vehicle, and a sensor for detecting a state of the own vehicle.
- a sensor for detecting a state of the own vehicle For example, as the sensor 110, a front camera that images the front of the host vehicle, a rear camera that images the rear of the host vehicle, a front radar that detects an obstacle in front of the host vehicle, and a rear that detects an obstacle behind the host vehicle.
- Examples include a radar, a side radar that detects an obstacle present on the side of the own vehicle, a vehicle speed sensor that detects the vehicle speed of the own vehicle, an in-vehicle camera that captures an image of a driver, and the like.
- the senor 110 may be configured to use one of the plurality of sensors described above, or may be configured to use a combination of two or more types of sensors.
- the detection result of the sensor 110 is output to the control device 190.
- control device 190 acquires the external information and the information of the own vehicle.
- the own-vehicle position detecting device 120 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like.
- the current position of the target vehicle is detected periodically based on the obtained position information of the target vehicle, the angle change information obtained from the gyro sensor, and the vehicle speed obtained from the vehicle speed sensor. Further, the own vehicle position detecting device 120 can also detect the position of the own vehicle using a known map matching technique.
- the position information of the target vehicle detected by the vehicle position detection device 120 is output to the control device 190.
- the map database 130 stores map information including position information of various facilities and specific points.
- the map information includes information on a road shape at each map coordinate, for example, a curve, a sloping road, an intersection, an interchange, a narrow road, a straight road, a roadside structure, a branch point, a tollgate, a reduced number of lanes, a service area (SA). / Attributes relating to the parking area (PA) are recorded in association with map coordinates (position information).
- SA service area
- PA Attributes relating to the parking area
- the merging point is where the merging lane and the merging lane adjacent to the merging lane merge. For example, on an expressway, the main line corresponds to the merging lane.
- the map information includes information on the road structure including the merging point, and includes information such as the length of the merging lane, the curvature of the merging lane, the curvature of the merging lane, and the number of lanes of the merging lane.
- the map information includes information on a feature located at a boundary between the merging lane and the merging lane.
- the feature is, for example, a boundary wall between a merging lane and a merging lane, a separation zone, a sound deadening wall, and the like.
- the feature information includes information such as the position, height, and length of the feature.
- the map information stored in the map database 130 may be high-precision map information suitable for automatic driving. High-accuracy map information is obtained by communication with the outside. The high-accuracy map information may be generated based on information acquired in real time using the sensor group 110.
- the map information stored in the map database can be referred to by the control device 190.
- the in-vehicle device 140 is various devices mounted on the vehicle, and operates by being operated by a driver. Examples of such in-vehicle devices include a steering wheel, an accelerator pedal, a brake pedal, a navigation device, an audio device, an air conditioner, a hands-free switch, a power window, a wiper, a light, a direction indicator, and a horn. When the in-vehicle device 140 is operated by the driver, the information is output to the control device 190.
- the notification device 150 is a device such as a display included in a navigation device, a display incorporated in a room mirror, a display incorporated in a meter unit, a head-up display projected on a windshield, or a speaker included in an audio device. .
- the input device 160 is, for example, a device such as a dial switch that can be manually input by a driver, a touch panel disposed on a display screen, or a microphone that can be input by a driver's voice.
- the driver can turn on / off the automatic driving control by operating the input device 160.
- the automatic driving control of the vehicle when a preceding vehicle exists in front of the own vehicle, the inter-vehicle distance between the own vehicle and the preceding vehicle is maintained at the inter-vehicle distance set by the driver.
- Inter-vehicle distance control preceding vehicle following control
- the own vehicle is driven at the vehicle speed set by the driver. Is controlled.
- the driver operates the input device 160 to set the vehicle speed (for example, a specific speed value) of the own vehicle in the speed control and the set inter-vehicle distance (for example, short, medium, Three stages of length) can be set.
- the automatic driving control includes merging control (lane change control).
- the communication device 170 communicates with a communication device outside the vehicle.
- the communication device 170 acquires traffic congestion information and the like.
- the communication device 170 performs inter-vehicle communication with another vehicle, performs inter-vehicle communication with a device installed on a roadside, or wirelessly communicates with an information server installed outside the vehicle.
- Various information can be acquired from the external device.
- the information acquired by the communication device is output to the control device 190.
- the drive control device 180 controls traveling of the own vehicle.
- the drive control device 180 includes a brake control mechanism, an accelerator control mechanism, an engine control mechanism, an HMI (Human Interface) device, and the like.
- the drive control device 180 controls the operation of the drive mechanism (including the operation of an internal combustion engine in an engine vehicle, the operation of an electric motor in an electric vehicle system, and the operation of an electric motor in a hybrid vehicle, depending on the traveling scene of the vehicle. By controlling the torque distribution between the internal combustion engine and the electric motor, the braking operation, the operation of the steering actuator, and the like, the automatic driving of the own vehicle is executed.
- the drive control device 180 controls the traveling of the host vehicle in accordance with an instruction from the control device 190 described later.
- the traveling control method by the drive control device 180 other known methods can be used.
- the control device 190 has a processor, a ROM (Read Only Memory) storing a program for controlling the traveling of the own vehicle, a CPU (Central Processing Unit) executing the program stored in the ROM, and And a RAM (Random Access Memory) functioning as an accessible storage device.
- a CPU Central Processing Unit
- a RAM Random Access Memory
- an operation circuit instead of or in addition to a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application ⁇ Can be used.
- the control device 190 determines the vehicle acquisition information for acquiring the vehicle information relating to the traveling of the own vehicle and the external information of the own vehicle, and the traveling scene of the own vehicle.
- a traveling scene determination function and a traveling control function for controlling traveling of the host vehicle are realized.
- each function of the control device 190 will be described.
- Control device 190 acquires vehicle information relating to the traveling of the own vehicle by the information acquisition function.
- the travel information includes vehicle speed information of the own vehicle detected by the vehicle speed sensor, image information of the driver's face imaged by the in-vehicle camera, and the like.
- control device 190 acquires information on the current position of the own vehicle from running position detecting device 120 as traveling information.
- the control device 190 acquires from the map database 130 position information such as a merging point, a branch point, a tollgate, a position where the number of lanes is reduced, a service area (SA) / parking area (PA), and road structure information. .
- SA service area
- PA parking area
- the control device 190 performs the information acquisition function, for example, the traveling information acquisition function based on image information of the outside of the vehicle captured by the front camera and the rear camera, and detection results by the front radar, the rear radar, and the side radar. Obtain external information around the vehicle.
- the control device 180 uses the sensor group 110 to acquire vehicle information of another vehicle traveling around the own vehicle.
- the vehicle information of the other vehicle includes at least position information of the other vehicle.
- the control device 190 refers to the table stored in the ROM of the control device 190 and determines the traveling scene in which the host vehicle is traveling by the traveling scene determination function.
- the traveling scene is a merging scene where the vehicle merges from the merging lane to the merging lane, a traveling scene where the vehicle travels on the main line connected to the merging lane, and the like.
- the running scene is stored in the database as a table.
- the control device 190 specifies the road condition around the current location while referring to the map information, and determines whether the specified road condition corresponds to the driving scene included in the table. Then, when the specified road state corresponds to, for example, a merging scene, the control device 190 determines that the current traveling scene is a scene suitable for vehicle merging control.
- Control device 190 controls traveling of the own vehicle by the traveling control function.
- the traveling control function detects a lane mark of a lane in which the own vehicle travels (hereinafter, also referred to as “own lane”) based on the detection result of the sensor 110, so that the own vehicle travels in the own lane. Lane keeping control for controlling the traveling position of the host vehicle in the width direction is performed.
- the control device 190 can cause the drive control device 180 to control the operation of the steering actuator and the like so that the own vehicle travels at an appropriate traveling position.
- the control device 180 can also perform a follow-up traveling control that automatically follows the preceding vehicle at a predetermined inter-vehicle distance from the preceding vehicle.
- the drive control function causes the drive control device 180 to control the operation of a drive mechanism such as an engine and a brake so that the host vehicle and the preceding vehicle travel at a fixed inter-vehicle distance.
- the control device 190 controls the drive control device 180 to detect the sensor 110 when the vehicle travels in the lane in which the vehicle travels (hereinafter, also referred to as the own lane) (hereinafter, also referred to as lane keeping control). Based on the result, the lane mark of the own lane is detected, and the operation of the steering actuator or the like is controlled to control the running position of the own vehicle in the width direction.
- the drive control device 180 controls the driving mechanism based on the detection result of the sensor 110 and the like.
- Vehicle merge control By controlling the operation, the braking operation, the operation of the steering actuator, and the like, and controlling the vehicle speed of the own vehicle and the steering angle of the own vehicle, the traveling control of the own vehicle when merging from the merging lane to the adjacent lane (hereinafter, referred to as the following).
- Vehicle merge control is executed.
- the control device 190 uses a sensor or the like to detect a predetermined merging possible area including a target point for automatic driving on the main line, and to control the vehicle to travel toward the target point. Of the vehicle and the steering angle of the own vehicle.
- the automatic driving control by the driving control function is performed in compliance with the traffic regulations of each country. Details of the control method using the vehicle merging control function will be described later.
- FIG. 2 is a flowchart showing a control flow of control device 190.
- FIG. 3 and FIG. 4 are diagrams for explaining control when the own vehicle merges from the merging lane to the adjacent lane.
- FIG. 3 and FIG. 4 are diagrams for explaining a road structure including a junction.
- FIG. 3 shows a road structure when the merging lane is long
- FIG. 4 shows a road structure when the merging lane is short.
- the traveling control processing described below is executed by the control device 190.
- the traveling control process described below is started when the ignition switch or the power switch is turned on, and is repeatedly executed at a predetermined cycle (for example, every 10 milliseconds) until the ignition switch or the power switch is turned off. Is done.
- the travel route is a route to a destination, and is calculated by, for example, a navigation system.
- control device 190 acquires vehicle information of the vehicle from vehicle position detection device 120 and in-vehicle device 140. In addition, control device 190 obtains vehicle information of another vehicle using sensor group 110 and the like.
- the vehicle information includes information indicating the current state of the vehicle such as the vehicle speed of the own vehicle and / or another vehicle, information on the current position of the own vehicle and / or another vehicle, and the like.
- step S2 the control device 190 acquires map information from the map database 130 and detects a road structure around the own vehicle position.
- control device 190 specifies a merging section based on the road structure.
- the merging section is a section where the merging lane and the merging lane are connected.
- step S4 the control device 190 specifies a merging area based on the road structure, and sets a merging position in the merging area.
- the merging possible area and the merging position will be described with reference to FIGS.
- vehicle A indicates the host vehicle
- vehicle B indicates the other vehicle.
- the merging possible area P indicates an area in which the vehicle can move from the merging lane to the merging lane in the automatic driving control, and is the same as the permitted area in which lane change is permitted according to traffic regulations, or from the permitted area. Is also set to a narrow range.
- the merging possible area P is set on the traveling lane and is a range from the position of another vehicle on the traveling lane to the merging position.
- the merging position is a position set on the merging lane, and is a target position when changing lanes.
- a wall 101 such as a sound deadening wall is provided at a boundary between the merging lane and the merging lane in order to separate the merging lane from the merging lane.
- a forbidden zone drawn in a zebra pattern is provided at the end of the wall 101. Note that the end b of the merging lane indicates a dead point, and when the vehicle changes lanes from the merging lane to the merging lane, it is necessary to change lanes before reaching the end b.
- the length of the merging possible area in the vehicle traveling direction corresponds to the length of the merging lane.
- the length of the merging lane does not always correspond to the length of the merging possible area.
- the merging lane is longer than the length of the merging possible area. That is, the length from the point at which the host vehicle is expected to start accelerating in preparation for the merge to the end of the merge lane may be the length of the merge lane.
- the own vehicle can sufficiently accelerate, and therefore the vehicle is traveling in the merging lane with the vehicle speed of the own vehicle at the start of the merging control.
- the difference from the vehicle speed is small.
- the own vehicle changes lanes from the merged lane to the merged lane, the own vehicle exits in front of the other vehicle and changes lanes, so the merging position is traveling in the merged lane. Is set in front of the traveling vehicle.
- the road structure including the merging point affects the merging position with other vehicles.
- a determination threshold value for determining whether the merging position is ahead or behind another vehicle is set in advance.
- the control device 190 compares the length of the merging lane included in the road structure with the determination threshold. If the length of the merging lane is equal to or greater than the determination threshold, control device 190 sets the merging position in front of the other vehicle. On the other hand, when the length of the merging lane is less than the determination threshold, control device 190 sets the merging position behind another vehicle.
- the own vehicle A and the other vehicle B running next to the own vehicle run at the same vehicle speed, and have the same relative position in the traveling direction of the vehicle.
- the control device 190 sets the merging position with the other vehicle B in front of the other vehicle B.
- the control device 190 sets the merging position with respect to the other vehicle B behind the other vehicle B.
- Control device 190 may detect the number of lanes included in the merged lane, and set the merging position according to the number of lanes.
- the number of lanes is large, when the own vehicle changes lanes from a merging lane to a merging lane, there is room for other vehicles traveling on the merging lane to change lanes. Therefore, there is a high possibility that another vehicle will yield space to the own vehicle.
- the number of lanes included in the merged lane is small, it is more likely that the other vehicle will yield space to the own vehicle. It is necessary to change lanes behind other vehicles.
- Control device 190 compares the detected number of lanes with a preset lane number threshold.
- control device 190 sets the merging position with the other vehicle in front of the other vehicle. On the other hand, if the number of lanes is less than the lane number threshold, control device 190 sets the junction position with the other vehicle behind the other vehicle.
- control device 190 sets the junction position at a position suitable for lane change by automatic driving control.
- control device 190 sets a merging determination criterion based on the road structure.
- the merge determination criterion is a criterion for determining whether or not lane change is possible.
- a merging judgment parameter is calculated as an index for judging whether merging is possible, and the merging judgment criterion is represented by a threshold value corresponding to the merging judgment parameter.
- the merge determination threshold is set based on the road structure.
- the merge determination threshold is set based on the position of the vehicle in the merge lane. The lower the merging determination threshold, the higher the probability that merging is possible. For example, since the vehicle speed of the own vehicle is not expected to be sufficiently high near the entrance of the merging possible area, the merging determination threshold is set to a high value.
- a method of setting the merging determination criteria will be described.
- the control device 190 sets the merging possible area based on the road structure, and detects the length of the set merging possible area as the length of the merging lane.
- the control device 190 increases the merge determination threshold value at the entrance of the mergeable area as the length of the merge lane is longer.
- control device 190 sets the merging determination threshold value so as to gradually decrease from the entrance of the merging possible area toward the end b of the merging lane.
- the lane change determination threshold is lowered so that the lane change determination is easier to determine that the lane change is possible, and the lane change probability is increased. ing. Also, when the own vehicle is traveling on the merging lane and another vehicle is traveling on the merging lane behind the own vehicle, when the driver of the other vehicle confirms the own vehicle approaching the terminal b, There is a high possibility that the driver of another vehicle will give up the approach of the own vehicle. Therefore, in the present embodiment, the vehicle can be prevented from stopping near the end b by lowering the merge determination threshold toward the end b of the merge lane.
- the merging determination threshold is set higher, so that the probability of determining that merging is possible is low.
- the control device 190 sets the merging determination threshold near the entrance of the merging possible area.
- the merging range is narrow. Therefore, it is better to increase the probability of determining that the lane can be changed in the entire merging possible area. For this reason, in the present embodiment, when the length of the merging lane determined by the road structure is short, the merging determination threshold value is lowered to increase the probability of changing lanes so that it is easier to determine that the lane can be changed.
- the control device 190 may detect the curvature of the merging lane and set the merging determination threshold based on the curvature. As shown in FIG. 5, the merging lane and the merging lane are curved. The control device 190 detects the curvature from the road shape included in the map information. For example, when the host vehicle is traveling on a merging lane having a high curvature, the host vehicle cannot sufficiently accelerate in the merging lane. Therefore, the merge determination threshold at the entrance of the mergeable area is set high so that the vehicle can change lanes while the vehicle speed is as high as possible. As a result, the probability that it is determined that merging is possible at the entrance of the merging possible area is reduced, and lane change at the end of the merging lane can be encouraged.
- the control device 190 sets the merging determination threshold based on the curvature such that the higher the curvature of the merging lane, the higher the merging determination threshold at the entrance of the merging possible area.
- control device 190 sets the merging start position based on the state of the own vehicle and the state of the other vehicle.
- the merging start position is a point where merging control is started, and is set on the merging lane.
- the control device 190 calculates a relative vehicle speed of the host vehicle suitable for lane change based on the current position of the host vehicle, the current vehicle speed of the host vehicle, the current position of the other vehicle, and the vehicle speed of the other vehicle.
- the control device 190 calculates a necessary distance required to attain the calculated relative vehicle speed. Then, control device 190 sets the merging start position at a position separated by a necessary distance from the current position of the vehicle.
- control device 190 detects the current position (own vehicle position) of the own vehicle and determines whether or not the own vehicle position has reached the merging start position. When the own vehicle position has not arrived at the merge start position, control device 190 executes the control flow of step S6. When the vehicle position has reached the merging start position, the control device 190 executes the control flow of step S8.
- control device 190 calculates a merge determination parameter based on the current position of the own vehicle, the current vehicle speed of the own vehicle, the current position of the other vehicle, and the vehicle speed of the other vehicle.
- the merging judgment parameter is an index for judging whether merging is possible, and is determined by the relative position (distance) of the own vehicle with respect to the other vehicle and the relative speed of the own vehicle with respect to the other vehicle. The larger the merging determination parameter is, the higher the probability that it is determined that merging is possible.
- the merge determination parameter may be indicated by a relative degree of approach of the own vehicle to another vehicle.
- the degree of approach for example, an approach time calculated by dividing the distance between the other vehicle and the host vehicle by the relative speed of the host vehicle to the other vehicle may be used.
- the calculation method of the proximity another method known at the time of filing the present application may be used. Then, the higher the degree of approach, the smaller the merge determination parameter.
- control device 190 determines whether or not another vehicle having an effect exists on the driven lane. If there is no other vehicle, control device 190 executes the control process of step S13. If another vehicle exists, control device 190 executes the control process of step S10.
- control device 190 compares the merging determination parameter with the merging determination threshold, and determines whether or not merging is possible based on the comparison result.
- the merging determination parameter is equal to or greater than the merging determination threshold
- the control device 190 determines that merging is possible, and executes the control process of step S13.
- the merging determination parameter is smaller than the merging determination threshold
- the control device 190 determines that merging is not possible, and executes the control process of step S11.
- control device 190 detects the terminal distance from the current position of the vehicle to terminal b of the merging lane, and sets the merging position based on the terminal distance.
- the speed of a vehicle traveling on a merging lane is lower than the speed of a vehicle traveling on a merging lane.
- the vehicle speed of the own vehicle is made higher than that of the other vehicles in the merging lane in order to accelerate and try to get out of the other vehicle.
- control device 190 changes the merging position from the front to the rear of the other vehicle. change. Note that if the junction position has already been set behind another vehicle, control device 190 does not change the junction position.
- the own vehicle can be sufficiently accelerated and the inter-vehicle distance with other vehicles can be ensured, so that the control device 190 does not change the merging position.
- control device 190 updates the merge determination criterion based on the current position of the vehicle. That is, the control loop from step S8 to step S12 is repeatedly performed, and the control device 190 lowers the merging determination criterion as the vehicle approaches the end point b. Then, the control device 190 executes the control process of step S8.
- control device 190 executes the merge control based on the speed control amount and the steering control amount.
- the steering actuator is controlled such that the operation amount of the steering becomes the steering control amount while maintaining the speed of the own vehicle as indicated by the speed control amount.
- the host vehicle travels toward the target point and starts entering the merging lane from the merging lane.
- control device 190 determines whether or not the current position of the vehicle has arrived at the target point. If the vehicle has not arrived at the target point, control device 190 executes the merging control. If the vehicle has arrived at the target point, the control device 190 ends the vehicle control process in step S14, and ends the control flow.
- the road structure including the merging point where the merging lane and the merging lane merge with each other is detected, the state of another vehicle traveling toward the merging point is detected, and the merging lane is determined based on the road structure.
- a merging position for a traveling vehicle (another vehicle) traveling in a lane and a criterion for determining whether merging is possible at the merging position are set, and the state of the own vehicle, the state of the other vehicle, and the criterion are set. Based on the merging position, it is determined whether merging is possible. Thereby, appropriate merging control can be performed at the merging position.
- the length of the merging lane is detected as the road structure at the merging point, and the merging position is set based on the length of the merging lane. For example, when the own vehicle and the other vehicle have the same relative position in the traveling direction, the length of the merging lane affects the merging position with the other vehicle. The longer the merging lane, the more likely the host vehicle accelerates to come out of the other vehicle, and the shorter the merging lane, the less the acceleration is, and the more the vehicle comes behind the other vehicle.
- the position at which the vehicle merges with another vehicle is set based on the length of the merging lane, so that the frequency at which the vehicle can exit the other vehicle can be increased. Further, it is possible to prevent the traveling of the own vehicle from being hindered by another vehicle. As a result, the number of attempts to change the vehicle is reduced, so that it is possible to prevent the travel time from being further extended.
- the terminal distance from the position of the vehicle traveling on the merging lane to the terminal of the merging lane is detected, and the merging position is set based on the terminal distance.
- the number of lanes included in the merged lane is detected, and the merging position is set based on the number of lanes. Thereby, appropriate merging control can be performed at the merging position. In addition, it is possible to suppress the extension of the traveling time.
- the curvature of the merging lane is detected, and a determination standard is set based on the curvature. Thereby, appropriate merging control can be performed at the merging position.
- the merging position is set ahead of another vehicle traveling on the merging lane. As a result, it is possible to increase the frequency of being able to get out in front of another vehicle. Further, it is possible to prevent the traveling of the own vehicle from being hindered by another vehicle. As a result, the number of attempts to change the vehicle is reduced, so that it is possible to prevent the travel time from being further extended.
- the merging position is set behind other vehicles traveling on the merging lane. Thereby, appropriate merging control can be performed at the merging position.
- the range of the merging area may be increased, and the merging position may be set in the merging area.
- the merging position is set within the range of the merging possible area, but by extending the range of the merging possible area in the vehicle traveling direction, the merging position can be set at an appropriate position with respect to the position of another vehicle. Spreads. Thereby, appropriate merging control can be performed at the merging position.
- the terminal distance from the position of the vehicle traveling on the merging lane to the end of the merging lane is detected, and the range from the front of the traveling vehicle to the end point of the merging lane is set as a mergeable area.
- the range of the merging possible area may be widened and the merging position may be set within the merging possible area. Thereby, appropriate merging control can be performed at the merging position.
- the range of the merging area may be increased, and the merging position may be set in the merging area.
- appropriate merging control can be performed at the merging position.
- the merging position may be set near the end of the merging lane on the lane.
- the control device 190 may correct the lower limit of the merging determination criterion according to the situation of the vehicle traveling on the merging lane.
- FIG. 6 is a diagram illustrating a road situation after the vehicle A has changed lanes. For example, it is assumed that two other vehicles are traveling on the merged lane, and the vehicle has changed from the current position to the end of the merged lane before the vehicle changes lanes. Then, it is assumed that the minimum inter-vehicle distance is 5.5 m and the time to collision (TTC) is set to 1.5 seconds as the lower limit for performing the merging control.
- TTC time to collision
- the control device 190 sets, from the state of the other vehicle and the state of the own vehicle on the merged lane, the minimum inter-vehicle distance and the time to collision which are larger in the actual inter-vehicle distance as the lower limit of the merge determination criterion. For example, when another vehicle is traveling at a speed of 60 km / h, the inter-vehicle distance is 25 m based on a 1.5-second time to collision (TTC). Then, control device 190 sets the proximity corresponding to the minimum inter-vehicle distance (25 m) to the lower limit value of the merging determination criterion. Thus, for example, in the example of FIG. 6, when the distance L is equal to or less than 25 mm, the control device 190 can determine that the lane cannot be changed.
- TTC 1.5-second time to collision
- a driving support device 100 according to another embodiment of the present invention will be described.
- the control is performed when the host vehicle is traveling on the traveled lane.
- the description of the first embodiment is appropriately referred to.
- FIG. 7 and 8 are diagrams for explaining control when another vehicle joins an adjacent lane from a merging lane.
- the road structure in FIG. 7 is the same as that in FIG. 3, and the road structure in FIG. 8 is the same as that in FIG.
- control device 190 executes the following control.
- the control device 190 acquires the vehicle information of the vehicle from the vehicle position detection device 120 and the vehicle-mounted device 140. In addition, control device 190 obtains vehicle information of another vehicle using sensor group 110 and the like. The control device 190 acquires map information from the map database 130 and detects a road structure around the own vehicle position. The control device 190 specifies the merging section based on the road structure.
- the control device 190 specifies a merging possible area based on the road structure, and sets a merging position in the merging possible area.
- the other vehicle can sufficiently accelerate. Therefore, the vehicle speed of the own vehicle at the time of the start of the merging control and the traveling speed in the merging lane are determined. The difference from the speed of the vehicle is small.
- the other vehicle exits in front of the own vehicle and changes lanes, so the merging position is traveling in the merged lane. Is set in front of the own vehicle.
- the vehicle travels in the merging lane with the vehicle speed of the other vehicle at the start of the merging control.
- the difference from the speed of the own vehicle is large.
- the other vehicle changes lanes behind the own vehicle, so that the merging position is the same as the vehicle traveling in the merged lane. Set behind the vehicle.
- the control device 190 compares the length of the merging lane included in the road structure with the determination threshold. If the length of the merging lane is equal to or greater than the determination threshold, control device 190 sets the merging position in front of the host vehicle. On the other hand, if the length of the merging lane is less than the determination threshold, control device 190 sets the merging position behind the host vehicle.
- the control device 190 sets the convergence determination criterion based on the road structure.
- the merge determination criterion is a criterion for determining whether another vehicle changes lanes.
- the control device 190 calculates a merge determination parameter for the other vehicle.
- the method of calculating the merging determination parameter is the same as in the first embodiment.
- the control device 190 sets the merging possible area based on the road structure, and detects the length of the set merging possible area as the length of the merging lane.
- the control device 190 increases the merge determination threshold value at the entrance of the mergeable area as the length of the merge lane is longer.
- control device 190 sets the merging determination threshold value so as to gradually decrease from the entrance of the merging possible area toward the end b of the merging lane.
- the margin for completing the lane change decreases as the other vehicle approaches the end point b. For this reason, in the present embodiment, as the position of the other vehicle approaches the end b, the lane change determination threshold is lowered so that the determination of the lane change becomes easier to determine that the other vehicle changes the lane. Is raised.
- the control device 190 sets the merging determination threshold near the entrance of the merging possible area.
- the range where merging is possible is narrow. Therefore, it is better to increase the probability that another vehicle determines to change lanes in the entire merging possible area. Therefore, in the present embodiment, when the length of the merging lane determined by the road structure is short, the merging determination threshold value is lowered to increase the probability of the lane change so that it is easy to determine that the lane can be changed.
- the control device 190 compares the merging determination parameter with the merging determination threshold. If the merging determination parameter is equal to or greater than the merging determination threshold, the control device 190 determines that another vehicle is to change lanes. When it is less than the threshold value, it is determined that another vehicle does not change lanes.
- control device 190 controls the vehicle speed according to the set merging position. That is, when the merging position is set ahead of the host vehicle, control device 190 reduces the speed so as to secure the minimum inter-vehicle distance. On the other hand, when the merging position is set behind the host vehicle, control device 190 accelerates so as to secure the minimum inter-vehicle distance.
- the road structure including the merging point where the merging lane and the merging lane merge with each other is detected, the state of another vehicle traveling toward the merging point is detected, and the merging lane is determined based on the road structure.
- a merging position for a traveling vehicle (own vehicle) running in a lane and a criterion for determining whether merging is possible at the merging position are set, and the state of the own vehicle, the state of another vehicle, and the criterion are set. Based on the merging position, it is determined whether merging is possible. Thereby, appropriate merging control can be performed at the merging position.
- the merging position at which the other vehicle merges with the merging lane from the merging lane is set in front of the own vehicle. Set. Thereby, appropriate merging control can be performed at the merging position.
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Abstract
Description
図1は、本実施形態に係る走行支援装置100の構成を示す図である。図1に示すように、本実施形態に係る走行支援装置100は、センサ群110と、自車位置検出装置120と、地図データベース130と、車載機器140と、報知装置150と、入力装置160と、通信装置170と、駆動制御装置180と、制御装置(コントローラ)190とを有している。これら装置は、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。
本発明の他の実施形態に係る走行支援装置100を説明する。本実施形態では、第1実施形態とは異なり、自車両が被走行車線上を走行している場合の制御である。その他の構成及び第1実施形態と同じ制御は、第1実施形態の記載を適宜、援用する。
110…センサ群
120…自車位置検出装置
130…地図データベース
140…車載機器
150…報知装置
160…入力装置
170…通信装置
180…駆動制御装置
190…制御装置
Claims (14)
- プロセッサに実行にさせる、車両の走行支援方法であって、
合流車線と前記合流車線と隣接する被合流車線が合流する合流箇所を含む道路構造を検出し、
前記合流箇所に向かって走行する他車両の状態を検出し、
前記道路構造に基づき、前記被合流車線を走行している走行車両に対する合流位置、及び、前記合流位置で合流可能か否かを判定する判定基準を設定し、
自車両の状態、前記他車両の状態、及び、前記判定基準に基づき、前記合流位置で合流可能か否かを判定する走行支援方法。 - 請求項1記載の走行支援方法において、
前記合流箇所における前記道路構造として、前記合流車線の長さを検出し、
前記合流車線の長さに基づき、前記合流位置を設定する走行支援方法。 - 請求項2記載の走行支援方法において、
前記走行車両の位置から前記合流車線の終端までの範囲を合流可能エリアとして設定し、
前記合流可能エリア内に前記合流位置を設定し、
前記合流車線が長いほど、前記合流可能エリアの範囲を広くする走行支援方法。 - 請求項1~3のいずれか一項に記載の走行支援方法において、
前記合流車線を走行する車両の位置から前記合流車線の終端までの終端距離を検出し、
前記終端距離に基づき、前記合流位置を設定する走行支援方法。 - 請求項1記載の走行支援方法において、
前記合流車線を走行する車両の位置から前記合流車線の終端までの終端距離を検出し、
前記走行車両の位置から前記合流車線の終点までの範囲を合流可能エリアとして設定し、
前記合流可能エリア内に前記合流位置を設定し、
前記終端距離が長いほど、前記合流可能エリアの範囲を広くする走行支援方法。 - 請求項1~5のいずれか一項に記載の走行支援方法において、
前記被合流車線に含まれる車線数を検出し、
前記車線数に基づき、前記合流位置を設定する走行支援方法。 - 請求項1記載の走行支援方法において、
前記被合流車線に含まれる車線数を検出し
前記走行車両の位置から前記合流車線の終端までの範囲を合流可能エリアとして設定し、
前記合流可能エリア内に前記合流位置を設定し、
前記車線数の数が多いほど、前記合流可能エリアの範囲を広くする走行支援方法。 - 請求項1~7のいずれか一項に記載の走行支援方法において、
前記合流車線の曲率を検出し、
前記曲率に基づき、前記判定基準を設定する走行支援方法。 - 請求項1~8のいずれか一項に記載の走行支援方法において、
前記合流車線と前記被合流車線との間の境界部分に存在する地物を検出し、
前記地物の高さが所定の高さ閾値より大きい場合には、前記被合流車線上で、前記合流車線の終端付近に前記合流位置を設定する走行支援方法。 - 請求項1~9のいずれか一項に記載の走行支援方法において、
地図情報を用いて前記道路構造を検出する走行支援方法。 - 請求項1に記載の走行支援方法において、
前記合流位置における前記道路構造として、前記合流車線の長さを検出し、
前記自車両の現在位置を検出し、
前記自車両が前記被合流車線を走行しており、前記合流車線の長さが所定の長さより短い場合には、前記他車両が前記合流車線から前記被合流車線に合流する前記合流位置を、前記自車両の前方に設定する走行支援方法。 - 請求項1に記載の走行支援方法において、
前記合流位置における前記道路構造として、前記合流車線の長さを検出し、
前記自車両の現在位置を検出し、
前記自車両が前記合流車線を走行しており、前記合流車線の長さが所定の長さより長い場合には、前記自車両が前記合流車線から前記被合流車線に合流する前記合流位置を、前記走行車両の前方に設定する走行支援方法。 - 請求項1に記載の走行支援方法において、
前記合流位置における前記道路構造として、前記合流車線の長さを検出し、
前記自車両の現在位置を検出し、
前記自車両が前記合流車線を走行しており、前記合流車線の長さが所定の長さより短い場合には、前記自車両が前記合流車線から前記被合流車線に合流する前記合流位置を、前記走行車両の後方に設定する走行支援方法。 - プロセッサを有する車両の走行支援装置であって、
前記プロセッサは、
合流車線と前記合流車線と隣接する被合流車線が合流する合流箇所を含む道路構造を検出し、
前記合流箇所に向かって走行する他車両の状態を検出し、
前記道路構造に基づき、前記被合流車線を走行している走行車両に対する合流位置、及び、前記合流位置で合流可能か否かを判定する判定基準を設定し、
自車両の状態、前記他車両の状態、及び、前記判定基準に基づき、前記合流位置で合流可能か否かを判定する走行支援装置。
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JP6962468B2 (ja) | 2021-11-05 |
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US20210253107A1 (en) | 2021-08-19 |
EP3816964A4 (en) | 2021-06-30 |
RU2760241C1 (ru) | 2021-11-23 |
EP3816964A1 (en) | 2021-05-05 |
US11447135B2 (en) | 2022-09-20 |
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