CN110271544A - 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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- CN110271544A CN110271544A CN201910179148.9A CN201910179148A CN110271544A CN 110271544 A CN110271544 A CN 110271544A CN 201910179148 A CN201910179148 A CN 201910179148A CN 110271544 A CN110271544 A CN 110271544A
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- 230000001737 promoting effect Effects 0.000 claims 1
- 238000012545 processing Methods 0.000 description 25
- 230000015654 memory Effects 0.000 description 10
- 230000006399 behavior Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000037361 pathway Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000001514 detection method Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 230000033228 biological regulation Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 4
- 239000000284 extract Substances 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 239000000470 constituent Substances 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Enter even if the present invention provides other vehicles that one kind is present in outside the road of this vehicle traveling into road, controller of vehicle, control method for vehicle and the storage medium that also this vehicle can be made swimmingly to travel.Controller of vehicle (100) has: the identification part (130) identified to the surrounding condition of this vehicle；And the drive control section (142,160) automatically controlled come the acceleration and deceleration to this vehicle and is turned to based on the surrounding condition identified by identification part, wherein, the state of the driver of the state or other vehicles of positional relationship and other vehicles of the drive control section based on other vehicles and this vehicle outside the road of this vehicle driving identified by identification part, to determine whether other vehicles enter out of road extroversion road, in the case where being judged to entering, this vehicle is made to carry out avoidance action according to the access path of other vehicles.
Description
Technical field
The present invention relates to controller of vehicle, control method for vehicle and storage mediums.
Background technique
In recent years, constantly it is in progress to the research for automatically controlling vehicle.It is related to this and known to have following technology: this vehicle
At current intersection in future the region of accident occurs for presumption, and is shown to driver (referring for example to Japanese special
Open 2003-14474 bulletin).According to technology documented by patent document 1, the accident information for the accident that the past is occurred and position
It sets and associatedly stores, alerted based on the current location of this vehicle and accident information to accident and the close of position occurs, so as to
Enough driver is promoted to pay attention to.
However, in the prior art, there is no the movement to other vehicles outside the road for being present in the traveling of this vehicle into
Row presumption is to avoid contact of this vehicle with other vehicles.As a result, in the presence of the possibility that this vehicle can not be made swimmingly to travel
Property.
Summary of the invention
The scheme of the invention is completing considering this situation, one of its goals is to even if provide a kind of deposit
It is that other vehicles outside the road of this vehicle traveling enter into road, the vehicle control that also this vehicle can be made swimmingly to travel
Device, control method for vehicle and storage medium processed.
Solution for solving the problem
Controller of vehicle, control method for vehicle and storage medium of the invention uses structure below.
(1): the controller of vehicle of a scheme of the invention has: identification part, carries out to the surrounding condition of this vehicle
Identification；And drive control section, the acceleration and deceleration based on the surrounding condition identified by the identification part, to described vehicle
And turn to and automatically controlled, wherein the drive control section is located at described vehicle based on what is identified by the identification part
Other vehicles outside the road of traveling and the positional relationship of described vehicle and the state of other vehicles or it is described its
The state of the driver of his vehicle, to determine whether other described vehicles enter out of road extroversion road, be determined as it is described
In the case that other vehicles enter out of road extroversion road, described vehicle is made according to the access path of other vehicles
Carry out avoidance action.
(2): on the basis of the scheme of above-mentioned (1), the drive control section is being judged to being identified by the identification part
Other described vehicles enter out of road extroversion road in the case where, made based on the access path of other vehicles described
This vehicle carries out lane change.
(3): on the basis of the scheme of above-mentioned (1), the drive control section is being determined as other described vehicles from road
Enter in export-oriented road and between the subsequent vehicle and this vehicle of the behind of described vehicle at a distance from be predetermined distance
In the case where above, described vehicle is made to carry out speed-down action as the avoidance action.
(4): on the basis of the scheme of above-mentioned (3), the controller of vehicle is also equipped with the output section of output information, institute
Drive control section is stated when making described vehicle carry out speed-down action as the avoidance action, makes the output section to described
The information that the output of other vehicles promotes other described vehicles to enter into road.
(5): on the basis of the scheme of above-mentioned (1), the identification part to be set to along road extend kerbstone into
Approach identified, the drive control section in the case where there are other described vehicles in the region near road,
It is determined as that other described vehicles enter out of road extroversion road, described vehicle is made to carry out avoidance action.
(6): on the basis of the scheme of above-mentioned (1), the identification part is to other vehicles described in being present in outside road
Heating region identified, the hot zone of the drive control section other vehicles described in being identified as the identification part
In the case that the temperature in domain is specified value or more, it is determined as that other described vehicles enter out of road extroversion road, makes described
Vehicle carries out avoidance action.
(7): on the basis of the scheme of above-mentioned (1), the identification part is to other vehicles described in be present in outside road
Generate include sound, vibration and it is luminous including at least one of state change identified, the drive control section base
It is determined as that other described vehicles enter out of road extroversion road in the state change identified by the identification part, makes
Described vehicle carries out avoidance action.
(8): on the basis of the scheme of above-mentioned (1), the identification part is in other vehicles described in being present in outside road
Identify the presence of driver, the drive control section is present in other described vehicles being identified as the driver by the identification part
In the case where in, it is determined as that other described vehicles enter out of road extroversion road, described vehicle is made to carry out avoidance action.
(9): on the basis of the scheme of above-mentioned (1), the identification part carries out the variation of the overall height of other vehicles
Identification, the drive control section determine in the case where identifying the variation of overall height of other vehicles by the identification part
Enter out of road extroversion road for other described vehicles, described vehicle is made to carry out avoidance action.
(10): on the basis of the scheme of above-mentioned (1), the identification part to stop across pavement and road other
The presence of vehicle identified, the drive control section stops across the pavement and road being identified by the identification part
In the case where other vehicles of vehicle, determine whether other described vehicles enter into road, so that described vehicle is carried out avoidance dynamic
Make.
(11): on the basis of the scheme of above-mentioned (1), the drive control section is identified by the identification part across print
Note in the case where other vehicles that the carriageway marking on road is stopped, determine other described vehicles whether into road into
Enter, described vehicle is made to carry out avoidance action.
(12): on the basis of the scheme of above-mentioned (1), the identification part goes out to the expression parking field being present in outside road
The entrance, the driving are identified as near the display that the presence of the display of entrance is identified, and will identify that
Feelings of the control unit in the display for the entrance for identifying the expression parking field being present in outside road by the identification part
Under condition, it is determined as that other described vehicles near the entrance enter into road, described vehicle is made to carry out avoidance action.
(13): on the basis of the scheme of above-mentioned (1), the controller of vehicle is also equipped with acquisition unit, acquisition unit warp
Obtain the information of other vehicles by the communication unit communicated with other described vehicles, the drive control section be based on by
The information that the acquisition unit obtains and be determined as that other described vehicles enter into road, return described vehicle
Keep away movement.
(14): on the basis of the scheme of above-mentioned (1), the identification part to described in entering out of road extroversion road its
The direction of travel of his vehicle and the extending direction angulation of road identify that the drive control section is based on by the knowledge
The extending direction of the direction of travel of other vehicles described in entering in the slave road extroversion road that other portion identifies and road institute at
Angle, to make described vehicle carry out avoidance action.
(15): on the basis of the scheme of above-mentioned (1), the drive control section based on by the identification part identify from
The direction of travel of other vehicles entered in road extroversion road and the extending direction angulation of road, it is described to make
This vehicle carries out avoidance action.
(16): on the basis of the scheme of above-mentioned (1), other vehicles described in being present in outside road are stopped in the identification part
The case where terminating in parking frame identified, the drive control section as the identification part described in be identified as being present in outside road
In the case that other vehicles stop at parking frame, it is determined as that other described vehicles do not enter out of road extroversion road, limits institute
State the avoidance action of this vehicle.
(17): computer is handled as follows in the control method for vehicle of a scheme of the invention: to the periphery of this vehicle
Situation is identified；Based on the surrounding condition identified, acceleration and deceleration to described vehicle and turning to automatically are controlled；Base
In the positional relationship that identifies other vehicles outside the road of described vehicle driving and described vehicle and described
The state of the driver of the state of other vehicles or other vehicles, to determine other described vehicles whether from road extroversion road
Enter in road；And in the case where being determined as that other described vehicles enter out of road extroversion road, according to other described vehicles
Access path so that described vehicle is carried out avoidance action.
(18): the storage medium of a scheme of the invention be stored with program it is computer-readable enter non-transitory storage
Medium, wherein computer is handled as follows in described program: the surrounding condition of this vehicle is identified；Based on identifying
Surrounding condition, acceleration and deceleration to described vehicle and turning to automatically control；It is located at described vehicle based on what is identified
Other vehicles outside the road of traveling and the positional relationship of described vehicle and the state of other vehicles or it is described its
The state of the driver of his vehicle, to determine whether other described vehicles enter out of road extroversion road；And it is being determined as
In the case that other described vehicles enter out of road extroversion road, described is made according to the access path of other vehicles
Vehicle carries out avoidance action.
Invention effect
According to the scheme of above-mentioned (1)~(18), even if other vehicles being present in outside the road of this vehicle traveling are to road
Interior entrance can also be such that this vehicle swimmingly travels.
According to the scheme of above-mentioned (4), additionally it is possible to provide the information of the movement about this vehicle to other vehicles.
According to the scheme of above-mentioned (5)~(16), additionally it is possible to be predicted according to state of other vehicles identified from outside etc.
The movement of other vehicles.
Detailed description of the invention
Fig. 1 is the structure chart that the Vehicular system of controller of vehicle of embodiment is utilized.
Fig. 2 is the functional structure chart of first control units and the second control unit.
Fig. 3 is the figure of an example for other vehicles m for indicating that other vehicle identification portions are identified.
Fig. 4 is the figure for indicating an example of the variation of overall height of other vehicles m.
Fig. 5 is the figure of an example for the state for indicating that other vehicles m is upwardly into the side for crossing road R.
Fig. 6 is the figure of an example for the state for indicating that other vehicles m is upwardly into the side converged relative to road R.
Fig. 7 is the flow chart for indicating an example of the process flow executed in avoiding control unit.
Fig. 8 is the flow chart for indicating the process flow executed in automatic Pilot control device.
Fig. 9 is the flow chart for indicating the process flow executed in automatic Pilot control device.
Figure 10 is the figure for indicating an example of the hardware configuration of automatic Pilot control device of embodiment.
Specific embodiment
Hereinafter, referring to attached drawing to the embodiment of controller of vehicle of the invention, control method for vehicle and storage device
It is illustrated.Hereinafter, being illustrated to the case where being applicable in the regulation to keep left, but the case where being applicable in the regulation kept to the right
Under, left and right is read in turn.
[overall structure]
Fig. 1 is the structure chart that the Vehicular system 1 of the controller of vehicle of embodiment is utilized.Equipped with Vehicular system 1
Vehicle be, for example, two wheels, three-wheel, four-wheel etc. vehicle, driving source is that the internal combustions such as diesel engine, petrol engine are mechanical, electrical
Motivation or their combination.Motor uses the generation power or secondary electricity issued by the generator linked with internal combustion engine
Pond, fuel cell discharged power acted.
Vehicular system 1 for example has camera 10, radar installations 12, detector 14, microphone 15, object identification device 16, leads to
T unit 20, HMI (Human Machine Interface) 30, vehicle sensors 40, navigation device 50, MPU (Map
Positioning Unit) 60, driver behavior part 80, output section 90, automatic Pilot control device 100, traveling driving force output
Device 200, brake apparatus 210 and transfer 220.These devices, equipment pass through CAN (Controller Area
Network) multichannel communication multiple telecommunications such as communication line line, null modem cable, wireless communication networks etc. are connected with each other.Structure shown in FIG. 1 is not
Crossing is an example, it is convenient to omit a part of structure can also add other structures.
Camera 10 is, for example, that CCD (Charge Coupled Device), CMOS (Complementary Metal is utilized
Oxide Semiconductor) etc. solid-state imagers digital camera.Camera 10 is installed on the vehicle equipped with Vehicular system 1
Any part of (hereinafter referred to as this vehicle M).In the case where in front of shooting, camera 10 be installed on windscreen top,
Car room inside rear-view mirror back side etc..Camera 10 for example periodically shoots the periphery of this vehicle M repeatedly.Camera 10 is also possible to solid
Video camera.
Radar installations 12 detects the electric wave after being reflected by object to electric waves such as the periphery of this vehicle M radiation millimeter waves
(back wave) comes the position (distance and orientation) of at least detection object.Radar installations 12 is installed on any part of this vehicle M.Thunder
It can also be by FM-CW (Frequency Modulated Continuous Wave) mode come detection object up to device 12
Position and speed.
Detector 14 is LIDAR (Light Detection and Ranging).Detector 14 is to the periphery of this vehicle M
Irradiation light, and measure scattering light.Detector 14 based on from the time until light that shines, come detect until object away from
From.The light of irradiation is, for example, the laser of pulse type.Detector 14 is installed on any part of this vehicle M.
Microphone 15 collects the sound on the periphery of this vehicle M.
Object identification device 16 is to by part or all in camera 10, radar installations 12, detector 14 and microphone 15
The testing result detected carries out sensor fusion treatment, come position, type, the speed etc. for identifying object.Object identification device
16 export recognition result to automatic Pilot control device 100.Object identification device 16 can by camera 10, radar installations 12 and
The testing result of detector 14 is directly exported to automatic Pilot control device 100.Object knowledge can also be omitted from Vehicular system 1
Other device 16.Camera 10 includes the infrared ray phase that the variation of surface temperature of object is also shot other than shooting common image
Machine.Common camera shooting and infrared pick-up can also be switched to according to the function that camera 10 has.
Communication device 20 for example utilizes Cellular Networks, Wi-Fi net, Bluetooth (registered trademark), DSRC (Dedicated
Short Range Communication) etc., it is communicated with other vehicles on the periphery for being present in this vehicle M, or via
Wireless base station is communicated with various server units.
HMI30 prompts various information to the passenger of this vehicle M, and receives to be operated by the input that passenger carries out.HMI30 packet
Include various display devices, loudspeaker, buzzer, touch panel, switch, key etc..
Vehicle sensors 40 include the vehicle speed sensor detected to the speed of this vehicle M, detect to acceleration
Acceleration transducer, the angular speed around vertical axis is detected yaw-rate sensor, to the direction of this vehicle M into
The aspect sensor etc. of row detection.
Navigation device 50 for example has GNSS (Global Navigation Satellite System) receiver 51, leads
Navigate HMI52 and path determination section 53.Navigation device 50 by the first cartographic information 54 be held in HDD (Hard Disk Drive),
The storage devices such as flash memories.GNSS receiver 51 is based on the signal received from GNSS satellite, to determine the position of this vehicle M.
The position of this vehicle M can also be by being utilized INS (the Inertial Navigation of the output of vehicle sensors 40
System it) determines or supplements.The HMI52 that navigates includes display device, loudspeaker, touch panel, key etc..Navigate HMI52
It can be with part or all of sharing of HMI30 above-mentioned.Path determination section 53 is determined referring for example to the first cartographic information 54
Navigation is used to by passenger from the position (or arbitrary position of input) of this vehicle M determined by GNSS receiver 51
Path (hereinafter referred to as map upper pathway) until the destination of HMI52 input.First cartographic information 54 is, for example, to pass through expression
The route of road and the information that road shape is showed by the node of connection.First cartographic information 54 also may include road
Curvature, POI (Point Of Interest) information etc..
Map upper pathway is exported to MPU60.50 electricity of navigation device can carry out having used navigation based on map upper pathway
The Route guiding of HMI52.Navigation device 50 is filled such as the smart phone that can also be held by passenger, terminal tablet terminal
The function set is realized.Navigation device 50 can also send current location and purpose via 20 navigation server of communication device
Ground, and obtained and the same path of map upper pathway from navigation server.
Second cartographic information 62 is held in HDD, flash memories etc. and deposited by MPU60 for example including recommendation lane determination section 61
Storage device.Recommend lane determination section 61 that the map upper pathway provided from navigation device 50 is divided into multiple sections (for example, at this
It is split in vehicle traveling direction by 100 [m]), and determine to recommend lane by section referring to the second cartographic information 62.Recommend
Lane determination section 61 carries out travelling such determine on which lane from left side.
In map upper pathway there are in the case where branch part, recommending lane determination section 61 to determine to recommend lane, so that originally
Vehicle M can be travelled on the reasonable path for advancing to branch destination.
Second cartographic information 62 is than the cartographic information with high accuracy of the first cartographic information 54.Second cartographic information 62 for example wraps
Include the information etc. of the information in the center in lane or the boundary in lane.Also may include in the second cartographic information 62 road information,
Traffic restricted information, residence information (residence, postcode), facilities information, telephone number information etc..Second cartographic information 62 can
It is updated at any time with being communicated by communication device 20 with other devices.
Driver behavior part 80 is for example including gas pedal, brake pedal, gear lever, steering wheel, special-shaped steering wheel, control stick
Equal operating parts.The sensor of detection operating quantity or the presence or absence of operation is installed on driver behavior part 80, testing result to
One in automatic Pilot control device 100 or traveling drive force output 200, brake apparatus 210 and transfer 220
Partly or entirely output.
Output section 90 for example exports the information provided from this vehicle other vehicles.Output section 90 is for example by automatic Pilot control
Device 100 processed controls, it is aftermentioned so that this vehicle is carried out speed-down action as avoidance action like that when, other vehicles are exported and are promoted
Make the information entered into road.Output section 90 and car light, loudspeaker, loudspeaker, external display devices and communication device 20 etc.
Linkage, show to other vehicle output lights, sound, message via these devices, send information etc..
Automatic Pilot control device 100 (controller of vehicle) for example has first control units 120 and the second control unit
160.First control units 120 and the second control unit 160 are respectively such as by hard CPU (Central Processing Unit)
Part processor executes program (software) Lai Shixian.Part or all in these constituent elements can also pass through LSI (Large
Scale Integration)、ASIC(Application Specific Integrated Circuit)、FPGA(Field-
Programmable Gate Array), the hardware such as GPU (Graphics Processing Unit) (including circuit portion:
Circuitry) Lai Shixian can also be realized by the coordinated of software and hardware.Program can be pre-saved in automatic
In the storage devices such as HDD, the flash memories of steering control device 100, DVD, CD-ROM etc. can also be stored in and removably stored
In medium, and it is installed on and storage medium is assemblied in driving device HDD, the flash memories of automatic Pilot control device 100.
Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.First control units 120 for example has knowledge
Other portion 130 and action plan generating unit 140.Such as Parallel Implementation of first control units 120 is based on AI (Artificial
Intelligence: artificial intelligence) function realized and function based on the model realization being provided previously.For example, " identification intersects
The function at crossing " by executing the identification of the intersection based on realizations such as deep learnings and based on the condition being provided previously parallel
The identification that (there is the signal for being able to carry out pattern match, road sign etc.) is realized, and score is added to both sides and is integrated
It evaluates to realize on ground.Thus, it can be ensured that the reliability of automatic Pilot.
Identification part 130 is based on the letter inputted from camera 10, radar installations 12 and detector 14 via object identification device 16
Breath, come in this vehicle M periphery the position of object and the state of speed, acceleration etc. identify.The position of object
Such as be identified as taking the representative point (center of gravity, shaft center etc.) of this vehicle M as the position on the absolute coordinate of origin, and
It is used in control.The position of object can indicate by the representatives such as center of gravity, corner of object point, can also be by the area that shows
Domain indicates." state " of object may include the acceleration, acceleration or " status of action " of object (for example whether just
It is carrying out lane change or whether to carry out lane change).
Identification part 130 for example identifies the lane (traveling lane) of this vehicle M traveling.For example, identification part 130 will be from
The pattern (such as arrangement of solid line and dotted line) for the road dividing line that second cartographic information 62 obtains takes with from by camera 10
Image in the pattern of the road dividing line on the periphery of this vehicle M that identifies be compared, to identify traveling lane.Identification part
130 are not limited to road dividing line, can include road dividing line, road shoulder, kerbstone, central partition, guardrail etc. by identification
Traveling roadside circle (road boundary) inside identifies traveling lane.In the identification, it can also be added from navigation device 50 and take
The position of this vehicle M obtained, the processing result handled by INS.Identification part 130 is to temporarily ceasing line, barrier, red light, charge
It stands, road structure, other vehicles, other road item are identified.
Identification part 130 identifies position of this vehicle M relative to traveling lane, posture when identifying traveling lane.Identification part
130 can also for example identify the direction of travel of deviation and this vehicle M of the datum mark of this vehicle M from lane center relative to
The straight line angulation that lane center is connected, relative position and posture as this vehicle M relative to traveling lane.?
It can replace in this, identification part 130 identifies any side end (road k-path partition of the datum mark of this vehicle M relative to traveling lane
Line or road boundary) position etc., the relative position as this vehicle M relative to traveling lane.
Identification part 130 for example has other vehicle identification portions 132 and surrounding enviroment identification part 134.Other vehicle identification portions
132 pairs of other vehicles entered out of road extroversion road identify.Other vehicle identification portions 132 to other vehicles around
Environment is identified, and the element entered out of road extroversion road to other vehicles identifies.Surrounding enviroment identification part 134
The environment such as the road structure on periphery stopped to other vehicles identify.About other vehicle identification portions 132 and peripheral ring
The detailed processing of border identification part 134, is described later.
The generation of action plan generating unit 140 makes this vehicle M automatically (operatively independent of driver) in row in future
The target track sailed to travel on the recommendation lane by recommending lane determination section 61 to determine in principle, and copes with
The surrounding condition of this vehicle M.Target track is for example including velocity element.For example, target track shows as arriving this vehicle M
Track made of the place (track point) reached is arranged successively.Track point is based on distance on the way every defined operating range (example
Such as several [m] degree) the place that should reach this vehicle M, unlike this, every the defined sampling time, (such as zero point is several
[sec] degree) target velocity and aimed acceleration as target track a part and generate.Track point be also possible to every
The position that this vehicle M under the sampling instant in defined sampling time should be reached.In this case, target velocity, mesh
The information of mark acceleration is showed by the interval of track point.
Action plan generating unit 140 can set the event of automatic Pilot when generating target track.The thing of automatic Pilot
Part have constant-speed traveling event, low speed follow running event, lane altering event, branch's event, converge event, adapter tube event,
Avoidance event etc..Action plan generating unit 140 generates target track corresponding with the event started.
Action plan generating unit 140, which has, avoids control unit 142 and information acquiring section 144.
Avoid recognition result of the control unit 142 based on other vehicle identification portions 132 and surrounding enviroment identification part 134, to sentence
Whether fixed other vehicles m enters out of road extroversion road.Avoid control unit 142 based on judgement as a result, to decide whether to make this
Vehicle M avoids other vehicles m entered out of road extroversion road.About the processing for avoiding control unit 142, chatted later
It states.Information acquiring section 144 obtains the letter of other vehicles via the communication device 20 (communication unit) communicated with other vehicles
Breath.
Second control unit 160 control traveling drive force output 200, brake apparatus 210 and transfer 220, so that
This vehicle M by it is predetermined at the time of pass through the target track that is generated by action plan generating unit 140.
Back to Fig. 2, the second control unit 160 for example has acquisition unit 162, speed controlling portion 164 and course changing control portion
166.Acquisition unit 162 obtains the information of the target track (track point) generated by action plan generating unit 140, and makes memory
(not shown) stores the information.Speed controlling portion 164 is come based on the incidental velocity element of target track for being stored in memory
Control traveling drive force output 200 or brake apparatus 210.Course changing control portion 166 is according to the target track for being stored in memory
The bending situation in road, to control transfer 220.The processing in speed controlling portion 164 and course changing control portion 166 for example passes through feedforward
The combination with feedback control is controlled to realize.As an example, course changing control portion 166 is by the song of the road in the front with this vehicle M
The corresponding feedforward control of rate and based on from target track deviation carry out feedback control combination and execute.
Back to Fig. 1, travelling drive force output 200 will be used to make the traveling driving force (torque) of vehicle driving to drive
Driving wheel output.Traveling drive force output 200 combination such as having internal combustion engine, motor and speed changer and to it
The ECU that is controlled.ECU is according to the information inputted from the second control unit 160 or the letter inputted from driver behavior part 80
Breath, to control above-mentioned structure.Avoid control unit 142 and first control units 160 is combined an example for drive control section.
Brake apparatus 210 for example has caliper, hydraulic hydraulic cylinder transmitted to caliper, it is hydraulic to generate hydraulic cylinder
Electric motor and braking ECU.ECU is braked according to the information inputted from the second control unit 160 or from driver behavior part 80
The information of input controls electric motor, and braking moment corresponding with brake operating exported to each wheel.Brake apparatus 210
Can have by the operation for the brake pedal for being included by driver behavior part 80 generate it is hydraulic via main hydraulic cylinder to liquid
The mechanism of cylinder pressure transmitting is as spare.Brake apparatus 210 is not limited to above explained structure, is also possible to control according to from second
The information that portion 160 processed inputs controls actuator, thus by the hydraulic electronic control type liquid transmitted to hydraulic cylinder of main hydraulic cylinder
Press brake apparatus.
Transfer 220, which for example has, turns to 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
The information that part 80 inputs drives electric motor, makes the direction change of deflecting roller.
[entrance of other vehicles outside road etc.]
Enter out of road extroversion road hereinafter, deciding whether to make this vehicle M to avoid automatic Pilot control device 100
The processing of other vehicles is illustrated.When this vehicle is in the case where more arterial road of the volume of traffic etc. is upper current, in this vehicle
Direction of travel on, there is the shop etc. entered and left by vehicle, thus other vehicles enter out of road extroversion road sometimes.
When other vehicles m of the region parking outside road starts to walk and the lane of the road to this vehicle driving enters,
A possibility that being impacted in the presence of the traveling to this vehicle M.There are such other vehicles entered out of road extroversion road
In the case where, the movement of other vehicles is predicted travel this vehicle M swimmingly and be important.
Automatic Pilot control device 100 is according to the states of other vehicles identified by identification part 130, to determine other vehicles
Whether enter out of road extroversion road, in the case where being judged to entering, this vehicle M is made to carry out avoidance action.Firstly, saying
The bright various identifying processings for making this vehicle M carry out the avoidance action.
[other vehicle identification portions]
Fig. 3 is the figure of an example for other vehicles m for indicating that other vehicle identification portions 132 are identified.As shown, being arranged
Region W other vehicles outside the roads such as the arterial road with the presence of pavement Q.Other vehicle identification portions 132 are for example towards road
Road and the region W outside existing road R identifies other vehicles m.Other vehicle identification portions 132 are such as based on the shooting as camera 10
To image extract road R and the object in addition to road R, the state of other vehicles m identified.Other vehicle identifications
The vehicle identification stopped in the parking frame P outside road R can be other vehicles m by portion 132, will also can also be stopped in road shoulder etc.
The vehicle of vehicle is included and is identified as other vehicles m.It other vehicle identification portions 132 can also be to across carriageway marking, people
Trade and other vehicles m of state to stop are identified.
Other vehicle identification portions 132 for example to stop on the direction substantially orthogonal with the direction of travel of this vehicle M its
His vehicle m is identified.Other vehicles m that other vehicle identification portions 132 can also stop the direction of travel along this vehicle M
It is identified, other vehicles m that can also stop to inclined direction is identified.Other vehicle identification portions 132 also to become stop
The movement of element that other vehicles m only enters into road R, the variation of state are identified.
The movement itself that other vehicle identification portions 132 can enter other vehicles m into road R identifies, can also
It is identified with being predicted as the elements such as the variation of state entered to the appearance based on other vehicles m.Other vehicle identification portions
132 for example identify the movement of other vehicles m, as the element that other vehicles m enters into road R is contemplated for.
Other vehicle identification portions 132 for example generate threedimensional model, which indicates this vehicle M's sometime put
The relative positional relationship of other vehicles m identified and this vehicle M at position.Other vehicle identification portions 132 are for example to being expert at
Other vehicles m on three-dimensional space that appearance when into after to a certain degree from this vehicle M is changed in mould
Position in type is compared with the position in the picture for other vehicles m having been achieved with, to identify or predict other vehicles
The movement and direction of travel that m enters from the region outside road R into road R.Other vehicle identification portions 132 based on generation three
Dimension module, and the recognition result of the running rail based on other vehicles m, to identify or predict that the presence or absence of turning, turning start ground
Point, angle of turn etc..
Other vehicle identification portions 132 export the posture of other vehicles m from the image taken by camera 10, to defined
The position of other vehicles m and the variation of posture in multiple images in sampling period are compared to export angle of turn.Its
The place that the angle of turn of derived other vehicles m is more than threshold value is identified as turning and starts place by his vehicle identification portion 132.Its
His vehicle identification portion 132 can also the subsequent vehicle to the behind in this vehicle M also carry out processing similar to the above.Its
The extending direction angulation of other vehicles m and road R of his 132 pairs of vehicle identification portion movement and parking identifies.
Other vehicle identification portions 132 are in the case where other vehicles m stops, to various other vehicles m as shown below
Movement, variation etc. identified, the element entered as other vehicles m into road.
Other vehicle identification portions 132 are identified such as based on the variation of the brightness of the image taken by infrared camera
The heating region of other vehicles m.Heating region is for example the case where other vehicles m is acted by the engine of internal combustion engine
Under, refer to neighbouring, installation site of silencer, catalyst of loading position of engine etc..
Other vehicle identification portions 132 can also be identified other than heating region based on the recognition result of microphone 15 etc.
The sound of other vehicles m, vibration.Other vehicle identification portions 132 are for example according to the periphery sound for this vehicle M being collected by microphone 15
The data of sound, by using the parsing of Fast Fourier Transform (FFT) (Fast Fourier Transform:FFT), come extract by
Engine sound, the rattle of the idle running that other vehicles m is generated etc..Other vehicle identification portions 132 are in addition to identifying other vehicles m
Engine sound etc. except, audio alarms such as the inverter sound that is issued when can also identify drive motor, " dispatching a car " etc..
Other vehicle identification portions 132 for example identify the direction of the sound source of the engine sound extracted.Other vehicles
When the reception for the engine sound that identification part 132 is for example collected into based on the microphone 15 by the multiple positions for being set to vehicle M
It carves, to estimate direction present in the sound source of engine sound.Other vehicle identification portions 132 are for example being collected by microphone 15
In the case that the direction existing for other vehicles m extracts engine sound in sound, it is determined as that other vehicles m starts to walk.
Other vehicle identification portions 132 can also refer to the car light or direction of other vehicles m based on the recognition result of camera 10
Show that the case where light class such as lamp lights (luminous) is identified.It other vehicle identification portions 132 can also be to the direction of other vehicles m
The case where indicator light flashes is identified.Other vehicle identification portions 132 are for example with the defined sampling interval to object identification device
The multiple images of other vehicles m of 16 outputs are compared, the blinker flashing for identifying other vehicles m state with
In the case that the state of extinguishing is repeated, the flashing is identified.
Blinker is appointing in headlight, side direction indicating lamp, tail blinker of other vehicles m etc.
One or all.Other vehicle identification portions 132 can also identify the lighting for Brake lamp of other vehicles m.
In addition, the element identified as the appearance according to other vehicles m, other vehicle identification portions 132 can be to by phase
The image that machine 10 takes is parsed, come identify other vehicles m deflecting roller angle variation.
Other recognition results of vehicle identification portion 132 based on camera 10, to identify whether driver rides on other vehicles
m.It other vehicle identification portions 132 can also be based on the recognition result of camera 10, to identify whether the overall height of other vehicles m has occurred
Thus variation estimates the state that passenger rides on other vehicles m.
Fig. 4 is the figure for indicating an example of the variation of overall height of other vehicles m.Other vehicle identification portions 132 are for example based on phase
The recognition result of machine 10 identifies the variation of the overall height of other vehicles m.As shown, the occupant rides such as driver in
In the case where other vehicles m, the indoor weight of vehicle increases, and compared with when usual, overall height variation is lower.Other vehicle identification portions
132 for example parse the image taken by camera 10, to estimate under the start of calculation of the benchmark overall height (h0) of other vehicles m
Heavy amount (h0-h1).The benchmark overall height of other vehicles m can pass through inter-vehicular communication from other vehicles m via communication device 20
Obtain, can also the information based on the car type class of other vehicles m identified and from network obtain.Other vehicle identification portions 132
It can also be based on the information obtained by traveling, to set the benchmark overall height of other vehicles m.
It other vehicle identification portions 132, can also be with other in the case where inter-vehicular communication can be carried out with other vehicles m
Vehicle m is communicated, and the information of the movement of other vehicles such as the starting of other vehicles m is obtained, starting, stop, giving way, to identify
The movement of other vehicles m.
[surrounding enviroment identification part]
Surrounding enviroment identification part 134 parses the image obtained by camera 10, the difference of the brightness based on image come
Image is parsed, identifies the surrounding enviroment that other vehicles m stops.Surrounding enviroment identification part 134 for example identifies what other vehicles m stopped
Place.
Back to Fig. 3, the parking frame P for the region W being set to outside road is for example known in surrounding enviroment identification part 134
Not.Surrounding enviroment identification part 134 is by the white line etc. of the marking is identified as parking frame P at a prescribed interval in the region W outside road.
Surrounding enviroment identification part 134 identifies the road structure on the periphery of the position stopped other vehicles m.
Road structure is, for example, the works that central partition, kerbstone, pavement etc. are manually arranged, and also includes runway
The patterns etc. of the markings on road surface such as label.Road of the surrounding enviroment identification part 134 for example to the end extension in the left side of road
Kerb G is identified.The region recognition that surrounding enviroment identification part 134 extends by adjacent with the left side of kerbstone G and along road R
For pavement Q.Surrounding enviroment identification part 134 for example identifies the pavement being arranged as works.
Other than the pavement that surrounding enviroment identification part 134 is arranged in addition to being identified by works, also identification is in road
Curb side strip is estimated as pavement by the curb side strip that end is divided with defined carriageway marking.
Surrounding enviroment identification part 134 can also identify the road S that enters for being formed in kerbstone G.It is setting into road S
In kerbstone G and road structure that vehicle can be made current between the region W outside road R and road.Into road S for example on road
It is formed on kerb G as gap.Into road S other than being only set as the gap of kerbstone G, also it is set as making sometimes
The slope S1 that the height of a part of kerbstone G is formed lower than other parts.It is also possible into road S adjacent with kerbstone G
And the additional slope S2 for being set to road side.
It surrounding enviroment identification part 134 can also be to the billboard K of entrance etc. for the expression parking field being present in outside road
" P " of upper display etc. shows that content is identified, is into road S by the region recognition connecting with the road R near billboard K
(entrance).It is, for example, to be and discrepancy near billboard K near entrance away from the region within billboard K predetermined distance
Mouthful connection space stipulated that distance within position.It surrounding enviroment identification part 134, can be with other than identifying billboard K
Electronic bulletin board, the color differentiation on road surface or pavement, the mark of the marking on road surface or pavement etc. are identified, as expression
The display of entrance.
[avoiding control unit]
Avoid recognition result of the control unit 142 based on other vehicle identification portions 132 and surrounding enviroment identification part 134, to sentence
The region outside road is scheduled on the presence or absence of other vehicles.Avoid control unit 142 in the case where being determined to have other vehicles m,
The recognition result for the surrounding enviroment that state based on other vehicles m and other vehicles m stop, come determine other vehicles m whether from
Enter in road extroversion road.Avoid control unit 142 based on judgement as a result, being determined as what other vehicles m entered into road
In the case of, so that this vehicle M is carried out defined avoidance action according to the state of other vehicles m, access path etc..Avoidance action packet
Include at least one of lane change, speed-down action.Speed-down action is to slow down or stop.
Fig. 5 is the figure of an example for the state for indicating that other vehicles m is upwardly into the side for crossing road R.Other vehicles are known
Other portion 132 identifies to other vehicles m entered near the S of road is present in, and to other vehicles m and this vehicle M away from
From and other vehicles m identified relative to the direction of road R.It is, for example, the space being connect with into road S near into road S
Stipulated that the position within distance.
Avoid control unit 142 be determined as at a distance from other vehicles m and this vehicle M be predetermined distance within and other vehicles
In the case that m enters to road R, determine other vehicles m whether at least in this lane L1 for travelling this vehicle M on road R
The side crossed is upwardly into.Avoid control unit 142 for example based on other vehicles for being identified or being predicted by other vehicle identification portions 132
The presence or absence of turning of m, turning start place, angle of turn, come determine other vehicles whether to this lane L1, catch up with and surpass lane L2
Or opposite lane L3 enters.For example, the turning of turning track C1 starts in the case where other vehicles m converges to this lane L1
Place CP1, which is located at, to be entered near the S of road.
Avoid the place CP1 the turning for identifying turning track C1 by other vehicle identification portions 132 of control unit 142
In the case of, it is determined as that other vehicles m enters on the direction converged to this lane into road.In other vehicles m to catching up with and surpassing vehicle
In the case that road L2 converges, for example, other vehicles are travelled upwardly in the side for crossing this lane L1, the turning in the track C2 that turns is opened
Beginning place CP2, which is located at, starts the position that place CP1 is separated to road R side direction than turning.Avoid control unit 142 by other vehicles
In the case that identification part 132 identifies that the turning of turning track C2 starts place CP2, it is determined as that other vehicles m is crossing this
Enter on the direction of lane L1 into road.
For example, in the case where other vehicles m converges to opposite lane L3, other vehicles m by this lane L1 and is catching up with and surpassing
The side that lane L2 is crossed travels upwardly, and the turning of turning track C3 starts place CP3 and is located at than turning beginning place CP2 by road
The position of R side direction.Avoid the ground the turning for identifying turning track C3 by other vehicle identification portions 132 of control unit 142
In the case where point CP3, it is determined as that other vehicles m enters on the direction for crossing this lane L1 into road.
In the case where other vehicles m is stopped at near the S of road, since unidentified turning starts place, return
It keeps away control unit 142 and is determined as that other vehicles m enters on the direction for crossing this lane L1 into road.
Avoid control unit 142 in the judgement of the access path of other vehicles m, can also auxiliarily use other vehicles m
Deflecting roller angle variation recognition result.
Avoid control unit 142 in the case where being determined as that other vehicles m is upwardly into the side for crossing this lane L1, makes this
Vehicle M slows down or stops.The direction travelled to this vehicle M is predicted to be in other vehicles m that the side for crossing road R is upwardly into
Road in any lane enter, or by this vehicle M traveling direction road cross and to opposite lane enter.Cause
This, in the case where identifying the state of other above-mentioned vehicles, it is expected that entering other vehicles preferentially into road.Avoid
Control unit 142 makes this vehicle M slow down or stop in the case where being determined as that other vehicles m is upwardly into the side for crossing road R
Only.
But have at a distance between subsequent vehicle and subsequent vehicle and this vehicle in the behind of this vehicle M for regulation
In situation below, avoids control unit 142 and limit avoidance action, so that this vehicle M is not slowed down or is stopped and remain unchanged ground
Traveling.Here, predetermined distance refer to make this vehicle deceleration or stop in the case where subsequent vehicle do not bump against this vehicle and can
The distance slowed down or stopped.Predetermined distance can be redefined for it is corresponding with the speed of this vehicle driving be worth, can also generation
For predetermined distance using this vehicle reach other vehicles nearby until time.
Fig. 6 is the figure of an example for the state for indicating that other vehicles m is upwardly into the side converged relative to road R.Avoid
Control unit 142 for example based in the moving direction for entering other vehicles m identified near the S of road, is determined as other vehicles m
It is upwardly into relative to the inclined side of road R.Avoid angle of turn of the control unit 142 based on other vehicles m identified, it is right
The direction of travel of other vehicles m and the extending direction angulation of road entered out of road extroversion road determined,
And it is determined as that other vehicles m is upwardly into relative to the inclined side of road R.
In the case that avoidance control unit 142 identifies that turning starts place CP5 near entrance road S, it is determined as it
The direction of his vehicle m is the inclined direction of extending direction relative to road R.Avoid control unit 142 in the region W outside road
In the case where identifying that the turning of other vehicles m starts place CP5A, it is determined as other vehicles m inclined relative to road R
Side is upwardly into.
Avoiding control unit 142 can also be based on the recognition result of the image taken by camera 10, to identify other vehicles m
With the extending direction angulation of road R.Avoid control unit 142 in the judgement of the access path of other vehicles m, it can also be with
Auxiliarily using the recognition result of the variation of the angle of the deflecting roller of other vehicles m.
The side to converge to this lane L1 is predicted to be in other vehicles m being upwardly into relative to the inclined side of road R
Formula enters.Therefore, in the case where identifying the state of other above-mentioned vehicles, it is expected that making other vehicles preferentially into road
Into.Being determined as in the case where being upwardly into relative to the inclined side of road R, avoiding that control unit 142 determines whether can
Lane change is carried out to other lanes.It is adjacent in the lane travelled with this vehicle M and exist catch up with and surpass lane and be able to carry out lane
In the case where change, avoiding control unit 142 makes this vehicle M carry out lane change from traveling lane to lane is caught up with and surpassed.But suitable
On road with the traffic law for forbidding catching up with and surpassing etc., avoiding control unit 142 makes the travel priority according to traffic law.
Even if being judged as other vehicles m relative to road R near entrance road S in the direction of other vehicles m
In the case that inclined side is upwardly into, not for into the direction of travel identified at the place near the S of road to this vehicle M
When the turning converged starts place, avoid control unit 142 be also determined as other vehicles m by this lane L1 cross and into road
Catch up with and surpass lane L2 entrance.Avoid control unit 142 in the case where being determined as that other vehicles m crosses this lane L1, subtracts this vehicle M
Speed stops.
Even if in the case where the direction of other vehicles m is identified as inclined direction near entrance road S, in this vehicle
Road L1 or when catching up with and surpassing the turning for identifying that the direction of travel to opposite lane L3 converges at the L2 of lane and starting place, avoids control unit
142 are also determined as that this lane L1 is crossed and entered to opposite lane L3 by other vehicles m, this vehicle M is made to slow down or stop.
[the avoidance control for avoiding other vehicles]
Then, the process flow of the avoidance control executed in avoiding control unit 142 is illustrated.
Fig. 7 is the flow chart for indicating an example of the process flow executed in avoiding control unit 142.
Avoid recognition result of the control unit 142 based on other vehicle identification portions 132, to determine in the road that this vehicle M is travelled
Region outside road whether there is other vehicles (step S100).In the case where the judgement for being negated in the step s 100, repeat
Carry out the processing of step S100.In the case where the judgement for obtaining affirmative in the step s 100, avoids control unit 142 and be based on by other
The state for other vehicles m that vehicle identification portion 132 identifies determine other vehicles whether into road enter (step S110).
Avoid control unit 142 according to judgement as a result, this vehicle M is made to carry out avoidance action (step S130).
Then, sentence to what whether other vehicles m executed in automatic Pilot control device 100 by step S110 started to walk
Fixed processing is described in detail.Fig. 8 is the processing stream for indicating to execute in automatic Pilot control device 100 by step S110
The flow chart of journey.Avoid recognition result of the control unit 142 based on other vehicle identification portions 132 and surrounding enviroment identification part 134, comes
Carry out determination processing below.
Avoid control unit 142 to the distance between other vehicles identified and this vehicle whether be predetermined distance or less into
Row determines (step S111).Predetermined distance refers to the assumption that the row in the case where other vehicles enter in road to this vehicle
Sail the distance for impacting and this vehicle being made to need to carry out certain avoidance actions.For predetermined distance, it can be used for example
It is predicted as the distance between position and this vehicle that other vehicles enter into road, this vehicle and other vehicles also can be used
The distance between.Predetermined distance can be set previously according to speed, also be can replace predetermined distance and reached using this vehicle
Other vehicles nearby until time.
In the case where the judgement for being negated in step S111, avoids control unit 142 and be determined as the road other vehicles Bu Xiang
Enter (step S117) in road.In the case where longer than predetermined distance at a distance from this vehicle is between other vehicles, even if other
Vehicle enters into road, does not also impact to the traveling of this vehicle, therefore in order to facilitate processing later, by sentencing for the situation
Determine result and is contained in the step S117 for being determined as that other vehicles do not enter into road.
In the case where obtaining the judgement of affirmative in step S111, whether avoid control unit 142 to other vehicles in Xiang Dao
The direction movement on road is determined (step S112).In the case where obtaining the judgement of affirmative in step S112, avoid control unit
142 are determined as that other vehicles enter (step S119) into road.This is because at a distance between this vehicle for regulation away from
From following and other vehicles m in the case where mobile from the direction in road extroversion road, other vehicles m into road R into
A possibility that entering is high, needs to carry out the avoidance action of this vehicle.
In the case where avoiding the judgement that control unit 142 is negated in step S112, determine whether to be formed in the road
Have and enters road (step S113).In the case where obtaining the judgement of affirmative in step S113, avoids control unit 142 and determine other vehicles
Whether (step S114) is stopped at near road.This is because stopping in other vehicles m near the S of road
In the case of, a possibility that other vehicles m enters into road, is high.
In the case where the judgement for being negated in step S113, avoiding control unit 142 makes processing enter step S115.?
Avoid the acquirement of control unit 142 according to the appearance of other vehicles not in the case where entering near the S of road in the position of other vehicles m
State, periphery environment state and the other information that identifies, to determine entrance of other vehicles into road.
In the case where obtaining the judgement of affirmative in step S114, avoid control unit 142 determine in other vehicles whether
There are heating region (step S118).In the case where obtaining the judgement of affirmative in step S118, avoids control unit 142 and be determined as
Other vehicles enter (step S119) into road.This is because starting in other vehicles m there are in the case where heating region
A possibility that machine etc. is the state operated, other vehicles m enters into road is high.
In the case where the judgement for being negated in step S118, avoids control unit 142 and determine whether to produce from other vehicles
Raw sound, vibration (step S120).This is because in the case where other vehicles m is after engine just starts or at other
In the case that vehicle m is electric motor vehicle or hybrid motor vehicle, heating region not necessarily can recognize that.Therefore, knowing
Not Chu light class light or the factors such as the inverter sound of motor in the case where, a possibility that other vehicles m starts to walk, is high.
The case where at least one in the state change relevant to acoustics such as sound, the vibration for identifying other vehicles m
Under, become the factor for being determined as that other vehicles m enters into road.In the case where the judgement for obtaining affirmative in the step s 120,
Avoiding control unit 142 makes processing enter step S119.In the case where the judgement for being negated in the step s 120, avoid control unit
142 determine whether that there are driver (step S121) in other vehicles.This is because in other vehicles, there are driver's
In the case of, a possibility that other vehicles m enters into road, is high.
In the case where obtaining the judgement of affirmative in step S121, avoiding control unit 142 makes processing enter step S119.?
In the case where the judgement for being negated in step S121, avoids control unit 142 and determine whether the overall height of other vehicles declines (step
S122).This is because not necessarily can identify driver from the external of other vehicles, therefore in the vehicle for identifying other vehicles
In the case where height decline, a possibility that driver rides height.
In the case where obtaining the judgement of affirmative in step S122, avoiding control unit 142 makes processing enter step S119.?
In the case where the judgement for being negated in step S122, avoids control unit 142 and determine whether the light class of other vehicles lights (step
Rapid S123).In the case where obtaining the judgement of affirmative in step S123, avoids control unit 142 and be determined as other vehicles to road
It is interior to enter (step S119).This is because other than identifying the driver for the inside for being present in other vehicles, if identifying other
The variation of the external status of vehicle then becomes the decision factor of other vehicle starts, for example, if blinker flashes,
A possibility that his vehicle enters into road is high.
In the case where the judgement for being negated in step S123, avoids control unit 142 and determine whether other vehicles stop
Near the billboard of entrance etc. (step S124).In the case where obtaining the judgement of affirmative in step S124, avoid control
Portion 142 processed makes processing enter step S119.This is because being shown in the entrance that other vehicles are stopped in facility, parking field
Billboard etc. near in the case where, a possibility that entering into road, is high.
In the case where the judgement for being negated in step S124, avoids control unit 142 and be determined as the road other vehicles Bu Xiang
Enter (step S117) in road.
In the case where the judgement for being negated in step S114, avoids control unit 142 and determine whether other vehicles stop
In in the parking frame in the region outside road (step S115).In the case where the judgement for obtaining affirmative in step sl 15, avoid control
Portion 142 processed is determined as that other vehicles do not enter into road.This is because stopping at the situation in parking frame in other vehicles
Under, into road, a possibility that entrance, is low.
In the case where the judgement for being negated in step sl 15, avoids control unit 142 and determine whether other vehicles stop
Near road shoulder, curb side strip, pavement (step S116).In the judgement of step S116, avoids control unit 142 and determine other
Vehicle whether lean on left side road shoulder parking, other vehicles whether across curb side strip (carriageway marking), pavement and stop.
In the case where the judgement for being negated in step S116, avoids control unit 142 and be determined as the road other vehicles Bu Xiang
Enter (step S117) in road.In the case where obtaining the judgement of affirmative in step S116, avoiding control unit 142 enters processing
Step S118.
In flow chart described above, the sequence of each step of step S111 to step S124 is not limited to this, can also
Suitably to exchange.In flow chart described above, it is determined as other vehicles into road in the case where a condition is set up
Into, but also can replace in this, it is determined as that other vehicles enter into road in the case where multiple conditions are set up.
Then, it is described in detail according to the judgement result determined in automatic Pilot control device 100 by step S110
This vehicle M is set to carry out the processing of avoidance action.Fig. 9 is to indicate to execute in automatic Pilot control device 100 by step S130
Process flow flow chart.
Avoid control unit 142 based on the judgement determined in step s 110 as a result, start carry out with other vehicles whether to
Enter corresponding processing (step S131) in road.In the case where step S131 is negative, avoiding control unit 142 makes this vehicle
Travel (step S140) with remaining unchanged.In the case where step S131 is affirmative, avoiding that control unit 142 determines whether can be with
Other vehicles are communicated (step S132).This is because in the case where other vehicles are for example able to carry out inter-vehicular communication,
By referring to the information relevant to movement in the future of other vehicles from other vehicles obtained in advance by acquisition unit 144,
It is able to carry out the control of corresponding this vehicle of movement with other vehicles.
In the case where obtaining the judgement of affirmative in step S132, avoids control unit 142 and determine whether to connect from other vehicles
By to traveling control relevant " giving way " intention information (step S139).The judgement of affirmative is obtained in step S139
In the case of, avoiding control unit 142 makes this vehicle travel (step S140) with remaining unchanged.
In the case where the judgement for being negated in step S139, avoids control unit 142 and determine whether to connect from other vehicles
By to traveling control relevant " starting " intention information (step S141).
In the case where the judgement for being negated in step s 141, avoiding control unit 142 makes that processing returns to step S140.
In the case where obtaining the judgement of affirmative in step S134, avoiding control unit 142 makes processing enter step S135.
In the case where the judgement that other vehicles are negated in step S132 there is no the communication function between vehicle,
Avoid control unit 142 and determines whether other vehicles in the side for crossing this lane travel upwardly (step S133).In step S133
In the case where obtaining the judgement of affirmative, avoiding control unit 142 makes processing enter step S135.Negated in step S133
In the case where judgement, avoids control unit 142 and determine whether that lane change (step S134) can be carried out to other lanes.In step
In the case where the judgement for obtaining affirmative in S134, avoiding control unit 142 makes this vehicle carry out lane change (step S138).
In the case where the judgement for being negated in step S134, avoids control unit 142 and determine subsequent vehicle and this vehicle
The distance between whether be predetermined distance or more (step S135).In the case where the judgement for being negated in step S135, return
Keeping away control unit 142 makes this vehicle travel (step S140) with remaining unchanged.It can also be to can lead at this point, avoiding control unit 142
Other vehicles of letter send the information of the intention of " advance ".
In the case where obtaining the judgement of affirmative in step S135, avoiding control unit 142 makes this vehicle deceleration or stops (step
Rapid S136).Avoid control unit 142 when making this vehicle deceleration or stopping, via output section 90 to other vehicles in this vehicle
Output promotes the information (step S139) entered into road.In the information of output, such as in addition to including overtaking indicating light
Light, loudspeaker, voice message, shown to the information of external display devices etc. except, further include being sent by inter-vehicular communication
The information of the intention of " giving way ".
In flow chart described above, the sequence of each step of step S131 to step S140 is not limited to this, can also
Suitably to exchange.In flow chart described above, it is determined as other vehicles into road in the case where a condition is set up
Into, but also can replace in this, it is determined as that other vehicles enter into road in the case where multiple conditions are set up.
According to above-mentioned embodiment, even if automatic Pilot control device 100 is present in outside the road of this vehicle traveling
Other vehicles enter into road, can also this vehicle be made swimmingly to travel.
[hardware configuration]
Figure 10 is the figure for indicating an example of the hardware configuration of automatic Pilot control device 100 of embodiment.As shown,
Automatic Pilot control device 100 be communication controler 100-1, CPU100-2, the RAM that is used as working storage
ROM (Read Only Memory) 100-4, flash memories of (Random Access Memory) 100-3, preservation bootstrap etc.
Or storage devices 100-5, the driving device 100-6 such as HDD (Hard Disk Drive) etc. pass through internal bus or private communication line
And structure interconnected.Communication controler 100-1 carries out logical with the constituent element other than automatic Pilot control device 100
Letter.The program 100-5a of CPU100-2 execution is preserved in storage device 100-5.The program is by crossing DMA (Direct
Memory Access) controller (not shown) etc. is unfolded in RAM100-3, and is executed by CPU100-2.Hereby it is achieved that other
Vehicle identification portion, surrounding enviroment identification part and avoid control unit in part or all.
Above explained embodiment can show as described below.
A kind of controller of vehicle, consists of, and has:
Storage device is stored with program；And
Hardware processor,
The hardware processor is stored in the program of the storage device by execution to be handled as follows:
Identify the surrounding condition of this vehicle；
It is automatically controlled based on the surrounding condition identified come acceleration and deceleration to described vehicle and turning to；
It closes position based on other vehicles and described vehicle outside the road of described vehicle driving identified
The state of the driver of the state or other vehicles of system and other vehicles, whether to determine other described vehicles
Enter out of road extroversion road；And
In the case where being determined as that the vehicle enters out of road extroversion road, enter road according to other vehicles
Diameter makes described vehicle carry out avoidance action.
More than, a specific embodiment of the invention is illustrated using embodiment, but the present invention is not at all by such reality
The mode of applying limits, and can apply various modifications and replacement without departing from the spirit and scope of the invention.For example, in above-mentioned implementation
In mode, the avoidance action needed in the case where other vehicles enter from the region outside the road in the left side of road is carried out
Illustrate, but the present invention is not limited to this, be readily applicable to other vehicles positioned at opposite lane side from right side by center every
Gap from band etc. and enter in the case where avoidance control.
Claims (18)
1. a kind of controller of vehicle, wherein
The controller of vehicle has:
Identification part identifies the surrounding condition of this vehicle；And
Drive control section acceleration and deceleration to described vehicle and is turned based on the surrounding condition identified by the identification part
To automatically being controlled,
The drive control section is based on other vehicles outside the road of described vehicle driving identified by the identification part
State with the driver of the state or other vehicles of the positional relationship and other vehicles of described vehicle,
Determine whether other described vehicles enter out of road extroversion road, is being determined as other described vehicles from road extroversion road
In the case where interior entrance, described vehicle is made to carry out avoidance action according to the access path of other vehicles.
2. controller of vehicle according to claim 1, wherein
The drive control section other vehicles described in being judged to being identified as the identification part out of road extroversion road into
In the case where entering, described vehicle is made to carry out lane change as the avoidance action.
3. controller of vehicle according to claim 1, wherein
The drive control section other vehicles described in being determined as enter out of road extroversion road and after described vehicle
In the case that the distance between subsequent vehicle and this vehicle for just travelling are predetermined distance or more, described vehicle is made to slow down
Movement is as the avoidance action.
4. controller of vehicle according to claim 3, wherein
The controller of vehicle is also equipped with the output section of output information,
The drive control section makes the output section when making described vehicle carry out speed-down action as the avoidance action
The information for promoting other described vehicles to enter into road the output of other described vehicles.
5. controller of vehicle according to claim 1, wherein
The identification part to being set to identifying into road for the kerbstone extended along road,
The drive control section is determined as described in the case where the region near road has other described vehicles
Other vehicles enter out of road extroversion road, and described vehicle is made to carry out avoidance action.
6. controller of vehicle according to claim 1, wherein
The identification part identifies the heating region of other vehicles described in being present in outside road,
The temperature of the heating region of the drive control section other vehicles described in being identified as the identification part is rule
In the case where more than definite value, it is determined as that other described vehicles enter out of road extroversion road, avoids described vehicle
Movement.
7. controller of vehicle according to claim 1, wherein
The identification part to other vehicles described in be present in outside road generate include sound, vibration and it is luminous including shape
State variation at least one of identified,
The drive control section be determined as based on the state change identified by the identification part other described vehicles from
Enter in road extroversion road, described vehicle is made to carry out avoidance action.
8. controller of vehicle according to claim 1, wherein
The identification part identifies the presence of driver in other vehicles described in being present in outside road,
In the case that the drive control section is in other vehicles described in being identified as the driver by the identification part and being present in,
It is determined as that other described vehicles enter out of road extroversion road, described vehicle is made to carry out avoidance action.
9. controller of vehicle according to claim 1, wherein
The identification part identifies the variation of the overall height of other vehicles,
The drive control section is determined as in the case where identifying the variation of overall height of other vehicles by the identification part
Other described vehicles enter out of road extroversion road, and described vehicle is made to carry out avoidance action.
10. controller of vehicle according to claim 1, wherein
The identification part identifies the presence of other vehicles to stop across pavement and road,
The drive control section is identifying other vehicles to stop across the pavement and road by the identification part
In the case of, determine whether other described vehicles enter into road, described vehicle is made to carry out avoidance action.
11. controller of vehicle according to claim 1, wherein
The drive control section the carriageway marking across the marking on road is identified by the identification part and stop its
In the case where his vehicle, determine whether other described vehicles enter into road, described vehicle is made to carry out avoidance action.
12. controller of vehicle according to claim 1, wherein
The identification part identifies the presence of the display of the entrance for the expression parking field being present in outside road, and will identify
It is identified as the entrance near the display out,
The drive control section is in the discrepancy for identifying the expression parking field being present in outside road by the identification part
In the case where the display of mouth, it is determined as that other described vehicles near the entrance enter into road, makes described vehicle
Carry out avoidance action.
13. controller of vehicle according to claim 1, wherein
The controller of vehicle is also equipped with acquisition unit, which comes via the communication unit communicated with other described vehicles
The information of other vehicles is obtained,
The drive control section is determined as other described vehicles to road based on the information obtained from the acquisition unit
Interior entrance makes described vehicle carry out avoidance action.
14. controller of vehicle according to claim 1, wherein
The identification part is to the direction of travel of other vehicles and the extending direction of road described in entering out of road extroversion road
Angulation identified,
The drive control section is based on other vehicles described in entering in the slave road extroversion road identified as the identification part
Direction of travel and road extending direction angulation, to make described vehicle carry out avoidance action.
15. controller of vehicle according to claim 1, wherein
The drive control section is based on other vehicles described in entering in the slave road extroversion road identified as the identification part
Direction of travel and road extending direction angulation, to make described vehicle carry out avoidance action.
16. controller of vehicle according to claim 1, wherein
The case where identification part stops at parking frame to other vehicles described in being present in outside road identify,
The drive control section other vehicles described in being identified as being present in outside road as the identification part stop at parking frame
In the case where, it is determined as that other described vehicles do not enter out of road extroversion road, limits the avoidance action of described vehicle.
17. a kind of control method for vehicle, wherein
Computer is handled as follows in the control method for vehicle:
The surrounding condition of this vehicle is identified；
Based on the surrounding condition identified, acceleration and deceleration to described vehicle and turning to automatically are controlled；
Based on identify other vehicles and described vehicle outside the road of described vehicle driving positional relationship, with
And the state of the driver of the state or other vehicles of other vehicles, to determine other described vehicles whether from road
Enter in export-oriented road；And
In the case where being determined as that other described vehicles enter out of road extroversion road, enter road according to other vehicles
Diameter makes described vehicle carry out avoidance action.
18. a kind of storage medium, be stored with program it is computer-readable enter non-transitory storage medium, wherein
Computer is handled as follows in described program:
The surrounding condition of this vehicle is identified；
Based on the surrounding condition identified, acceleration and deceleration to described vehicle and turning to automatically are controlled；
Based on identify other vehicles and described vehicle outside the road of described vehicle driving positional relationship, with
And the state of the driver of the state or other vehicles of other vehicles, to determine other described vehicles whether from road
Enter in export-oriented road；And
In the case where being determined as that other described vehicles enter out of road extroversion road, enter road according to other vehicles
Diameter makes described vehicle carry out avoidance action.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-047991 | 2018-03-15 | ||
| JP2018047991A JP2019156269A (en) | 2018-03-15 | 2018-03-15 | Vehicle controller, vehicle control method and program |
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| CN110271544A true CN110271544A (en) | 2019-09-24 |
| CN110271544B CN110271544B (en) | 2022-08-12 |
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| CN201910179148.9A Active CN110271544B (en) | 2018-03-15 | 2019-03-08 | Vehicle control device, vehicle control method, and storage medium |
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| JP (1) | JP2019156269A (en) |
| CN (1) | CN110271544B (en) |
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Also Published As
| Publication number | Publication date |
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| CN110271544B (en) | 2022-08-12 |
| JP2019156269A (en) | 2019-09-19 |
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