JP2018106474A - Vehicle control apparatus, vehicle control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a new technology of determining trajectory of a vehicle.SOLUTION: A vehicle control apparatus 10 includes: a detection unit 12 for detecting a wheel track on a road; and a control unit 11 which selectively executes first control to move a vehicle along a standard trajectory, on the basis of trajectory information with the standard trajectory set thereto along the road, and another control to move the vehicle in a control different from the first control on the road where the wheel track has been detected. The detection unit 12 estimates the type of the detected wheel track, for example. The control unit 11 executes second control to move the vehicle along a wheel track when the wheel track is detected on a snowy road.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle control device, a vehicle control method, and a program.

  Patent Documents 1 and 2 disclose techniques related to automatic driving.

  Patent Document 1 discloses a travel locus generation device that generates a movement strategy related to positioning in a road area according to a travel environment. The document discloses, for example, that when a vehicle parked in front is detected, a travel locus that avoids the vehicle is generated.

  Patent Document 2 discloses a travel route generation device that detects a travel locus of a preceding vehicle and determines the travel locus of the host vehicle so as to follow the travel locus of the preceding vehicle.

JP 2010-198578 A JP, 2015-191553, A

  Road conditions can change due to weather and the like. And the preferable driving | running | working locus | trajectory on a road may differ according to the state of a road. Neither Patent Literature 1 nor 2 presents means for solving the problem.

  An example of the problem of the present invention is to provide a new technique for determining a travel locus of a vehicle.

The invention described in claim 1
A detection unit for detecting a wrinkle on the road;
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected A control unit that selectively executes other control for moving the host vehicle with
Is a vehicle control device.

The invention described in claim 6
Computer
A detection process for detecting ridges on the road;
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected A control process for selectively executing the other control for moving the host vehicle with
Is a vehicle control method for executing

The invention described in claim 7
Computer
Detection means for detecting a hail on the road,
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected Control means for selectively executing the other control for moving the vehicle with
It is a program that functions as

It is a figure which shows an example of the functional block diagram of the vehicle control apparatus of this embodiment. It is a block diagram which shows an example of the hardware constitutions of the vehicle control apparatus of this embodiment. It is a figure for demonstrating the standard locus | trajectory of this embodiment. It is a flowchart which shows an example of the flow of a process of the vehicle control apparatus of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

  First, the outline | summary of the vehicle control apparatus of this embodiment is demonstrated. The vehicle control device of this embodiment is mounted on a vehicle and controls the operation of the vehicle (operation of steering wheel, accelerator, brake, etc.). The vehicle control device moves the host vehicle (a vehicle equipped with the vehicle control device) along a route determined according to the destination.

  The vehicle control device selectively executes a plurality of controls to determine a travel locus on the road. First, the vehicle control device can execute a first control for moving the host vehicle along the standard trajectory based on the trajectory information in which the standard trajectory is set along the road. The standard trajectory indicates a trajectory (position) to travel on the road (in each lane). The standard trajectory is determined in advance based on, for example, the mode of the road (width of each lane, number of lanes, straight line, gentle curve, sharp curve, up, down, sidewalk width, etc.) and is embedded in the map data. . For example, on a straight road where the width of each lane is wide, a standard trajectory may be set in the middle of the lane. An example of details of moving the host vehicle along the standard trajectory will be described below.

  Moreover, the vehicle control apparatus can move the own vehicle by another control different from the first control when a hail on the road is detected. For example, when a hail on a snowy road is detected, the host vehicle can be moved along the hail (second control). In addition, when a drought with water is detected, the vehicle can be moved while avoiding the drought (third control).

  Thus, according to the vehicle control device of the present embodiment, the host vehicle can be moved along a preferable travel locus according to the road condition.

  Next, the configuration of the vehicle control device of the present embodiment will be described in detail.

  The vehicle control device is a device that is mounted on a vehicle and controls the host vehicle. The vehicle control device is, for example, an ECU (Electronic Control Unit).

  In FIG. 1, an example of the functional block diagram of the vehicle control apparatus 10 of this embodiment is shown. As illustrated, the vehicle control device 10 includes a control unit 11 and a detection unit 12.

  First, an example of a hardware configuration of the vehicle control device 10 that realizes these functional units will be described. Each functional unit includes an arbitrary computer CPU (Central Processing Unit), a memory, a program loaded into the memory, a storage unit such as a hard disk for storing the program (in addition to a program stored in advance from the stage of shipping the device) It is also possible to store a program downloaded from a storage medium such as a CD (Compact Disc) or a server on the Internet, etc.), and an arbitrary combination of hardware and software centering on a network connection interface. It will be understood by those skilled in the art that there are various modifications to the implementation method and apparatus.

  FIG. 2 is a block diagram illustrating a hardware configuration of the vehicle control device 10 according to the present embodiment. As shown in FIG. 2, the vehicle control device 10 includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. The peripheral circuit 4A may not be provided.

  The bus 5A is a data transmission path through which the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A transmit / receive data to / from each other. The processor 1A is an arithmetic processing device such as a CPU or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A includes an interface for acquiring information from an input device (keyboard, mouse, microphone, touch panel display device, touch sensor, gesture interface, etc.), external device, external server, external sensor, etc., and an output device (display) , A speaker, a printer, etc.), an external device, an interface for outputting information to an external server, etc. (mailer, etc.). The processor 1A can issue a command to each module and perform a calculation based on the calculation result.

  Next, the function of each functional unit shown in FIG. 1 will be described in detail.

  The detection unit 12 detects a predetermined situation in which the control content (the first to third controls and the like) of the control unit 11 is switched. The detection unit 12 is acquired from the output of a sensor (camera, rider (LIDAR: Laser Illuminated Detection And Ranging, Laser Imaging Detection And Ranging or LiDAR: Light Detection And Ranging), radar, etc.) or an external device mounted on the host vehicle. A predetermined situation can be detected based on the information or the like.

  The detection part 12 can detect the situation where a hail exists on the road ahead of the own vehicle as a predetermined situation. The hail on the road is formed as a running trace of the vehicle. For example, when a vehicle travels on a snowy road (snowy road), a kite (running trace) is formed. In addition, when the vehicle travels on a dirt road that is muddy with rain (a road whose running surface is made of soil or gravel), a kite (running trace) is formed.

  For example, the detection unit 12 may analyze an image of a road ahead of the host vehicle generated by a camera and detect a wrinkle on the road. The detection unit 12 can detect a wrinkle on the road based on the characteristics of the wrinkle appearing in the image. Although the said characteristic is various, the following are illustrated, for example.

  First, the color of the image differs between the ridge on the road and the portion other than the ridge on the road. In the case of a fence formed on a snowy road, the parts other than the fence are white, but the color of the road (asphalt color, soil color, etc.) is transparent. In the case of a ridge formed on a dirt road, the portion other than the ridge is the color of soil or gravel, but water accumulates in the ridge, for example, and the color is different from the color of soil or gravel. Based on such a color difference, a haze on the road may be detected.

  In addition, the ridge formed as the running trace of the vehicle has a shape extending along the road extending direction (vehicle traveling direction). The color feature and the feature may be combined to detect a wrinkle on the road.

  Furthermore, the soot to be detected can affect the running of the vehicle. That is, it is not necessary to detect soot that does not affect the running of the vehicle. Therefore, the detection unit 12 may detect a wrinkle whose occupation area is equal to or greater than a reference value.

  For example, the detection unit 12 sets a “first condition: a color different from a predetermined color (for example, a color of a snow road (white), a color of a soil road (color of soil or gravel))” on the road. An area to be filled may be detected as a bag. In addition, the detection unit 12 satisfies the first condition, and “the second condition: the road extending direction diameter L and the road width direction diameter W have a predetermined relationship (for example, L / W is An area satisfying a “predetermined value (a value greater than 1)”) may be detected as a soot. In addition, the detection unit 12 may detect an area that satisfies the first condition and the second condition and satisfies the “third condition: the occupied area in the image is equal to or greater than a predetermined value” as a soot. In addition, the example which detects a wrinkle by image analysis is an example to the last, and is not limited to this.

  The detection unit 12 may further estimate the type of the detected hail (snowy hail, watery earthen hail, etc.). The detection unit 12 may estimate the type of bag based on the color of the road extracted from the image. For example, if the color of the road is white, the detected hail is estimated as a “snow road hail”, and if the color of the road is a predetermined color composed of soil or gravel, the detected hail is It may be presumed that it is a “soil of the dirt road”.

The detection unit 12 further considers the attached information (the address of the location, the season of the location of the day, the month of the day, the weather information of the location for the last few days (weather, temperature, etc.), etc.) The type may be estimated. For example, when the color of the road satisfies the above condition and satisfies other conditions indicated by the attached information, the detected hail may be estimated as the type described above. For example, in addition to “white road color”, “there is a snow day in the last few days”, “the maximum temperatures in the last few days are all below a predetermined value”, “the current day is November or December If any one of January, February, March, etc. is satisfied, the detected hail may be estimated as a “snowy road hail”. In addition to the “predetermined color consisting of soil and gravel”, in addition to “there is a rainy day in the last few days”, etc. It may be presumed that it is a roadside trap. In addition, an estimation model may be generated by performing machine learning based on teacher data in which the color of the road or the value of attached information is associated with the type of bag. And the detection part 12 may estimate the kind of wrinkle detected from the image using the value of various parameters, and the said estimation model. The means for acquiring the attached information is not particularly limited, and may be acquired via a network such as the Internet, may be acquired using a GPS (Global Positioning System), or acquired from an in-vehicle sensor such as a temperature sensor. May be.

  The control unit 11 controls the host vehicle. For example, the control unit 11 controls the steering wheel, accelerator, brake, and other operations of the host vehicle. The control of the own vehicle can be realized using any technology.

  When acquiring the route to the destination, the control unit 11 moves the host vehicle along the route. The route to the destination is determined based on the destination set by the user, the current position of the host vehicle, the user's selection from a plurality of calculated routes, and the like. The setting of the destination, the acquisition of the current position of the host vehicle, and the determination of the route can be realized using any technique.

  The control unit 11 can selectively execute a plurality of controls to determine a travel locus on the road.

  First, the control part 11 performs the 1st control which moves the own vehicle along the said standard locus based on the locus | trajectory information in which the standard locus was set along the road. The control unit 11 controls the host vehicle so that a predetermined position (for example, the center in the vehicle width direction) of the host vehicle moves on the standard trajectory.

  The standard trajectory indicates a trajectory (position) to be traveled on the road (for example, in each lane). The standard trajectory is determined in advance based on the road mode (width of each lane, number of lanes, straight line, gentle curve, steep curve, up, down, sidewalk width, etc.) and is embedded in the map data. For example, on a straight road where the width of each lane is wide, a standard trajectory may be set in the middle of the lane.

  FIG. 3 shows an example of a standard trajectory A set along a straight road. The standard trajectory may be indicated by a set of points specified by the distance D1 from the mark located on the right side in the traveling direction of each lane or the distance D2 from the mark located on the left side in the same direction. Good. In addition, the standard trajectory may be indicated by a set of points specified by a ratio between D1 and D2 (such as 1: 1). The mark may be a line that partitions each lane (such as a white line written on the road) or may be other.

  The control unit 11 can calculate the position of the host vehicle in the lane width direction based on the output of the sensor mounted on the host vehicle. The position of the host vehicle in the lane width direction may be indicated by a distance d1 from a mark located on the right side in the traveling direction of each lane to a predetermined portion of the host vehicle (for example, the center in the vehicle width direction). It may be indicated by a distance d2 from a mark located on the left side in the same direction to a predetermined portion of the host vehicle, or may be indicated by a ratio of d1 and d2. The mark may be a line that partitions each lane (such as a white line written on the road) or may be other. The calculation of the position of the host vehicle in the lane width direction based on the output of the sensor mounted on the host vehicle can be realized using any technique.

  Then, the control unit 11 adjusts the position of the host vehicle in the lane width direction so that the position of the host vehicle in the lane width direction is on the standard trajectory. For example, the control unit 11 determines that the lane of the host vehicle is such that D1 and d1 match, or that D2 and d2 match, or that the ratio of D1 and D2 matches the ratio of d1 and d2. Adjust the position in the width direction. The match here may be a complete match or may allow some differences.

  Moreover, the control part 11 can move the own vehicle by other control different from 1st control on the road where the kite is detected.

  For example, when a hail on a snowy road is detected, the control unit 11 can move the host vehicle along the hail on the road (second control). “Move along the heel” means moving so that the wheels of the host vehicle are located on the heel. The movement can be realized using any technique.

  In addition, when a dredging of a dirt road with water is detected, the control unit 11 can move the host vehicle while avoiding the dredging on the road (third control). “Move away from the kite” means that the vehicle moves so that the wheels of the vehicle are not located on the kite. The movement can be realized using any technique.

  Note that the control unit 11 can switch to the first control again when the return condition is satisfied after switching from the first control to the second control or the third control.

  The return condition is, for example, the absence of a bag on the road. For example, non-detection of wrinkles in an area within a predetermined distance in front of the host vehicle, non-detection of wrinkles in an image obtained by photographing a road ahead of the host vehicle, and the like are exemplified, but not limited thereto.

  Next, an example of the flow of processing of the vehicle control device 10 of the present embodiment will be described using the flowchart of FIG.

  When acquiring the route to the destination (S10), the control unit 11 controls the host vehicle to start movement along the route. At the start time, the control unit 11 moves the host vehicle by the first control. That is, the control unit 11 acquires a standard trajectory set in advance along the road from the map data, and controls the host vehicle to move along the standard trajectory (S11).

  While not detecting a predetermined situation (a situation where a hail exists on the road ahead of the host vehicle) (No in S12) and not arriving at the destination (No in S13), the control unit 11 Continue control.

  When detecting a predetermined situation (a situation where a hail exists on a road ahead of the host vehicle) (Yes in S12), the control unit 11 switches from the first control to another control (S14). For example, when a saddle on a snowy road is detected, the control unit 11 executes second control for moving the host vehicle along the saddle. In addition, when the dredging of the dirt road with water is detected, the control unit 11 executes the third control for moving the host vehicle while avoiding the dredging.

  While the return condition is not satisfied (No in S15), other control is continued. When the return condition is satisfied (Yes in S15), the control unit 11 switches from the other control to the first control. That is, the control part 11 starts the control which moves the own vehicle along a standard locus (S16). The controller 11 repeats the above process while not arriving at the destination (No in S13).

  When the vehicle arrives at the destination (Yes in S13), the control unit 11 stops the host vehicle and ends the process.

  According to the vehicle control device 10 of the present embodiment described above, the host vehicle can be moved along a preferable travel locus according to the road condition.

  For example, when a hail on a snowy road is detected, the host vehicle can be moved along the hail (second control). As a result, accidents while driving on snowy roads can be reduced.

  In addition, when a drought with water is detected, the vehicle can be moved while avoiding the drought (third control). As a result, it is possible to reduce inconveniences such as splashing water accumulated in the trap, getting on pedestrians, and dirtying the host vehicle.

  As mentioned above, although embodiment and the Example were described with reference to drawings, these are illustrations of this invention and can also employ | adopt various structures other than the above.

1A processor 2A memory 3A I / O I / F
4A peripheral circuit 5A bus 10 vehicle control device 11 control unit 12 detection unit

Claims (7)

A detection unit for detecting a wrinkle on the road;
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected A control unit that selectively executes other control for moving the host vehicle with
A vehicle control device. The vehicle control device according to claim 1,
The said detection part is a vehicle control apparatus which estimates the kind of detected soot. The vehicle control device according to claim 2,
The control unit is a vehicle control device that executes second control for moving the host vehicle along the reed when a reed on the snowy road is detected. In the vehicle control device according to claim 2 or 3,
The controller is a vehicle control device that executes third control for moving the host vehicle while avoiding the dredging when a dredging of water is detected. In the vehicle control device according to any one of claims 1 to 4,
The standard trajectory is a vehicle control device embedded in map data. Computer
A detection process for detecting ridges on the road;
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected A control process for selectively executing the other control for moving the host vehicle with
A vehicle control method for executing. Computer
Detection means for detecting a hail on the road,
Based on the trajectory information in which the standard trajectory is set along the road, the first control for moving the host vehicle along the standard trajectory and the control different from the first control on the road where the hail is detected Control means for selectively executing the other control for moving the vehicle with
Program to function as.

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