JP2017165358A - Vehicle control information creation device and vehicle control information creation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control information creation device coping with various traveling conditions by performing reliable position detection for automatic driving, and calculating and outputting control parameters according to a peripheral situation and traveling condition of a vehicle.SOLUTION: A vehicle control information creation device for a vehicle to perform automatic driving includes: a user's vehicle position output part for outputting a present user's vehicle position based on satellite information received from a satellite positioning system, output of a gyro sensor for detecting a vehicle state quantity of the vehicle, and a vehicle speed from a vehicle speed sensor; a target traveling route derivation part for deriving a target traveling route for a target point from map data, the present user's vehicle position, and a preset target point; and a vehicle control quantity calculation part for calculating control parameters for the vehicle to travel to the target traveling route from the target traveling route and the present user's vehicle position. The control parameters are output to an external vehicle control device for executing traveling control of the vehicle.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle control information generation apparatus and a vehicle control information generation method for obtaining a control parameter for traveling on a preset target travel route by automatic operation for the purpose of automatic operation of the vehicle.

  In recent years, interest in automatic driving technology in which a vehicle automatically drives along a preset target route regardless of a user's driving operation has increased. The automatic driving technique is a technique that, for example, grasps the current position of the vehicle and the surrounding situation and automatically controls steering, driving, braking, and the like so as to travel along a preset target travel route. In addition to driving along the target route, it is required to grasp the surrounding situation, prevent dangers in the vicinity, recognize road signs, and perform operations according to the signs. In order to satisfy the above requirements, it is necessary to detect a reliable own vehicle position and to calculate a control parameter according to the traveling state of the vehicle.

  The technology for detecting the position of the vehicle includes, for example, a technology for correcting the position of the vehicle detected based on GPS (Global Positioning System), which is one of satellite positioning systems, and a self-supporting sensor mounted on the vehicle. It is described in Document 1. In addition, as a technique for calculating a control parameter necessary for automatic driving, for example, a technique for detecting a vehicle position from GPS information and calculating a control parameter for traveling on a target route is described in Patent Document 2 below. Has been.

JP 2008-80896 A JP 2005-67484 A

  However, in the above-mentioned Patent Document 1, there is a problem that the position detection error cannot be performed reliably because the position detection error increases depending on the reception status of the GPS satellite. Further, the above Patent Document 2 only discloses a method for calculating a control parameter related to steering control, and does not disclose a control parameter calculation such as a temporary stop determination or drive control according to a vehicle surrounding situation or a driving situation. However, there is a problem that a flexible response in automatic driving cannot be performed.

  The present invention has been made to solve the above-mentioned problems, and is capable of calculating and outputting a reliable position detection for the automatic driving and a control parameter corresponding to the surrounding situation and the running situation of the vehicle. The object is to provide a vehicle control information generation device and a vehicle control information generation method that can cope with various driving conditions.

  According to the present invention, in a vehicle control information generating apparatus for automatic driving of a vehicle, at least satellite information received from a satellite positioning system, an output of at least one gyro sensor for detecting a vehicle state quantity of the vehicle, and a vehicle speed of the vehicle A vehicle position output unit that outputs a current vehicle position based on a vehicle speed from a vehicle speed sensor that detects the vehicle, a target travel route toward the target point from map data, the current vehicle position, and a preset target point. A vehicle control amount calculation unit that calculates a control parameter for the vehicle to travel to the target travel route from the target travel route and the current host vehicle position; The vehicle control information generating device or the like outputs the control parameter to an external vehicle control device that executes the traveling control.

  According to the present invention, by calculating the vehicle position based on the satellite reliability information, not only the highly reliable vehicle position can be detected, but also the satellite information, the target travel route, and the vehicle state quantity can be obtained. It is possible to calculate and output control parameters necessary for automatic operation. In addition, by acquiring the parameters output by each calculation, it is possible to flexibly cope with various driving conditions in automatic driving.

It is a figure which shows the schematic structure of the environment of the vehicle by which the vehicle control information generation apparatus by one embodiment of this invention is mounted. It is a functional block diagram which shows an example of a structure of the vehicle control information generation apparatus of FIG. It is a flowchart which shows an example of operation | movement of the vehicle control information generation apparatus of FIG. It is a functional block which shows an example of an internal structure of the own vehicle position output part of FIG. It is a flowchart which shows an example of operation | movement of the own vehicle position output part of FIG. It is a functional block which shows an example of an internal structure of the vehicle control amount calculating part of FIG. It is a figure for demonstrating the positional relationship and parameter of the present own vehicle position and target driving | running route which concern on one embodiment of this invention. It is a figure for demonstrating operation | movement of the periphery information acquisition part of the vehicle control amount calculating part of FIG. It is a figure for demonstrating operation | movement of the temporary stop determination part of the vehicle control amount calculating part of FIG. 6, the left-right turn determination part, and the speed limit detection part. It is a flowchart which shows an example of a part of operation | movement of the vehicle control amount calculating part of FIG. It is a flowchart which shows an example of a part of operation | movement of the vehicle control amount calculating part of FIG. It is a figure which shows an example of schematic hardware structure at the time of comprising the vehicle control information generation apparatus of FIG. 2 with a computer.

  Hereinafter, a vehicle control information generation device and a vehicle control information generation method according to the present invention will be described with reference to the drawings according to embodiments. In addition, in each figure, the same or an equivalent part is shown with the same code | symbol, and the overlapping description is abbreviate | omitted.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a schematic configuration of an environment of a vehicle equipped with a vehicle control information generation device according to an embodiment of the present invention. The vehicle 1 includes a tire 2, a vehicle speed sensor 3, a handle 4, a front camera 5, a reception antenna device 7 including an antenna and a receiver, a vehicle control information generation device 8, and a vehicle control device 9.

  The vehicle speed sensor 3 detects and outputs the traveling speed of the vehicle 1. Here, it is described that the detection is based on the wheel speed of one wheel, but without being limited to this, the traveling speed is obtained by the average of the wheel speeds of the four wheels, the average of the right wheel speed, and the average of the left wheel speed. Also good.

  The handle 4 is for steering the vehicle 1.

  The front camera 5 images the front of the vehicle.

  The GPS satellites 6 are a plurality of satellites that orbit the earth. Here, only one machine is described, and the others are omitted. Although the GPS satellite 6 is described in the first embodiment, satellites having the same function with other names as well as GPS are included here.

  The receiving antenna device 7 receives signals transmitted from the plurality of GPS satellites 6, calculates the current position, and transmits satellite information including the current position to the vehicle control information generating device 8. The plurality of GPS satellites 6 and the receiving antenna device 7 constitute a satellite positioning system.

  The vehicle control information generation device 8 travels on the target travel route from the vehicle speed Veh_Speed output from the vehicle speed sensor 3, the image information CAM_Info output from the front camera 5, and the satellite information signal GPS_Info_Sig output from the receiving antenna device 7. The control parameter which is the vehicle control information is obtained and output to the vehicle control device 9.

  The vehicle control device 9 receives the control parameter output from the vehicle control information generation device 8, and performs automatic driving control necessary for traveling on the target travel route using the control parameter. For example, steering wheel operation, drive control, temporary stop control, blinker control, and the like are performed.

FIG. 2 is a functional block diagram showing an example of the configuration of the vehicle control information generation device 8 and the vehicle control device 9 of FIG. The control parameters obtained by the vehicle control information generation device 8 are sent to the vehicle control device 9.
The vehicle control information generation device 8 includes a target point 21, map data 22, a host vehicle position output unit 23, a target travel route deriving unit 24, a vehicle control amount calculation unit 25, and at least one gyro sensor 20 outside. . The gyro sensor 20 detects and outputs a yaw rate Yawrate, which is a state quantity of the vehicle 1. Here, only the yaw rate is shown as a representative, but each signal of 6 axes (speed, acceleration, etc.) may be output.

The parts other than the gyro sensor 20 of the vehicle control information generation device 8 can be configured by a computer, for example. FIG. 12 shows an example of a schematic hardware configuration when the vehicle control information generation device 8 is configured by a computer. Signal input / output is performed via the interface 810. The memory 830 stores or stores in advance various programs indicated by various functional blocks illustrated and described below, information necessary for processing, data, and the like. The processor 820 performs arithmetic processing on a signal input via the interface 810 according to various programs, information, and data stored in the memory 830, and outputs the processing result via the interface 810. A storage unit M described below corresponds to the memory 830.
In addition, the arithmetic processing part of the vehicle control information generation device 8 can also constitute various functional blocks with digital circuits.

Returning to FIG. 2, the target point 21 is a target point Goal_Point preset by the driver.
The map data 22 is preset map data Map_Info. In the first embodiment, map data is handled as a high-precision map, but is not necessarily limited to a high-precision map.
The map data 22 and the target point 21 are stored in the storage unit M in advance.

  The own vehicle position output unit 23 calculates and outputs the current own vehicle position Veh_Pos from the GPS satellite information signal GPS_Info_Sig, the vehicle speed Veh_Speed, and the yaw rate Yawrate obtained by the gyro sensor 20. For example, the current host vehicle position Veh_Pos is calculated from the position calculated from the GPS satellite information signal, the vehicle speed, and the yaw rate. In addition, the current vehicle position Veh_Pos may be calculated using a known technique. Further, the output Veh_Pos of the own vehicle position output unit 23 is output to the vehicle control device 9 as own vehicle position information Veh_Pos_Info.

In addition, the vehicle position output unit 23 outputs a satellite reliability confirmation result Sat_Trust_Info, which is satellite reliability information, to the vehicle control device 9 according to the satellite reception state signal included in the vehicle position GPS satellite information signal GPS_Info_Sig. The output of the satellite reliability confirmation result Sat_Trust_Info is either “1” or “0”, and the satellite reliability confirmation result is set to 1: “high reliability state” and 0: “low reliability state”.
For example, in the FIX state in RTK (Real Time Kinematic) -GPS, the satellite reliability confirmation result Sat_Trust_Info is output as “1” indicating the high reliability state. In the single positioning state, “0” indicating the low reliability state is output.
In the first embodiment, the satellite reliability confirmation result is output based on indices such as single positioning, FIX in RTK (Real Time Kinematic) -GPS, but using the number of GPS satellite positioning and other known techniques and indices, The satellite reliability may be confirmed.

  The target travel route deriving unit 24 derives and outputs the target travel route Goal_Route from the current vehicle position Veh_Pos, the target location Goal_Point, and the map data Map_Info. The target travel route may be derived using a known technique applied in car navigation or the like.

The vehicle control amount calculation unit 25
Current vehicle position Veh_Pos,
Vehicle speed Veh_Speed,
Yaw rate Yawrate,
From the target travel route Goal_Route,
Vehicle azimuth Veh_Angle,
Approximate curve coefficient Approximate_curve_Value for the target travel route,
Lateral position deviation y_Ld and azimuth difference e_Ld with respect to the target travel route Goal_Route with respect to the forward gazing point position of the current vehicle position Veh_Pos
Is calculated and output.
Also,
Map data Map_Info,
Image information CAM_Info from the front camera 5,
From the target travel route Goal_Route,
Performs pause judgment, right / left turn judgment, speed limit detection,
Pause information OneStop_Info,
Winker information Winker_Info,
The speed limit information Lim_Vel_Info is output respectively.
Each output of the vehicle control amount calculation unit 25 is output to the vehicle control device 9 as a control parameter.

An example of the operation of the vehicle control information generation device 8 according to Embodiment 1 will be described based on the flowchart shown in FIG.
First, in step S101, the own vehicle position output unit 23 calculates and outputs the current own vehicle position Veh_Pos and the satellite reliability check result Sat_Trust_Info from the GPS satellite information signal GPS_Info_Sig, the vehicle speed Veh_Speed, and the yaw rate Yahoo rate.
Next, the target travel route deriving unit 24 reads the target point Goal_Point from the storage unit M in step S102, and further reads the map data Map_Info in step S103.
Next, in step S104, the target travel route deriving unit 24 derives and outputs the target travel route Goal_Route from the current host vehicle position Veh_Pos, the target location Goal_Point, and the map data Map_Info.
Next, in step S105, the vehicle control amount calculation unit 25 determines that the current vehicle position Veh_Pos, the vehicle speed Veh_Speed, the yaw rate Yawrate, the target travel route Goal_Route, the vehicle azimuth angle Veh_Angle, the approximate curve coefficient Approximate_curve_Value of the target travel route, The lateral position deviation y_Ld and the azimuth difference e_Ld from the target travel route Goal_Route with respect to the forward gazing point position of Veh_Pos are calculated and output.
Finally, in step S106, the vehicle control amount calculation unit 25 acquires the temporary stop information OneStop_Info, the winker information Winker_Info, the speed limit information Lim_Vel_Info from the map data Map_Info, the image information CAM_Info from the front camera 5, and the target travel route Goal_Route. Output.

Next, a functional block diagram showing an example of the internal configuration of the vehicle position output unit 23 is shown in FIG. The own vehicle position output unit 23 includes a satellite reliability information output unit 31 and an own vehicle position calculation unit 32.
The satellite reliability information output unit 31 confirms the satellite reception state signal included in the GPS satellite information signal from the GPS satellite information signal GPS_Info_Sig, and outputs a satellite reliability confirmation result Sat_Trust_Info.

The own vehicle position calculation unit 32 calculates and outputs the current own vehicle position Veh_Pos from the GPS satellite information signal GPS_Info_Sig, the vehicle speed Veh_Speed, the yaw rate Yahoo rate, and the satellite reliability confirmation result Sat_Trust_Info.
When the satellite reliability confirmation result Sat_Trust_Info is “1” indicating “high reliability state”, the vehicle position calculation unit 32 outputs the position calculated using the GPS satellite information signal GPS_Info_Sig as the current vehicle position Veh_Pos. On the other hand, when the satellite reliability confirmation result Sat_Trust_Info is “0” indicating “low reliability state”, the position calculated using the vehicle speed Veh_Speed and the yaw rate Yawrate without using the GPS satellite information signal GPS_Info_Sig Output as Veh_Pos.
That is, in the “high reliability state”, the current vehicle position is obtained from the vehicle speed and the yaw rate based on the current position of the satellite information signal. In the “low reliability state”, instead of the current position of the satellite information signal, the latest current vehicle position obtained so far is updated with the vehicle speed and the yaw rate to obtain the current vehicle position.

An example of the operation of the vehicle position output unit 23 will be described based on the flowchart shown in FIG.
First, in step S201, the satellite reliability information output unit 31 confirms the satellite reception state signal included in the GPS satellite information signal from the GPS satellite information signal GPS_Info_Sig, and outputs a satellite reliability confirmation result Sat_Trust_Info.
Next, in step S202, the vehicle position calculation unit 32 calculates the current vehicle position Veh_Pos from the GPS satellite information signal GPS_Info_Sig, the vehicle speed Veh_Speed, and the yaw rate Yahoo rate according to the satellite reliability confirmation result Sat_Trust_Info.

  Next, a functional block diagram of an example of the internal configuration of the vehicle control amount calculation unit 25 is shown in FIG. The vehicle control amount calculation unit 25 includes a vehicle azimuth angle calculation unit 40, a gaze time 41, a forward gazing point distance derivation unit 42, a forward gazing point nearest point extraction unit 43, an approximate curve coefficient calculation unit 44, a lateral position calculation unit 45, an azimuth direction, An angle difference calculation unit 46, a peripheral information acquisition unit 47, a temporary stop determination unit 48, a right / left turn determination unit 49, and a speed limit detection unit 410 are provided.

  FIG. 7 is a diagram for explaining the positional relationship and parameters between the current host vehicle position and the target travel route in the first embodiment. A vehicle azimuth calculating unit 40, a forward gazing point distance deriving unit 42, a forward gazing point nearest neighbor extracting unit 43, an approximate curve coefficient calculating unit 44, a lateral position calculating unit 45, and an azimuth difference calculating unit 46 will be described with reference to FIG. To do.

The vehicle azimuth calculation unit 40 calculates and outputs the vehicle azimuth Veh_Angle from the current vehicle position Veh_Pos and the yaw rate Yawrate. For example, the vehicle position before updating to the current vehicle position is held, and Veh_Angle may be calculated from the vehicle position before updating and the angle calculated from the current vehicle position. Further, the vehicle azimuth Veh_Angle may be calculated by integrating the elapsed time of the yaw rate with reference to a certain initial value. In addition, the vehicle azimuth angle Veh_Angle may be calculated using a known technique.
In the first embodiment, the vehicle azimuth angle Veh_Angle is 0 ° in the north direction, positive in the left direction from the north as shown in FIG. 7, and the angle between the north direction and the traveling direction of the vehicle 1 is the vehicle azimuth angle. In the invention, the vehicle azimuth angle is not limited to this.

  The gaze time 41 is a time L_Time when the driver gazes ahead from the current vehicle position Veh_Pos and is set in advance. Then, it is stored in the storage unit M.

The forward gazing point distance deriving unit 42 calculates and outputs the forward gazing point distance Point_Dis from the current vehicle position Veh_Pos, the vehicle speed Veh_Speed, the vehicle azimuth angle Veh_Angle, and the gaze time L_Time.
For example, the forward gaze point Point_Dis is
The distance calculated from the vehicle speed Veh_Speed and the gaze time L_Time,
The forward gaze distance Point_Dis shown in FIG. 7 may be calculated from the position calculated from the current vehicle position Veh_Pos and the vehicle azimuth angle Veh_Angle.

The forward gazing point nearest point extraction unit 43 extracts the forward gazing point nearest point Nearest_Point from the current host vehicle position Veh_Pos, the target travel route Goal_Route, the vehicle azimuth angle Veh_Angle, and the forward gazing point distance Point_Dis.
The front gaze closest point Nearest_Point is, for example,
A position calculated from the current vehicle position Veh_Pos, the vehicle azimuth angle Veh_Angle, and the forward gaze distance Point_Dis;
Target travel route Goal_Route
As shown in FIG. 7, the forward gaze closest point Nearest_Point for the target travel route may be extracted.

The approximate curve coefficient calculation unit 44 calculates and outputs an approximate curve coefficient Approximate_curve_Value from the current host vehicle position Veh_Pos, the target travel route Goal_Route, the vehicle azimuth angle Veh_Angle, and the forward gaze point Point_Dis.
The approximate curve coefficient Approximate_curve_Value is, for example,
A position calculated from the current vehicle position Veh_Pos and the target travel route Goal_Route;
Vehicle azimuth Veh_Angle,
Forward gaze distance Point_Dis
To the approximate curve coefficient Approximate_curve_Value of the approximate curve that passes through the closest point of interest at the forward gaze point shown in FIG. In the first embodiment, the approximate curve that passes through the closest point at the front gazing point is a cubic approximate curve for the target travel route Goal_Route near the current vehicle position Veh_Pos, and the approximate curve coefficient is calculated using the approximate curve. However, the approximate curve coefficient is not necessarily calculated using a cubic approximate curve. A publicly known technique may be used as the approximation method.

The lateral position calculation unit 45
Forward gaze distance Point_Dis,
Approximate curve coefficient Approximate_curve_Value,
From the nearest gaze point nearest point Nearest_point,
The lateral position deviation y_Ld, which is the distance from the front gaze closest point to the vehicle position after the gaze time L_Time shown in FIG. 7, is calculated and output.
For example, a function that calculates the distance between the approximate curve using the forward gazing point distance Point_Dis as a variable and the vehicle 1 is derived from the approximate curve coefficient Approximate_curve_Value, and from the above function, from the forward gazing point distance Point_Dis at the front gazing point nearest point Neest_point What is necessary is just to calculate y_Ld by calculating.

The azimuth difference calculation unit 46 forms the tangent of the approximate curve passing through the forward gaze closest point shown in FIG. 7 and the azimuth of the vehicle 1 from the forward gaze distance Point_Dis, the approximate curve coefficient Approximate_curve_Value, and the forward gaze nearest neighbor point Nearest_point. An azimuth difference e_Ld that is an angle is calculated and output.
For example, the tangent of the approximate curve passing through the forward gazing point nearest neighbor point is derived from the inclination of the tangent line obtained by differentiating the approximate curve by the approximate curve coefficient Approximate_curve_Value and the forward gazing point nearest point Nearest_point. E_Ld is calculated by calculating the angle formed by the vehicle direction that is the traveling direction.

The surrounding information acquisition unit 47 acquires the surrounding information Area_Info of the current vehicle position from the current vehicle position Veh_Pos, the image information CAM_Info captured by the front camera 5, and the map data MAP_Info.
The surrounding information Area_Info of the current vehicle position will be described using the surrounding information acquisition example in the first embodiment shown in FIG. The upper part of FIG. 8 shows image information CAM_Info captured by the front camera 5. By mapping the map data MAP_Info to the image information CAM_Info, information such as road signs such as stop signs and speed limit signs, stop lines, restriction application sections, etc. around the current vehicle position as shown in the lower part of FIG. The included peripheral information Area_Info is acquired.

The temporary stop determination unit 48 determines a temporary stop from the target travel route Goal_Route and the surrounding information Area_Info of the current vehicle position, and outputs temporary stop information OneStop_Info. In the first embodiment, the temporary stop information OneStop_Info will be described using an example in which the target travel route Goal_Route is mapped to the surrounding information Area_Info of the current vehicle position shown in FIG.
The temporary stop information OneStop_Info determines whether or not a temporary stop is necessary within the target travel route Goal_Route, as shown in (a) in the left diagram of FIG. 9, from the surrounding information Area_Info of the current vehicle position, and the temporary stop information OneStop_Info Is output. The output of the pause information OneStop_Info is either “1” or “0”, and is set to 1: “pause required”, 0: “no need for pause”. In the first embodiment, the output of the pause information is set to “1” and “0”, but is not limited to this setting. In addition, the stop determination is made based on the presence or absence of a stop sign or a stop line, but the present invention is not limited to this.

  The right / left turn determination unit 49 determines a right / left turn from the target travel route Goal_Route and the current vehicle position peripheral information Area_Info, and outputs winker information Winker_Info. In the first embodiment, as shown in (b) in the left diagram of FIG. 9, the winker information Winker_Info determines whether or not a right / left turn is necessary within the target travel route Goal_Route from the surrounding information Area_Info of the current vehicle position. The winker information Winker_Info is output. The output of the winker information Winker_Info is “0”, “1”, “2”, and is set by 0: “winker output not necessary” 1: “left winker output command”, 2: “right winker output command”. In the first embodiment, the output of the blinker information is set to “0”, “1”, “2”, but is not limited to this setting.

  The speed limit detection unit 410 detects the speed limit from the target travel route Goal_Route and the current vehicle position peripheral information Area_Info, and outputs speed limit information Lim_Vel_Info. In the first embodiment, the speed limit information Lim_Vel_Info detects whether there is a speed limit sign or the like in the target travel route Goal_Route from the peripheral information Area_Info of the current position, as shown in (c) in the right diagram of FIG. Then, the speed limit information Lim_Vel_Info is output. The output of the speed limit information Lim_Vel_Info is a speed value of the detected speed limit.

  Note that at least one of the temporary stop determination unit 48, the right / left turn determination unit 49, and the speed limit detection unit 410 may be selectively provided.

FIG. 10 is a flowchart showing the operation until the azimuth difference e_Ld between the lateral position deviation y_Ld and the tangent of the approximate curve passing through the closest point of front gaze point and the azimuth of the vehicle 1 is calculated and output in the vehicle control amount calculation unit 25. Based on
First, in step S301, the vehicle azimuth calculating unit 40 calculates and outputs the vehicle azimuth Veh_Angle from the current host vehicle position Veh_Pos and the yaw rate Yawrate.
Next, in step S302, the forward gazing point distance deriving unit 42 calculates and outputs the forward gazing point distance Point_Dis from the current host vehicle position Veh_Pos, the vehicle speed Veh_Speed, the vehicle azimuth angle Veh_Angle, and the gaze time L_Time.
Next, in step S303, the forward gazing point nearest point extraction unit 43 extracts the forward gazing point nearest point Nearest_Point from the current host vehicle position Veh_Pos, the target travel route Goal_Route, the vehicle azimuth angle Veh_Angle, and the forward gazing point distance Point_Dis.
Next, in step S304, the approximate curve coefficient calculation unit 44 calculates and outputs an approximate curve coefficient Approximate_curve_Value from the vehicle azimuth angle Veh_Angle, the target travel route Goal_Route, the vehicle azimuth angle Veh_Angle, and the forward gazing point distance Point_Dis.
Finally, in step S305, from the vehicle azimuth Veh_Angle, the approximate curve coefficient Approximate_curve_Value, and the forward gazing point nearest neighbor point Nearest_Point, the lateral position calculator 45 is a lateral position deviation that is the distance from the front gazing point position to the front gazing point nearest point. The y_Ld is calculated, and the azimuth angle difference calculation unit 46 calculates an azimuth angle difference e_Ld that is an angle formed by the tangent of the approximate curve passing through the forward gazing point nearest neighbor point Nearest_Point and the azimuth of the vehicle 1 and outputs each.

The operation until the vehicle control amount calculation unit 25 outputs the temporary stop information OneStop_Info, the blinker information Winker_Info, and the speed limit information Lim_Vel_Info will be described with reference to the flowchart shown in FIG.
First, in step S401, the surrounding information acquisition unit 47 acquires the surrounding information Area_Info of the current vehicle position from the current vehicle position Veh_Pos, the image information CAM_Info captured by the front camera 5, and the map data MAP_Info.
Next, in step S402, the temporary stop determination unit 48 determines the temporary stop from the target travel route Goal_Route and the current vehicle position peripheral information Area_Info, and outputs temporary stop information OneStop_Info.
In step S403, the right / left turn determination unit 49 determines a right / left turn from the target travel route Goal_Route and the current vehicle position peripheral information Area_Info, and outputs winker information Winker_Info.
In step S404, the speed limit detection unit 410 detects the speed limit from the target travel route Goal_Route and the current vehicle position peripheral information Area_Info, and outputs speed limit information Lim_Vel_Info.

  In the vehicle control information generating apparatus according to the first embodiment described above, it is possible not only to detect a reliable own vehicle position by acquiring satellite information, a target travel route, and a vehicle state quantity, but also necessary for automatic driving. It is possible to calculate and output various control parameters. In addition, by controlling the vehicle using the parameters output in each calculation, it is possible to flexibly cope with the driving conditions in automatic driving.

  As described above, according to the present invention, in the vehicle control information generating device for automatic driving of the vehicle, at least the satellite information received from the satellite positioning system and the output of at least one gyro sensor for detecting the vehicle state quantity of the vehicle, The vehicle position output unit that outputs the current vehicle position based on the vehicle speed from the vehicle speed sensor that detects the vehicle speed of the vehicle, and the map data, the current vehicle position, and a preset target point head toward the target point. A target travel route deriving unit for deriving a target travel route; and a vehicle control amount computing unit for computing a control parameter for the vehicle to travel to the target travel route from the target travel route and the current host vehicle position. And the control parameter is output to an external vehicle control device that performs travel control of the vehicle.

  Further, the own vehicle position output unit includes a satellite reliability information output unit that outputs satellite reliability information according to at least a satellite reception state, and based on the satellite reliability information, the current vehicle position is determined by the vehicle control device. Is output as the control parameter.

  The vehicle position output unit outputs the current vehicle position calculated using the satellite information when the satellite reliability information is in a highly reliable state.

  The own vehicle position output unit outputs the current own vehicle position calculated without using the satellite reliability information when the satellite reliability information is not in a highly reliable state.

  The satellite information includes the satellite reception state, and the satellite reliability information output unit detects the satellite reception state and outputs the satellite reliability information corresponding to the reception state.

  The vehicle control amount calculation unit includes a vehicle azimuth angle calculation unit that calculates a vehicle azimuth angle of the vehicle from the current host vehicle position and the vehicle state quantity, and the vehicle azimuth angle is transmitted to the vehicle control device. Output as a control parameter.

  In addition, the vehicle control amount calculation unit may calculate the current vehicle position and the vehicle after the gaze time from the current vehicle position, the vehicle azimuth angle, a preset gaze time and the vehicle speed, and the vehicle state quantity. A forward gazing point distance deriving unit for deriving a forward gazing point distance, which is a distance from a forward gazing point position as a position, the current host vehicle position, the forward gazing point distance, the target travel route, and the vehicle azimuth angle An approximate curve coefficient calculation unit that calculates the coefficient of the approximate curve of the target travel route, and outputs the approximate curve coefficient to the vehicle control device as the control parameter.

  Further, the vehicle control amount calculation unit is a front that is the nearest point of the front gaze position on the target travel route from the current host vehicle position, the front gaze distance, the vehicle azimuth, and the target travel route. A forward gazing point nearest point extraction unit for extracting a gazing point nearest point, a distance from the front gazing point position to the forward gazing point position from the forward gazing point distance, the approximate curve coefficient, and the forward gazing point nearest point A lateral position calculation unit that calculates the lateral position deviation, and outputs the lateral position deviation to the vehicle control device as the control parameter.

  In addition, the vehicle control amount calculation unit forms a tangent line of the approximate curve passing through the forward gazing point nearest point and the azimuth of the vehicle from the forward gazing point distance, the approximate curve coefficient, and the forward gazing point nearest point. It further includes an azimuth angle difference calculation unit that calculates an azimuth angle difference, which is an angle, and outputs the azimuth angle difference to the vehicle control device as the control parameter.

  In addition, the vehicle control amount calculation unit includes the current vehicle position including at least road sign information based on image information obtained from a camera that images the front of the vehicle, the current vehicle position, and the map data. A peripheral information acquisition unit that acquires peripheral information, and a temporary stop determination unit that determines temporary stop from the peripheral information of the current host vehicle position and the target travel route and obtains temporary stop information for performing the temporary stop control of the vehicle At least one of a right / left turn determination unit that determines right / left turn and obtains turn signal information for controlling the turn signal of the vehicle, and a speed limit detection unit that detects speed limit information of the target travel route and obtains speed limit information. And at least one of the temporary stop information, the blinker information, and the speed limit information is output to the vehicle control device as the control parameter.

  In vehicle position detection for automatic driving of the vehicle, at least satellite information received from the satellite positioning system, output of at least one gyro sensor for detecting the vehicle state quantity of the vehicle, and vehicle speed for detecting the vehicle speed of the vehicle A current vehicle position is obtained based on the vehicle speed from the sensor, a target travel route toward the target point is derived from the map data, the current vehicle position, and a preset target point, and the target travel route and the current vehicle position are derived. A control parameter for the vehicle to travel to the target travel route is calculated from the vehicle position, and the control parameter is output to an external vehicle control device that performs travel control of the vehicle.

  Accordingly, there is provided a vehicle control information generation apparatus and method that correspond to various driving conditions by calculating and outputting a reliable position detection for automatic driving and a control parameter according to the surrounding situation and driving condition of the vehicle. Can do.

1 vehicle, 2 tires, 3 vehicle speed sensor, 4 steering wheel, 5 front camera,
6 GPS satellite, 7 receiving antenna device, 8 vehicle control information generating device,
9 Vehicle control device, 20 Gyro sensor, 21 Target point, 22 Map data,
23 vehicle position output unit, 24 target travel route derivation unit, 25 vehicle control amount calculation unit,
31 satellite reliability information output unit, 32 own vehicle position calculation unit, 40 vehicle azimuth calculation unit,
41 gaze time, 42 forward gaze distance deriving unit, 43 forward gaze nearest point extraction unit,
44 approximate curve coefficient calculation unit, 45 lateral position calculation unit, 46 azimuth difference calculation unit,
47 peripheral information acquisition unit, 48 temporary stop determination unit, 49 right / left turn determination unit,
410 speed limit detector, 810 interface, 820 processor,
830 memory, M storage unit.

According to the present invention, in a vehicle control information generating apparatus for automatic driving of a vehicle, at least satellite information received from a satellite positioning system, an output of at least one gyro sensor for detecting a vehicle state quantity of the vehicle, and a vehicle speed of the vehicle A vehicle position output unit that outputs a current vehicle position based on a vehicle speed from a vehicle speed sensor that detects the vehicle, a target travel route toward the target point from map data, the current vehicle position, and a preset target point. A target travel route deriving unit for deriving;
A vehicle control device that performs a travel control of the vehicle, the vehicle control amount calculating unit calculating a control parameter for the vehicle to travel to the target travel route from the target travel route and the current host vehicle position; The vehicle control amount calculation unit outputs a vehicle azimuth angle calculation unit that calculates a vehicle azimuth angle of the vehicle from the current vehicle position and the state quantity of the vehicle, and the current vehicle position A forward gazing distance, which is a distance between the current own vehicle position and the forward gazing position as the own vehicle position after the gazing time, based on the vehicle azimuth angle, the preset gazing time, the vehicle speed, and the vehicle state quantity. An approximate curve coefficient for calculating an approximate curve coefficient of the target travel route from the current host vehicle position, the forward gaze distance, the target travel route, and the vehicle azimuth angle Performance It includes a part, and outputs the approximate curve coefficient as the control parameter to the vehicle control device, in the vehicle control information generating device and the like.

Claims (11)

In the vehicle control information generating device for the vehicle to perform automatic driving,
The vehicle that outputs the current vehicle position based on at least the satellite information received from the satellite positioning system, the output of at least one gyro sensor that detects the vehicle state quantity of the vehicle, and the vehicle speed from the vehicle speed sensor that detects the vehicle speed of the vehicle. A vehicle position output unit;
A target travel route deriving unit for deriving a target travel route toward the target point from map data, the current vehicle position, and a preset target point;
A vehicle control amount calculation unit for calculating a control parameter for the vehicle to travel to the target travel route from the target travel route and the current host vehicle position;
With
A vehicle control information generation device that outputs the control parameter to an external vehicle control device that performs travel control of the vehicle. The vehicle position output unit includes a satellite reliability information output unit that outputs satellite reliability information according to at least a satellite reception state,
The vehicle control information generation device according to claim 1, wherein the current vehicle position is output to the vehicle control device as the control parameter based on the satellite reliability information.   The vehicle control information generation device according to claim 2, wherein the vehicle position output unit outputs the current vehicle position calculated using the satellite information when the satellite reliability information is in a highly reliable state.   4. The vehicle control information generation according to claim 2, wherein the vehicle position output unit outputs the current vehicle position calculated without using the satellite reliability information when the satellite reliability information is not in a highly reliable state. apparatus.   The satellite information includes the satellite reception state, and the satellite reliability information output unit detects the satellite reception state and outputs the satellite reliability information according to the reception state. The vehicle control information generation device according to item. The vehicle control amount calculation unit includes a vehicle azimuth angle calculation unit that calculates a vehicle azimuth angle of the vehicle from the current host vehicle position and the vehicle state quantity,
The vehicle control information generation device according to claim 1, wherein the vehicle azimuth angle is output to the vehicle control device as the control parameter. The vehicle control amount calculation unit
Based on the current vehicle position, the vehicle azimuth angle, a preset gaze time, the vehicle speed, and the vehicle state quantity, a distance between the current vehicle position and a front gaze position that is the vehicle position after the gaze time. A forward gaze distance deriving unit for deriving a forward gaze distance,
An approximate curve coefficient calculation unit that calculates a coefficient of an approximate curve of the target travel route from the current vehicle position, the forward gazing point distance, the target travel route, and the vehicle azimuth angle;
Including
The vehicle control information generation device according to claim 6, wherein the approximate curve coefficient is output to the vehicle control device as the control parameter. The vehicle control amount calculation unit
A forward gazing point that extracts the nearest gazing point closest to the forward gazing point position on the target travel route from the current host vehicle position, the forward gazing point distance, the vehicle azimuth angle, and the target travel route. A nearest neighbor extraction unit;
A lateral position calculation unit that calculates a lateral position deviation that is a distance between the forward gazing point position and the forward gazing point nearest point from the forward gazing point distance, the approximate curve coefficient, and the forward gazing point nearest point;
Further including
The vehicle control information generation device according to claim 7, wherein the lateral position deviation is output to the vehicle control device as the control parameter. The vehicle control amount calculation unit
An azimuth for calculating an azimuth angle difference that is an angle formed by a tangent to the approximate curve passing through the forward gazing point nearest point and the azimuth of the vehicle from the forward gazing point distance, the approximate curve coefficient, and the forward gazing point nearest point. Further including an angle difference calculation unit,
The vehicle control information generation device according to claim 7 or 8, wherein the azimuth difference is output to the vehicle control device as the control parameter. The vehicle control amount calculation unit
A peripheral information acquisition unit that acquires image information obtained from a camera that images the front of the vehicle, the current vehicle position, and the map data from the current vehicle position including at least road sign information. ,
From the surrounding information of the current vehicle position and the target travel route,
A pause determination unit for determining a pause and obtaining a pause information for performing a pause control of the vehicle; a right / left turn determining unit for determining a right / left turn and obtaining a blinker information for controlling a blinker of the vehicle; the target At least one of speed limit detectors for detecting speed limit information by detecting the speed limit of the travel route; and
Further including
The vehicle control information generation device according to any one of claims 1 to 9, wherein at least one of the temporary stop information, the blinker information, and the speed limit information is output as the control parameter to the vehicle control device. In vehicle position detection for automatic driving of vehicles,
Based on at least the satellite information received from the satellite positioning system, the output of at least one gyro sensor for detecting the vehicle state quantity of the vehicle, and the vehicle speed from the vehicle speed sensor for detecting the vehicle speed of the vehicle,
From the map data and the current vehicle position and a preset target point, a target travel route toward the target point is derived,
From the target travel route and the current host vehicle position, a control parameter for the vehicle to travel to the target travel route is calculated,
Outputting the control parameter to an external vehicle control device that performs travel control of the vehicle;
Vehicle control information generation method.

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