CN109987082A - Controller of vehicle, control method for vehicle and storage medium - Google Patents
Controller of vehicle, control method for vehicle and storage medium Download PDFInfo
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- CN109987082A CN109987082A CN201811587645.4A CN201811587645A CN109987082A CN 109987082 A CN109987082 A CN 109987082A CN 201811587645 A CN201811587645 A CN 201811587645A CN 109987082 A CN109987082 A CN 109987082A
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
-
- 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
-
- 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
- B60W40/072—Curvature of the road
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Image Processing (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention provides controller of vehicle, control method for vehicle and the storage medium for replacing control when can carry out road dividing line missing under more wide in range scene.Controller of vehicle includes image pickup part, shoots to the front or behind of vehicle；Thread mark identification part, in the image obtained from being shot as the image pickup part, identification is present in the height different from road and from overhead from along the thread mark of road extension；And drive control section, the traveling of the vehicle is controlled according to the thread target position in described image.
Description
Technical field
The present invention relates to controller of vehicle, control method for vehicle and storage mediums.
Background technique
In recent years, to the traveling of vehicle carry out automatically controlling (hereinafter referred to as automatic Pilot) research and it is practical constantly into
Exhibition.In automatic Pilot, the lane that identification vehicle should travel is critically important in terms of realizing stable traveling.As being used for
There is force information in identification lane, and there are the location informations for the white line described on road.White line is by in-vehicle camera etc. come check bit
It sets.The location information of white line is applied not only to automatic Pilot, is also used to lane and keeps the control of the drive supportings such as control.When white line is worn
And when can not see, it is difficult to carry out these controls.
There is known the inventions of a kind of white line detection method of road otherwise in association, which is characterized in that calculates by vehicle-mounted
The brightness space differential value of pixel in the image of camera shooting converges according to the edge for the position extraction white line for indicating its extreme value
Collect the closer part of brightness value at edge that detects as white line candidate, according to their positional relationship to it is described collect it is white
Line candidate is grouped, and left and right detects a white line respectively (referring for example to Japanese Unexamined Patent Publication 2002-175534 bulletin).
However, in the prior art, the case where if not to remain white line to a certain degree, then white line can not be detected.
In addition, due to can not also be coped in the case where can not identifying white line there are preceding vehicle or subsequent vehicle.
Summary of the invention
Mode of the invention considers such case and completes, can be more wide in range one of its goals is to provide
Controller of vehicle, control method for vehicle and the program for replacing control when road dividing line missing are carried out under scene.
Controller of vehicle, control method for vehicle and storage medium of the invention is used with flowering structure.
(1): the controller of vehicle of one embodiment of the present invention includes image pickup part (10), front to vehicle or after
Fang Jinhang shooting；Thread mark identification part (132), in the image obtained from being shot as the image pickup part, identification is deposited
The thread mark for being the height different from road and extending from overhead along the road；And drive control section
(150,160) control the traveling of the vehicle according to the thread target position in described image.
(2): in the mode of above-mentioned (1), the drive control section controls the steering of the vehicle, so that institute
The thread target inclination stated in image is fixed.
(3): in the mode of above-mentioned (2), the drive control section carries out making the figure for the steering angle of the vehicle
Thread target inclination as in is maintained fixed feedback control.
(4): in the mode of above-mentioned (1), the image pickup part in front of the vehicle to shooting, the vehicle control
Device also has bend presumption unit (134), and the bend presumption unit is according to the thread identified by thread mark identification part
Target extends form, estimates the presence of the bend in front of the traveling of the vehicle.
(5): in the mode of above-mentioned (4), the bend presumption unit, which also estimates, to be present in front of the traveling of the vehicle
The curvature of bend, the drive control section turn the vehicle according to the curvature of the bend deduced by the bend presumption unit
To being controlled.
(6): in the mode of above-mentioned (1), the thread mark is to be set to the object more closer to the top than the image pickup part.
(7): in the mode of above-mentioned (6), the thread mark is the upper end of the side wall of road.
(8): in the control method for vehicle of another mode of the invention, image pickup part carries out the front or behind of vehicle
Shooting, in the image obtained from being shot as the image pickup part, identification is present in different from road for thread mark identification part
Height and under overlook view along the road extend thread mark, drive control section is according in described image
Thread target position controls at least steering of the vehicle.
(9): the storage medium of another mode of the invention is stored with program, which, which makes to be equipped on, has to vehicle
Computer in the vehicle for the image pickup part that front or behind is shot executes following processing: being shot by the image pickup part
Obtained from image, threadiness that identification is present in the height different from road and extends under overlook view along the road
Object mark controls at least steering of the vehicle according to the thread target position in described image.
Invention effect
According to the mode of (1)~(9), control is replaced when can carry out road dividing line missing under more wide in range scene
System.
Detailed description of the invention
Fig. 1 is the structure chart that the Vehicular system 1 of the controller of vehicle of first embodiment is utilized.
Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.
Fig. 3 is the figure for showing an example of shooting image IM of camera 10.
Fig. 4 is the figure for showing the inclined relationship of the upper end UE (SW) of turning angle and side wall SW of this vehicle M.
Fig. 5 is show the process flow executed by control unit 152 when thread mark identification part 132 and dividing line missing one
The flow chart of example.
Fig. 6 is the figure for showing the relationship of the upper end UE (SW) of bend and side wall SW in the front for being present in this vehicle M.
Fig. 7 is to show to be executed by control unit 152 when thread mark identification part 132, bend presumption unit 134, dividing line missing
Process flow an example flow chart.
Fig. 8 is the structure chart of the drive supporting device 400 of second embodiment.
Fig. 9 is the drive supporting dress for the automatic Pilot control device 100 or second embodiment for showing first embodiment
Set the figure of an example of 400 hardware configuration.
Specific embodiment
In the following, being carried out referring to embodiment of the attached drawing to controller of vehicle of the invention, control method for vehicle and program
Explanation.
<first embodiment>
[overall structure]
Fig. 1 is the structure chart that the Vehicular system 1 of the controller of vehicle of first embodiment is utilized.Equipped with vehicle system
The vehicle of system 1 is, for example, the vehicle of two wheels, three-wheel, four-wheel etc., and driving source is the internal combustions such as diesel engine or petrol engine
Mechanical, electrical motivation or their combination.With motor, motor uses the hair of the generator linked with internal combustion engine
The discharged power of electric power or secondary cell or fuel cell is acted.
Vehicular system 1 is for example with camera 10, radar installations 12, detector 14, object identification device 16, communication device
20, HMI (Human Machine Interface) 30, vehicle sensors 40, navigation device 50, MPU (Map Positioning
Unit) 60, driver behavior part 80, automatic Pilot control device 100, traveling drive force output 200, brake apparatus 210, turn
To device 220, front lamp device 250.These devices or equipment pass through CAN (Controller Area Network) communication line
It waits multichannel communication multiple telecommunications line, null modem cable, wireless communication networks etc. and is connected to each other.It should be noted that structure shown in FIG. 1 is not
Crossing is an example, it is convenient to omit a part of structure can also further add other structures.
Camera 10 is, for example, that CCD (Charge Coupled Device) or CMOS (Complementary is utilized
Metal Oxide Semiconductor) etc. solid-state imagers digital camera.Equipped with Vehicular system 1 vehicle (with
Down be referred to as this vehicle M) any part one or more cameras 10 are installed.In the case where being shot to front, camera
10 are mounted on windscreen top or the car room inside rear-view mirror back side etc..In the case where being shot to rear, 10, camera
Such as it is mounted near rear bumper.Camera 10 for example periodically repeatedly shoots the periphery of this vehicle M.Camera 10 can also be with
It is stereoscopic camera.
Radar installations 12 is to electric waves such as the periphery of this vehicle M radiation millimeter waves, and it is (anti-to detect the electric wave reflected by object
Ejected wave), at least position (distance and bearing) of detection object.One or more radars are installed in any part of this vehicle M
Device 12.Radar installations 12 can also be detected by FM-CW (Frequency Modulated Continuous Wave) mode
The position and speed of object.
Detector 14 is LIDAR (Light Detection and Ranging).Detector 14 is to the periphery of this vehicle M
Irradiation light, measurement scattering light.Detector 14 is according to the time from shining light, the distance between detection and object.It is illuminated
Light be, for example, pulse type laser.One or more detectors 14 are installed in any part of this vehicle M.Detector 14 is
An example of article detection device.
Object identification device 16 is to some or all of testing result in camera 10, radar installations 12 and detector 14
Sensor fusion treatment is carried out, identifies position, type, speed of object etc..Recognition result is output to by object identification device 16
Automatic Pilot control device 100.In addition, object identification device 16 also can according to need camera 10, radar installations 12 and visit
The testing result for surveying device 14 is directly output to automatic Pilot control device 100.
Communication device 20 for example utilizes Cellular Networks, Wi-Fi net, Bluetooth (registered trademark), DSRC (Dedicated
Short Range Communication) etc. and communicated with other vehicles on the periphery for being present in this vehicle M, Huo Zhejing
It is communicated by wireless base station with various server units.
HMI30 prompts various information to the passenger of this vehicle M, and accepts the input operation of passenger.HMI30 includes various
Display device, loudspeaker, buzzer, touch panel, switch, key etc..
Vehicle sensors 40 include the vehicle speed sensor of the speed of detection this vehicle M, the acceleration sensing for detecting acceleration
Device, detection around vertical axis angular speed yaw-rate sensor and detect this vehicle M direction aspect sensor
Deng.
Navigation device 50 for example with GNSS (Global Navigation Satellite System) receiver 51, lead
Navigate HMI52, path determination section 53, keeps the first cartographic information in the storage devices such as HDD (Hard Disk Drive) or flash memory
54.GNSS receiver 51 determines the position of this vehicle M according to the signal received from GNSS satellite.The position of this vehicle M can also
To be determined or be supplemented by the INS (Inertial Navigation System) of the output using vehicle sensors 40.Navigation
HMI52 includes display device, loudspeaker, touch panel, key etc..The navigation HMI52 and HMI30 can share a part or complete
Portion.Path determination section 53 is determined referring for example to the first cartographic information 54 from the position of this vehicle M determined by GNSS receiver 51
(or any position inputted) uses path (the hereinafter referred to as road on map of the destination of navigation HMI52 input to passenger
Diameter).First cartographic information 54 is, for example, to show road shape by the route of expression road and by the node of connection
Information.First cartographic information 54 also may include curvature and POI (Point Of Interest) information of road etc..By path
The map upper pathway that determination section 53 determines is output to MPU60.In addition, navigation device 50 can also be according to by path determination section 53
The map upper pathway of decision carries out the Route guiding using navigation HMI52.It should be noted that navigation device 50 for example may be used
It is realized with the functions of the terminal installations such as the smart phone held by passenger or tablet terminal.In addition, navigation device 50 can also
To send current location and destination via 20 navigation server of communication device, obtain from the map that navigation server returns
Path.
MPU60 for example as recommending lane determination section 61 to function, keeps second in the storage devices such as HDD or flash memory
Cartographic information 62.Recommend lane determination section 61 multiple sections will to be divided into (such as in vehicle from the path that navigation device 50 provides
Divide on direction of travel according to 100 [m]), it determines to recommend lane according to each section referring to the second cartographic information 62.Recommend lane
Determination section 61 carries out travelling such determine on which lane from left side.Lane determination section 61 is recommended to exist in the paths
Branch part or in the case where converging position etc., so that this vehicle M can be for the Rational Path advanced in front of branch
The mode of traveling determines to recommend lane.
Second cartographic information 62 is than the cartographic information with high accuracy of the first cartographic information 54.Second cartographic information 62 is for example
The information etc. on the boundary of the information or lane in the center comprising lane.In addition, can also include road in the second cartographic information 62
Road information, traffic restricted information, residence information (residence, postcode), facilities information, telephone number information etc..Second map
Information 62 accesses other devices by using communication device 20, can be updated at any time.
Driver behavior part 80 is for example comprising gas pedal, brake pedal, gear lever, steering wheel, special-shaped steering wheel, control stick
And other operating parts.The sensor of the presence or absence of detection operating quantity or operation, detection knot are installed on driver behavior part 80
Fruit is output to automatic Pilot control device 100 or traveling drive force output 200, brake apparatus 210 and transfer
Part or all in 220.
Automatic Pilot control device 100 is for example with first control units 120 and the second control unit 160.First control units 120
With the second control unit 160 respectively such as pass through hardware processor CPU (Central Processing Unit) execute program
(software) Lai Shixian.In addition, part or all in these structural elements can also pass through LSI (Large Scale
Integration)、ASIC(Application Specific Integrated Circuit)、FPGA(Field-
Programmable Gate Array), the hardware (circuit portion such as GPU (Graphics Processing Unit)；Include
Circuitry) Lai Shixian can also be realized by cooperating for software and hardware.Automatic Pilot control device 100 is vehicle control
An example of device processed.
Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.First control units 120 is for example with knowledge
Other portion 130 and action plan generating unit 150.Such as Parallel Implementation of first control units 120 is based on AI (Artificial
Intelligence；Artificial intelligence) function and function based on the model provided in advance.For example, parallel execute is based on depth
The identification of the intersection of study etc. and based on condition signal, the road markings etc. of pattern match (exist can) provided in advance
Both sides are added score by identification and synthesis is evaluated, and are achieved in the function of " identification intersection ".Thus, it is ensured that from
The dynamic reliability driven.
Identification part 130 is according to the letter inputted from camera 10, radar installations 12 and detector 14 via object identification device 16
Breath, identifies the surrounding condition of this vehicle M.For example, position and speed of the identification of identification part 130 positioned at the object on the periphery of this vehicle M
The states such as degree, acceleration.The position of object is for example identified as
Position on the absolute coordinate of origin, carried out in control using.It the position of object can center of gravity by the object or corner
It waits representatives point to indicate, can also be indicated by the region showed." state " of object also may include the acceleration of object
Degree, acceleration or " status of action " (for example whether carrying out lane change or whether to carry out lane change).Identification
Portion 130 according to the shooting image of camera 10, identify this vehicle M hereafter will by bend shape.Identification part 130 is by bend
Shape is converted to physical plane from the shooting image of camera 10, for example, by two-dimensional column information or using same mould
The information of type performance is output to action plan generating unit 150 as the information for the shape for indicating bend.
Identification part 130 for example identifies the lane (traveling lane) that this vehicle M is being travelled.For example, identification part 130 is to from
It the pattern (such as arrangement of solid line and dotted line) for the road dividing line that two cartographic informations 62 obtain and is clapped according to by camera 10
The pattern of the road dividing line on the periphery for this vehicle M that image recognition obtained from taking the photograph goes out is compared, and thus identifies Travel vehicle
Road.In the identification, it is also contemplated that from the position of this vehicle M of the acquirement of navigation device 50 and based on the processing result of INS.Separately
Outside, identification part 130 identifies interim stop line, barrier, red light, cash desk, other road items.
Identification part 130 identifies position and posture of this vehicle M relative to traveling lane when identifying traveling lane.Identification
Portion 130 can also for example identify deviation of the datum mark of this vehicle M from lane center and relative to connection this vehicle M's
The line angulation of the lane center of direction of travel, relative position and posture as this vehicle M relative to traveling lane.It takes
And instead of, identification part 130 can also identify any one the side end (road of datum mark relative to traveling lane of this vehicle M
Dividing line or road boundary) the relative position as this vehicle M relative to traveling lane such as position.
Identification part 130 can also export accuracy of identification in above-mentioned identifying processing, be output to row as accuracy of identification information
Dynamic plan generating unit 150.For example, identification part 130 generates and knows according to the frequency that can identify road dividing line within certain period
Other precision information.
Identification part 130 is for example with thread mark identification part 132 and bend presumption unit 134.They are described below.
Action plan generating unit 150 determine in principle by recommend traveling on the recommendation lane that determines of lane determination section 61,
And then the event that the mode for the surrounding condition for coping with this vehicle M successively executes in automatic Pilot.Action plan generating unit
150 according to the event of starting, generates the target track of this vehicle M traveling in the future.Target track for example comprising multiple track points and
Velocity element.For example, target track shows as the content for being arranged successively the place (track point) that this vehicle M should be reached.Track
The place that should be reached every this vehicle M of defined operating range (such as number [m] degree) of the road Dian Shiyan distance, is different from
This, generates target velocity and aimed acceleration every the defined sampling time (such as several [see] degree of zero point) as target
A part of track.In addition, track point be also possible to every the defined sampling time, the sampling instant this vehicle M should
The position of arrival.In this case, showing the information of target velocity or aimed acceleration with the interval of track point.
Control unit 152 when action plan generating unit 150 is for example lacked with dividing line.It is described below.
Second 160 pairs of control unit traveling drive force output 200, brake apparatus 210 and transfer 220 are controlled
System, so that this vehicle M passes through the target track that is generated by action plan generating unit 150 according to predetermined instant.Merge action meter
Draw be partially obtained from generating unit 150 and the second control unit 160 " drive control section " an example.
Second control unit 160 is for example with acquisition unit 162, speed controlling portion 164, course changing control portion 166.Acquisition unit 162
The information for obtaining the target track (track point) generated by action plan generating unit 150, stores it in memory (not shown)
In.Speed controlling portion 164 is according to velocity element subsidiary in the target track stored in memory, to traveling driving force output dress
Set 200 or brake apparatus 210 controlled.Course changing control portion 166 according to the bending degree of the target track stored in memory,
Transfer 220 is controlled.The processing in speed controlling portion 164 and course changing control portion 166 is for example by feedforward control and anti-
The combination of control is presented to realize.As an example, the combination of course changing control portion 166 executes the curvature with the road in the front of this vehicle M
Corresponding feedforward control and feedback control based on the deviation from target track.
The traveling driving force (torque) for being used for for vehicle driving is output to driving wheel by traveling drive force output 200.
Traveling drive force output 200 is controlled such as with combination internal combustion engine, motor and speed changer and to them
ECU.ECU according to the information inputted from the second control unit 160 or from driver behavior part 80 input information to above structure into
Row control.
Brake apparatus 210 for example transmits that hydraulic hydraulic cylinder, to generate hydraulic cylinder hydraulic with caliper, to caliper
Electric motor, braking ECU.ECU is braked according to the information inputted from the second control unit 160 or the letter inputted from driver behavior part 80
Breath controls electric motor, and braking moment corresponding with brake operating is output to each wheel.Brake apparatus 210 can also be with
With hydraulic being transmitted to liquid via main hydraulic cylinder for what is generated by the operation for the brake pedal for including in driver behavior part 80
The mechanism of cylinder pressure is as spare.It should be noted that brake apparatus 210 is not limited to above explained structure, it is also possible to as follows
Electronic control type hydraulic brake system: actuator is controlled according to the information inputted from the second control unit 160, by main liquid
The hydraulic pressure transfer of cylinder pressure is to hydraulic cylinder.
Transfer 220 is for example with steering ECU and electric motor.Electric motor for example makes power act on the small tooth of rack gear-
Mechanism is taken turns to change the direction of deflecting roller.ECU is turned to according to the information inputted from the second control unit 160 or from driver behavior part 80
The information of input drives electric motor, changes the direction of deflecting roller.
[dividing line controls when lacking]
In the following, the dividing line to thread mark identification part 132 and action plan generating unit 150 by identification part 130 lacks
When the content of processing that executes of control unit 152 be illustrated.
As described above, the road dividing line in the main image according to obtained from being shot as camera 10 in identification part 130
Position identify traveling lane.Fig. 3 is the figure for showing an example of shooting image IM of camera 10.Originally this vehicle M is illustrated to exist
The scene travelled on super expressway.Mirror the lane L1's for dividing that this vehicle M is being travelled in the shooting image IM of diagram
Road dividing line LM1 and LM2, the road dividing line LM2 and LM3 that divide adjacent lane L2, guardrail GR, side wall SW etc..These figures
Picture element becomes linear or curvilinear, also, the contrast (luminance difference) between side images in outline portion is larger,
Therefore, position can be relatively easily identified by image recognition.For example, (adjacent with transverse direction by connection horizontal edge
The biggish pixel of contrast between pixel), the profile of road dividing line can be identified, by connection vertical edge (with longitudinal direction
Adjacent pixel between the biggish pixel of contrast), can identify the upper end UE (GR) of guardrail and the upper end UE (SW) of side wall.
In principle, part in road dividing line, in the prescribed limit in shooting image IM is considered as division originally by identification part 130
The road dividing line in lane, the region that identification is divided by them is as traveling lane.
Then, action plan generating unit 150 generates target track (in lane in a manner of being not principally deviate from traveling lane
Change, branch in the case where converging, switch traveling lane in midway).Therefore, in the control of automatic Pilot, institute can be identified
Become important element along lane.
Here, identification part 130 not necessarily can brightly identify road dividing line always.For example, utilizing white line or yellow line
Describe the road dividing line of type in the road sometimes due to deteriorating year in year out and generating abrasion.In addition, in road construction, receiving
Take the periphery at place under such circumstances, it is also possible to which there are the roads of no road dividing line.In turn, it is also possible to generate due to existing
In the scene that other vehicles on the periphery of this vehicle M etc. can not shoot road dividing line by camera 10.In the following, will
Such various scenes are referred to as " when dividing line lacks ".In dividing line missing, this vehicle M is also required to be gone along road
It sails, it is therefore preferable that carrying out certain replacement processing.
In light of this situation, the identification of thread mark identification part 132 is present in the height different from road and from overhead
The thread mark extended along the road.In the example in figure 3, upper end UE (SW) phase of the upper end UE (GR) of guardrail and side wall
When in thread mark.In addition, be difficult to be identified when other vehicles etc. enter between thread mark and camera 10, it is therefore, excellent
Selecting thread mark is to be set to the object more closer to the top than camera 10.It is, for example, the upper end UE of side wall SW with this comparable object
(SW).In the following, thread mark identification part 132 is as the position on the shooting image IM of the upper end UE (SW) of identification side wall SW
Part is illustrated.
Thread mark identification part 132 for example identifies the position for constituting multiple pixels of upper end UE (SW) of side wall SW.So
Afterwards, thread mark identification part 132 makes the position of multiple pixels be similar to straight line, is identified as the straight line in the plane of delineation.
In contrast, the steering angle of 152 couples of this vehicle M of control unit carries out feedback control when dividing line lacks, so that the inclination of straight line
It is fixed.
Fig. 4 is the figure for showing the inclined relationship of the upper end UE (SW) of turning angle and side wall SW of this vehicle M.As schemed
Show, when the turning of this vehicle M left direction, the upper end UE (SW) of side wall SW increases (anxious relative to the lateral inclination of image
It is acute), when the turning of this vehicle M right direction, the upper end UE (SW) of side wall SW reduces (flat relative to the lateral inclination of image
It is slow).Using this point, control unit 152 carries out feedback control shown in formula (1) when dividing line lacks.In formula, θ is steering angle, Δ θ
It is steering angle amount of change,The upper end UE (SW) of e.g. side wall SW relative to the reference direction angulation in image,The above-mentioned angulation of initial time when being dividing line missing.In addition, KP is proportional gain, KI is integral gain, KD
It is the differential gain.The example of PID control is shown in formula (1), still, control unit 152 can also carry out P control when dividing line lacks
System, PI control or arbitrary feedback control similar with its.
Fig. 5 is show the process flow executed by control unit 152 when thread mark identification part 132 and dividing line missing one
The flow chart of example.
Firstly, thread mark identification part 132 determines whether identification part 130 has lacked and (can not identify) road dividing line (step
Rapid S100).In the case where identification part 130 has lacked road dividing line, thread mark identification part 132 identifies thread mark, will
Inclination relative to shooting image IM saves in memory (step S102).The inclination is set as described
Then, the steering angle θ of 152 couples of this vehicle M of control unit carries out feedback control when dividing line lacks, so that relative to line
Shape object target image angulationIt is close(step S104).K-path partition line of engaging in this profession is being again identified that by identification part 130
Before, the processing (step S106) of step S104 is executed.
[bend presumption]
In the following, to by the thread mark identification part 132 of identification part 130 and the generation of bend presumption unit 134 and action plan
The content for the processing that control unit 152 executes when the dividing line missing in portion 150 is illustrated.
Bend presumption unit 134 is present according to the thread target position identified by thread mark identification part 132, presumption
The bend in the front of this vehicle M.Fig. 6 is the upper end UE (SW) for showing the bend and side wall SW in the front for being present in this vehicle M
Relationship figure.As shown, there are in the case where right bend in front of this vehicle M, the upper end UE (SW) of side wall SW at
For the curve of downwardly projecting convex form, also, compared with the case where bend is not present in the front of this vehicle M, relative to image
Lateral inclination reduce (gentle).In addition, there are in the case where left bend in front of this vehicle M, the upper end of side wall SW
UE (SW) becomes the curve of convex form protruding upward, also, compared with the case where bend is not present in the front of this vehicle M, phase
(sharply) is increased for the lateral inclination of image.
Bend presumption unit 134 keeps the arrangement for constituting the thread target pixel identified by thread mark identification part 132 close
The curves such as cubic curve are similar to, according to the beginning place of the parameter estimation bend of curve and curvature etc..For example, bend presumption unit
134 by estimating beginning place and curvature of bend etc. to pre-prepd mapping graph application parameter.
Control unit 152 is this vehicle M reaches the bend that is deduced by bend presumption unit 134 when dividing line lacks
Point and in the case where moment, identification part 130 lacked road dividing line, is based on being deduced by bend presumption unit 134
Bend curvature steering angle θ control.
For example, control unit 152 is according to formula (2) export feedforward steering angle θ when dividing line lacksff.In formula, C is the song of bend
Rate.
θff=f (C) ... (2)
In addition, control unit 152 can also be according to the image end of the upper end UE (SW) of side wall SW when dividing line lacks
Height and position (h in Fig. 6) finds out feedback steering angle θfb.Feed back steering angle θfbIt is indicated by formula (3).
Δθfb=KP (h-h0)+KI·∫(h-h0)·dt+KD·{d(h-h0)/dt}...(3)
Then, as shown in formula (4), control unit 152 can also be by finding out feedforward steering angle θ when dividing line lacksffWith it is anti-
Present steering angle θfbWeighted sum, determine the steering angle θ of this vehicle M.For example, alpha+beta=1.
θ=α × θff+β×θfb...(4)
Fig. 7 is to show to be executed by control unit 152 when thread mark identification part 132, bend presumption unit 134, dividing line missing
Process flow an example flow chart.The processing of the flow chart of Fig. 7 can execute parallel with the processing of the flow chart of Fig. 5,
Either side in the processing for the flow chart that Fig. 5 and Fig. 7 can be only executed.
Firstly, thread mark identification part 132 identifies thread mark (step S200).Then, bend presumption unit 134 determines line
Shape object target extends whether form changes (step S202).As illustrated in Figure 6, bend presumption unit 134 is according to thread
Target inclination, curved direction and degree determine that thread target extends whether form changes.
In the case where being determined as that thread target extends metamorphosis, bend presumption unit 134 estimates the presence of bend, opens
Beginning place, curvature etc., in memory (step S204) by these information preservations.Then, control unit 152 is sentenced when dividing line lacks
Determine whether identification part 130 has lacked and (can not identify) road dividing line (step S206).Road k-path partition has been lacked in identification part 130
In the case where line, S200 the processing returns to step.
In the case where identification part 130 has lacked road dividing line, control unit 152 is according in memory when dividing line lacks
The curvature of preservation finds out feedforward steering angle (step S208), reaches standby (step before bend starts place in this vehicle M
S210).When this vehicle M, which reaches bend, starts place, as described above, control unit 152 passes through feedforward and anti-when dividing line lacks
Feedback is controlled (step S212) to the steering angle of this vehicle M.By identification part 130 again identify that engage in this profession k-path partition line it
Before, execute the processing (step S214) of step S212.It should be noted that passing through identification in the execution of step S208, S210
Portion 130 again identifies that engage in this profession k-path partition line in the case where, the processing of the flow chart can also be detached from.
The controller of vehicle of first embodiment from the description above includes image pickup part (10), to vehicle
Front or behind is shot；Thread mark identification part (132) in the image obtained from being shot as image pickup part, is known
The thread mark for not being present in the height different from road and extending from overhead along the road；And drive control section
(150,160) control the traveling of the vehicle according to the thread target position in image, and thereby, it is possible to more
Widen and replaces control when general scene carries out road dividing line missing.
In the explanation of Fig. 4, it is illustrated premised on being shot in front of 10 couples of this vehicle M of camera, still, phase
Machine 10 can also shoot the rear of this vehicle M.Illustrate in this case, turning angle is shown with inclined relationship with Fig. 4
The different relationship of relationship.It should be noted that if camera 10 is difficult to carry out not to shooting in front of this vehicle M
Bend presumption.
<second embodiment>
In this second embodiment, controller of vehicle is applied to carry out the driving of the drive supportings such as lane maintenance control
The example of assisting system is illustrated.Drive supporting device is not mounted in automatic Pilot vehicle as first embodiment for example
, it can be mainly equipped on the vehicle for carrying out manual drive, can also be equipped on and selectively be carried out automatic Pilot and drive manually
Sail the vehicle for adding drive supporting.
Fig. 8 is the structure chart of the drive supporting device 400 of second embodiment.Drive supporting device 400 is for example with vehicle
Control unit 452 when road maintains control unit 420, thread mark identification part 432, bend presumption unit 434, dividing line to lack.These knots
Structure element for example executes program (software) Lai Shixian by hardware processors such as CPU.In addition, a part in these structural elements
Or it can also all pass through the hardware (circuit portion such as LSI, ASIC, FPGA, GPU；Include circuitry) Lai Shixian, it can also lead to
Cross the cooperating to realize of software and hardware.
Same as the identification part 130 of first embodiment, lane maintains control unit 420 to identify road dividing line and Travel vehicle
Road, in a manner of making this vehicle M not deviate by traveling lane to steering wheel assign steering reaction force, or with offset direction
Steering angle is controlled on opposite direction.
Control unit 452 is respectively provided with and first when thread mark identification part 432, bend presumption unit 434 and dividing line lack
The identical function of control unit 152 when thread mark identification part 132, bend presumption unit 134 and the dividing line of embodiment lack.By
This, same as first embodiment, the drive supporting device 400 of second embodiment maintains control unit 420 to lack in lane
In the case where road dividing line, replaced carrying out the control for keeping lane according to thread target position.It should be noted that
Drive supporting is premised on manual drive, accordingly it is also possible to when replacing carrying out control for maintaining lane within a certain period of time,
After notifying to passenger, stop drive supporting.
Second embodiment from the description above can play effect same as the first embodiment.
<hardware configuration>
Fig. 9 is the drive supporting dress for the automatic Pilot control device 100 or second embodiment for showing first embodiment
Set the figure of an example of the hardware configuration of 400 (the following are automatic Pilot control devices 100 etc.).As shown, automatic Pilot controls
Device 100 etc. is configured to communication controler 100-1, CPU100-2, RAM (the Random Access as working storage
Memory) ROM (the Read Only Memory) 100-4, flash memory or HDD (Hard Disk of 100-3, storage bootstrap etc.
) etc. Drive storage devices 100-5, driving device 100-6 etc. are connected with each other by internal bus or private communication line.Communication control
Structural element other than device 100-1 processed is equal with automatic Pilot control device 100 is communicated.It is stored in storage device 100-5
The program 100-5a for thering is CPU100-2 to execute.The program passes through DMA (Direct Memory Access) controller (not shown)
It is unfolded Deng in RAM100-3, is executed by CPU100-2.Hereby it is achieved that identification part 130 and action plan generating unit
Control unit 452 when one or both or thread mark identification part 432, bend presumption unit 434 and dividing line in 150 lack
In part or all.
Above explained embodiment can show as follows.
Controller of vehicle is configured to include
The image pickup part that the front or behind of vehicle is shot；
It is stored with the storage device of program；And
Hardware processor,
The hardware processor executes described program, as a result,
In the image obtained from being shot as the image pickup part, identification is present in the height different from road and from upper
The thread mark that sky observation extends along the road,
The traveling of the vehicle is controlled according to the thread target position in described image.
More than, mode for carrying out the present invention is illustrated using embodiment, still, the present invention is completely unlimited
In such embodiment, various modifications and displacement can be applied without departing from the scope of the subject in the invention.
Claims (9)
1. a kind of controller of vehicle comprising:
Image pickup part shoots the front or behind of vehicle；
Thread mark identification part, in the image obtained from being shot as the image pickup part, identification is present in road not
Same height and the thread mark extended from overhead along the road；And
Drive control section controls the traveling of the vehicle according to the thread target position in described image.
2. controller of vehicle according to claim 1, wherein
The drive control section controls the steering of the vehicle, so that the thread target in described image is inclined
It is tiltedly fixed.
3. controller of vehicle according to claim 2, wherein
The drive control section make the inclination dimension of the thread target in described image for the steering angle of the vehicle
It holds as fixed feedback control.
4. controller of vehicle according to claim 1, wherein
The image pickup part to being shot in front of the vehicle,
The controller of vehicle also has bend presumption unit, which identifies according to by thread mark identification part
Thread target out extends form, estimates the presence of the bend in front of the traveling of the vehicle.
5. controller of vehicle according to claim 4, wherein
The bend presumption unit also estimates the curvature for the bend being present in front of the traveling of the vehicle,
The drive control section carries out the steering of the vehicle according to the curvature of the bend deduced by the bend presumption unit
Control.
6. controller of vehicle according to claim 1, wherein
The thread mark is to be set to the object more closer to the top than the image pickup part.
7. controller of vehicle according to claim 6, wherein
The thread mark is the upper end of the side wall of road.
8. a kind of control method for vehicle, which is characterized in that
Image pickup part shoots the front or behind of vehicle,
In the image obtained from being shot as the image pickup part, identification is present in different from road for thread mark identification part
Height and the thread mark extended under overlook view along the road,
Drive control section controls at least steering of the vehicle according to the thread target position in described image.
9. a kind of storage medium, which is characterized in that
The storage medium is stored with program, which makes to be equipped on the camera shooting with the front or behind of vehicle is shot
Computer in the vehicle in portion executes following processing:
In the image obtained from being shot as the image pickup part, identification is present in the height different from road and sees overlooking
The thread mark extended along the road is examined down,
At least steering of the vehicle is controlled according to the thread target position in described image.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017248942A JP6965152B2 (en) | 2017-12-26 | 2017-12-26 | Vehicle control devices, vehicle control methods, and programs |
| JP2017-248942 | 2017-12-26 |
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| Publication Number | Publication Date |
|---|---|
| CN109987082A true CN109987082A (en) | 2019-07-09 |
| CN109987082B CN109987082B (en) | 2022-09-09 |
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| JP7325296B2 (en) | 2019-10-25 | 2023-08-14 | 日産自動車株式会社 | Object recognition method and object recognition system |
| JP7304379B2 (en) * | 2021-03-30 | 2023-07-06 | 本田技研工業株式会社 | DRIVER ASSISTANCE SYSTEM, DRIVER ASSISTANCE METHOD, AND PROGRAM |
| CN115000469B (en) * | 2022-07-11 | 2022-11-08 | 佛山市清极能源科技有限公司 | Power control method of fuel cell system |
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| US20100295668A1 (en) * | 2009-05-22 | 2010-11-25 | Toyota Jidosha Kabushiki Kaisha | Driving support apparatus |
| CN202271993U (en) * | 2011-07-29 | 2012-06-13 | 富士重工业株式会社 | Vehicle drive-assistant device |
| JP2014019262A (en) * | 2012-07-17 | 2014-02-03 | Fuji Heavy Ind Ltd | Vehicular drive support device |
| US20160311430A1 (en) * | 2015-04-21 | 2016-10-27 | Honda Motor Co., Ltd. | Road environment recognition device, vehicle control device, and vehicle control method |
| JP2017220056A (en) * | 2016-06-08 | 2017-12-14 | 株式会社デンソー | Information processing device |
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| JPH07125563A (en) * | 1993-11-01 | 1995-05-16 | Mitsubishi Motors Corp | Travel controller of automobile |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100295668A1 (en) * | 2009-05-22 | 2010-11-25 | Toyota Jidosha Kabushiki Kaisha | Driving support apparatus |
| CN202271993U (en) * | 2011-07-29 | 2012-06-13 | 富士重工业株式会社 | Vehicle drive-assistant device |
| JP2014019262A (en) * | 2012-07-17 | 2014-02-03 | Fuji Heavy Ind Ltd | Vehicular drive support device |
| US20160311430A1 (en) * | 2015-04-21 | 2016-10-27 | Honda Motor Co., Ltd. | Road environment recognition device, vehicle control device, and vehicle control method |
| JP2017220056A (en) * | 2016-06-08 | 2017-12-14 | 株式会社デンソー | Information processing device |
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| JP2019112007A (en) | 2019-07-11 |
| JP6965152B2 (en) | 2021-11-10 |
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