JP2019156269A - Vehicle controller, vehicle control method and program - Google Patents

Abstract

To provide a vehicle controller, a vehicle control method and a program capable of allowing an own vehicle to smoothly travel even when other vehicle which exists outside of a road where the own vehicle travels, enters the road where the own vehicle travels.SOLUTION: A vehicle controller (100) comprises: a recognition part (130) for recognizing a peripheral state of an own vehicle; and a driving control part (142, 160) for automatically controlling acceleration/deceleration and steering of the own vehicle based on the peripheral state recognized by the recognition part. The driving control part determines whether or not other vehicle enters from outside of a road to the road, based on a positional relationship between other vehicle which exists outside of the road where the own vehicle travels and the own vehicle recognized by the recognition part, and a state of other vehicle or a state of a driver of other vehicle, and if it is determined that other vehicle enters the road where the own vehicle travels, the driving control part causes the own vehicle to perform an avoidance operation according to an entry route of other vehicle.SELECTED DRAWING: Figure 2

Description

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

  In recent years, research has been conducted on automatically controlling vehicles. In relation to this, a technique is known in which an area where an accident occurs at an intersection where the host vehicle passes in the future is estimated and displayed to the driver (for example, see Patent Document 1). According to the technique described in Patent Document 1, accident information of accidents that have occurred in the past is stored in relation to the position, and an approach to the accident occurrence position is warned based on the current position of the vehicle and the accident information. This can alert the driver.

JP 2003-14474 A

  However, in the conventional technology, the operation of the other vehicle existing outside the road on which the host vehicle travels is not estimated to avoid contact between the host vehicle and the other vehicle. As a result, the host vehicle may not be able to travel smoothly.

  The present invention has been made in consideration of such circumstances, and is capable of smoothly running the host vehicle even when another vehicle existing outside the road on which the host vehicle travels enters the road. An object is to provide a device, a vehicle control method, and a program.

  (1): a recognition unit for recognizing a surrounding situation of the host vehicle, and a driving control unit for automatically controlling acceleration / deceleration and steering of the host vehicle based on the surrounding situation recognized by the recognition unit, The driving control unit includes a positional relationship between another vehicle located outside the road on which the host vehicle travels recognized by the recognition unit and the host vehicle, and a state of the other vehicle or a driver state of the other vehicle. A vehicle control device that determines whether or not the other vehicle enters the road from outside the road, and causes the host vehicle to perform an avoidance operation in accordance with an approach route of the other vehicle when it is determined to enter It is.

  (2): In (1), when the driving control unit determines that the other vehicle recognized by the recognition unit enters the road from outside the road, the own vehicle is based on an approach route of the other vehicle. To change the lane.

  (3): In (1), the operation control unit determines that the other vehicle enters the road from outside the road, and a distance between the following vehicle and the own vehicle traveling behind the own vehicle. Is equal to or greater than a predetermined distance, the host vehicle is caused to decelerate as the avoidance operation.

  (4): In (3), the information processing apparatus further includes an output unit that outputs information, and when the driving control unit causes the host vehicle to decelerate as the avoidance operation, the output unit causes the output unit to Information that prompts entry into the road is output.

  (5): In any one of (1) to (4), the recognizing unit recognizes an approach path provided in a curb extending to the road, and the operation control unit is located near the approach path. When the other vehicle is present in the area, it is determined that the other vehicle enters the road from outside the road, and the host vehicle performs an avoidance operation.

  (6): In any one of (1) to (5), the recognition unit recognizes a heat generation area of the other vehicle existing outside the road, and the driving control unit recognizes the recognition unit by the recognition unit. When the temperature of the heat generating area of the other vehicle is equal to or higher than a predetermined value, it is determined that the other vehicle enters the road from outside the road, and the host vehicle performs an avoidance operation.

  (7): In any one of (1) to (6), the recognition unit recognizes at least one of state changes including sound, vibration, and light emission generated from the other vehicle existing outside the road, The driving control unit determines that the other vehicle enters the road from outside the road based on the state change recognized by the recognition unit, and causes the host vehicle to perform an avoidance operation.

  (8): In any one of (1) to (7), the recognition unit recognizes the presence of a driver in the other vehicle existing outside the road, and the driving control unit is When it is recognized that the driver is present in the other vehicle, it is determined that the other vehicle enters the road from outside the road, and the host vehicle performs an avoidance operation.

  (9): In any one of (1) to (8), the recognition unit recognizes a change in the vehicle height of the other vehicle, and the driving control unit determines the vehicle height of the other vehicle by the recognition unit. When a change is recognized, it determines with the said other vehicle approaching into a road from the outside of a road, and makes the said own vehicle perform avoidance operation | movement.

  (10): In any one of (1) to (9), the recognizing unit recognizes the presence of another vehicle stopped across a sidewalk and a road, and the driving control unit is operated by the recognizing unit. When another vehicle stopped across the sidewalk and the road is recognized, it is determined whether or not the other vehicle enters the road, and the host vehicle performs an avoidance operation.

  (11): In any one of (1) to (10), when the recognition unit recognizes another vehicle stopped across a lane mark marked on a road, the other It is determined whether or not the vehicle enters the road, and the host vehicle performs an avoidance operation.

(12): In any one of (1) to (11), the recognition unit recognizes the presence of a display indicating an entrance / exit of a parking lot existing outside a road, and recognizes the vicinity of the recognized display as the entrance / exit. And
The driving control unit determines that the other vehicle in the vicinity of the doorway enters the road when the recognition unit recognizes the display indicating the doorway of the parking lot existing outside the road. This is to make an avoidance action.

  (13): In any one of (1) to (12), the information processing apparatus further includes an acquisition unit that acquires information on the other vehicle via a communication unit that communicates with the other vehicle, and the operation control unit includes the acquisition unit. It is determined that the other vehicle enters the road based on the information acquired by the above, and the host vehicle is caused to perform an avoidance operation.

  (14): In any one of (1) to (13), the recognition unit recognizes an angle formed by a traveling direction of the other vehicle entering the road from outside the road and an extending direction of the road, The driving control unit causes the host vehicle to perform an avoidance operation based on an angle formed by the traveling direction of the other vehicle entering the road from the outside recognized by the recognition unit and the extending direction of the road. is there.

  (15): In any one of (1) to (14), the operation control unit is configured to detect the traveling direction of the other vehicle entering the road from the outside recognized by the recognition unit and the extending direction of the road. Based on the angle formed by the vehicle, the host vehicle is caused to perform an avoidance operation.

  (16): In any one of (1) to (15), the recognition unit recognizes that the other vehicle existing outside the road is stopped in a parking frame, and the operation control unit recognizes the recognition. When it is recognized by the unit that the other vehicle existing outside the road is stopped in the parking frame, it is determined that the vehicle does not enter the road from outside the road, and the avoidance operation of the own vehicle is limited.

  (17): The computer recognizes the surrounding situation of the own vehicle, automatically controls acceleration / deceleration and steering of the own vehicle based on the recognized surrounding situation, and is located outside the road on which the recognized own vehicle travels. Determining whether or not the other vehicle enters the road from outside the road based on the positional relationship between the other vehicle and the host vehicle, and the state of the other vehicle or the state of the driver of the other vehicle; In the vehicle control method, when it is determined to enter, the host vehicle performs an avoidance operation according to an approach route of the other vehicle.

  (18): causing the computer to recognize the surrounding situation of the host vehicle, automatically controlling acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation, and outside the road on which the recognized host vehicle travels It is determined whether the other vehicle enters the road from outside the road based on the positional relationship between the other vehicle located at the vehicle and the own vehicle and the state of the other vehicle or the state of the driver of the other vehicle. When the vehicle is determined to enter, the program causes the host vehicle to perform an avoidance operation according to the approach route of the other vehicle.

  According to (1) to (18), even if another vehicle that exists outside the road on which the host vehicle travels enters the road, the host vehicle can run smoothly.

  According to (4), information on the operation of the host vehicle can be provided to other vehicles.

  According to (5) to (16), the movement of the other vehicle can be predicted based on the state of the other vehicle recognized from the outside.

It is a lineblock diagram of vehicle system 1 using a vehicle control device concerning an embodiment. 3 is a functional configuration diagram of a first control unit 120 and a second control unit 160. FIG. It is a figure which shows an example of the other vehicle m which the other vehicle recognition part 132 recognizes. It is a figure which shows an example of the change of the vehicle height of the other vehicle m. It is a figure which shows an example of the state which the other vehicle m approachs in the direction which crosses the road R. FIG. 6 is a diagram illustrating an example of a state in which another vehicle m enters in a direction to merge with a road R. 4 is a flowchart illustrating an example of a flow of processing executed in an avoidance control unit 142. It is a flowchart which shows the flow of the process performed by step S110 in the automatic driving control apparatus 100. It is a flowchart which shows the flow of the process performed by step S130 in the automatic driving control apparatus 100. It is a figure showing an example of hardware constitutions of automatic operation control device 100 of an embodiment.

  Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the drawings. In the following, the case where the left-hand traffic law is applied will be described. However, when the right-hand traffic law is applied, the right and left may be read in reverse.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.

  The vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, a microphone 15, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, and navigation. A device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an output unit 90, an automatic driving control device 100, a traveling driving force output device 200, a brake device 210, and a steering device 220 are provided. . These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary location of a vehicle (hereinafter, the host vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object. The radar device 12 is attached to an arbitrary location of the host vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging). The finder 14 irradiates light around the host vehicle M and measures scattered light. The finder 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. The finder 14 is attached to an arbitrary location of the host vehicle M. The microphone 15 collects sound around the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on detection results of some or all of the camera 10, the radar device 12, the finder 14, and the microphone 15 to recognize the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1. The camera 10 includes an infrared camera that captures a change in the surface temperature of an object in addition to capturing a normal image. Switching between normal imaging and infrared imaging may be performed by a function provided in the camera 10.

  The communication device 20 communicates with other vehicles existing around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

  The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above. The route determination unit 53 is, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52 (hereinafter, referred to as “route”). The route on the map is determined with reference to the first map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The on-map route is output to the MPU 60. The navigation device 50 may perform route guidance using the navigation HMI 52 based on the map route. The navigation device 50 may be realized, for example, by a function of a terminal device such as a smartphone or a tablet terminal held by an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and obtain a route equivalent to the on-map route from the navigation server.

  The MPU 60 includes, for example, a recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the on-map route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 Determine the recommended lane for each block. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable route for proceeding to the branch destination when a branch point exists on the map route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steer, a joystick, and other operation elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. A part or all of 220 is output.

  The output unit 90 outputs, for example, information given from the own vehicle to the other vehicle. The output unit 90 is controlled by, for example, the automatic driving control device 100 and outputs information that prompts another vehicle to enter the road when the host vehicle decelerates as an avoidance operation as will be described later. . The output unit 90 works in conjunction with the light, horn, speaker, external display device, communication device 20, and the like, and outputs light, sound, message display, transmission information, and the like to other vehicles via these devices.

  The automatic driving control device 100 (vehicle control device) includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software), for example. In addition, some or all of these components include hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). Part (including circuit)), or may be realized by cooperation of software and hardware. The program may be stored in advance in a storage device such as an HDD or a flash memory of the automatic operation control apparatus 100, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is a drive device. May be installed in the HDD or flash memory of the automatic operation control device 100.

  FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120 implements, for example, a function based on AI (Artificial Intelligence) and a function based on a predetermined model in parallel. For example, the “recognize intersection” function executes recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (such as a signal that can be matched with a pattern and road marking) in parallel. May be realized by scoring and comprehensively evaluating. This ensures the reliability of automatic driving.

  Based on information input from the camera 10, the radar device 12, and the finder 14 through the object recognition device 16, the recognition unit 130 determines the positions of objects around the host vehicle M, and states such as speed and acceleration. recognize. For example, the position of the object is recognized as a position on an absolute coordinate with the representative point (the center of gravity, the center of the drive shaft, etc.) of the host vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or corner of the object, or may be represented by a represented area. The “state” of the object may include acceleration or jerk of the object, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).

  Further, the recognition unit 130 recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizing unit 130 has a road lane marking line around the host vehicle M recognized from the road lane marking pattern (for example, an array of solid lines and broken lines) obtained from the second map information 62 and an image captured by the camera 10. The driving lane is recognized by comparing with the pattern. Note that the recognition unit 130 may recognize a travel lane by recognizing not only a road lane line but also a road lane line (road boundary) including a road lane line, a road shoulder, a curb, a median strip, a guardrail, and the like. . In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account. The recognition unit 130 also recognizes a stop line, an obstacle, a red light, a toll gate, a road structure, other vehicles, and other road events.

  When recognizing the traveling lane, the recognizing unit 130 recognizes the position and posture of the host vehicle M with respect to the traveling lane. For example, the recognizing unit 130 determines the relative position of the host vehicle M with respect to the travel lane by making an angle between the deviation of the reference point of the host vehicle M from the center of the lane and the line connecting the center of the lane in the traveling direction of the host vehicle M And may be recognized as a posture. Instead, the recognizing unit 130 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road lane line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. May be.

  The recognition unit 130 includes, for example, another vehicle recognition unit 132 and a surrounding environment recognition unit 134. The other vehicle recognition unit 132 recognizes another vehicle entering the road from outside the road. The other vehicle recognition unit 132 recognizes the environment around the other vehicle, and recognizes an element that the other vehicle enters the road from outside the road. The surrounding environment recognition unit 134 recognizes the environment such as the surrounding road structure where other vehicles are stopped. Detailed processing of the other vehicle recognition unit 132 and the surrounding environment recognition unit 134 will be described later.

  In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the host vehicle M automatically (driver) A target trajectory to be run in the future is generated (independent of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) that the host vehicle M should reach. The track point is a point where the host vehicle M should reach every predetermined travel distance (for example, about several [m]) as a road distance. Separately, the track point is a predetermined sampling time (for example, about 0 comma [sec]). ) Is generated as part of the target trajectory. Further, the track point may be a position to which the host vehicle M should arrive at the sampling time for each predetermined sampling time. In this case, information on the target speed and target acceleration is expressed by the interval between the trajectory points.

The action plan generation unit 140 may set an automatic driving event when generating the target trajectory. The automatic driving event includes a constant speed driving event, a low speed following driving event, a lane change event, a branch event, a merge event, a takeover event, an avoidance event, and the like. The action plan generation unit 140 generates a target trajectory corresponding to the activated event.
The action plan generation unit 140 includes an avoidance control unit 142 and an information acquisition unit 144.

  The avoidance control unit 142 determines whether or not the other vehicle m enters the road from outside the road based on the recognition results of the other vehicle recognition unit 132 and the surrounding environment recognition unit 134. Based on the determination result, the avoidance control unit 142 determines whether or not the other vehicle m entering the road from outside the road is to avoid the host vehicle M. The processing of the avoidance control unit 142 will be described later. The information acquisition unit 144 acquires information on the other vehicle via the communication device 20 (communication unit) that communicates with the other vehicle.

  The second control unit 160 controls the driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the action plan generation unit 140 at a scheduled time. Control.

  Returning to FIG. 2, the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the travel driving force output device 200 or the brake device 210 based on a speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feed-forward control corresponding to the curvature of the road ahead of the host vehicle M and feedback control based on deviation from the target track.

  Returning to FIG. 1, the driving force output device 200 outputs a driving force (torque) for driving the vehicle to the driving wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration according to information input from the second control unit 160 or information input from the driving operator 80. A combination of the avoidance control unit 142 and the first control unit 160 is an example of the operation control unit.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Also good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operator 80, and changes the direction of the steered wheels.

[Entry of other vehicles off the road]
Hereinafter, a process in which the automatic driving control apparatus 100 determines whether or not to cause the own vehicle M to avoid other vehicles entering the road from outside the road will be described. When the host vehicle passes through a highway or the like with a high traffic volume, there are cases where another vehicle enters the road from outside the road due to the presence of a store or the like that enters and exits the vehicle in the traveling direction of the host vehicle.

  If another vehicle m stopped in an area outside the road starts and enters a lane on the road on which the host vehicle is traveling, the traveling of the host vehicle M may be affected. When there is another vehicle entering the road from outside the road, it is important to predict the movement of the other vehicle and make the host vehicle M run smoothly.

  The automatic driving control device 100 determines whether or not the other vehicle enters the road from the outside of the road from the state of the other vehicle recognized by the recognition unit 130. Let First, various recognition processes for causing the host vehicle M to perform this avoidance operation will be described.

[Other vehicle recognition unit]
FIG. 3 is a diagram illustrating an example of the other vehicle m recognized by the other vehicle recognition unit 132. As shown in the drawing, other vehicles exist in a region W outside the road such as a main road where the sidewalk Q is provided. The other vehicle recognition unit 132 recognizes the other vehicle m in a region W outside the road R that exists facing the road, for example. For example, the other vehicle recognition unit 132 extracts the road R and other objects based on an image captured by the camera 10 or the like, and recognizes the state of the other vehicle m. The other vehicle recognition unit 132 may recognize the vehicle stopped in the parking frame P outside the road R as the other vehicle m, and also recognizes the vehicle stopped on the road shoulder as the other vehicle m. May be. The other vehicle recognition unit 132 may recognize the other vehicle m in a state where the vehicle is stopped across a lane mark or a sidewalk.

  For example, the other vehicle recognition unit 132 recognizes the other vehicle m that is stopped in a direction substantially orthogonal to the traveling direction of the host vehicle M. The other vehicle recognition unit 132 may recognize the other vehicle m stopped along the traveling direction of the host vehicle M, or may recognize the other vehicle m stopped in an oblique direction. The other vehicle recognizing unit 132 further recognizes an operation or a change in state that is an element that causes the stopped other vehicle m to enter the road R.

  The other vehicle recognizing unit 132 may recognize the operation itself of the other vehicle m entering the road R, or recognize elements such as a change in state predicted to enter based on the appearance of the other vehicle m. Also good. For example, the other vehicle recognition unit 132 recognizes the operation of the other vehicle m as an element expected to enter the road R.

  The other vehicle recognition unit 132 generates, for example, a three-dimensional model indicating the relative positional relationship between the recognized other vehicle m and the host vehicle M at the position of the host vehicle M at a certain time. The other vehicle recognizing unit 132, for example, determines the position in the model of the other vehicle m in the three-dimensional space where the appearance from the host vehicle M has changed after traveling to some extent and the position in the image of the other vehicle m that has already been acquired. The other vehicle m recognizes or predicts the movement and the traveling direction of the other vehicle m entering the road R from the area outside the road R. The other vehicle recognition unit 132 recognizes or predicts the presence / absence of a turn, a turning start point, a turning angle, and the like based on the travel track recognition result of the other vehicle m based on the generated three-dimensional model.

  The other vehicle recognition unit 132 derives the posture of the other vehicle m from the image captured by the camera 10 and compares the changes in the position and posture of the other vehicle m in a plurality of images in a predetermined sampling period to derive the turning angle. To do. The other vehicle recognition unit 132 recognizes a point where the derived turning angle of the other vehicle m exceeds the threshold as a turning start point. The other vehicle recognition unit 132 may perform the same process as described above for the following vehicle that travels behind the host vehicle M. The other vehicle recognition unit 132 recognizes an angle formed by the moving and stopped other vehicle m and the extending direction of the road R.

  When the other vehicle m is stopped, the other vehicle recognition unit 132 recognizes an operation, a change, or the like of the other vehicle m as described below as an element for the other vehicle m to enter the road.

  The other vehicle recognition unit 132 recognizes a heat generation area of the other vehicle m based on, for example, a change in luminance of an image captured by an infrared camera or the like. For example, when the other vehicle m is operated by the engine of the internal combustion engine, the heat generation area is, for example, the vicinity of the engine mounting position or the mounting position of the muffler or catalyst.

  The other vehicle recognition unit 132 may recognize the sound or vibration of the other vehicle m based on the recognition result of the microphone 15 or the like other than the heat generation area. For example, the other vehicle recognition unit 132 performs fast Fourier transform on engine sound and vibration sound such as idling generated by the other vehicle m from the sound data around the own vehicle M collected by the microphone 15. : Extracted by analysis using FFT). The other vehicle recognition unit 132 may recognize an engine sound of the other vehicle m, an inverter sound generated when driving the motor, a voice alarm such as “I will leave”, or the like.

  The other vehicle recognition unit 132 recognizes the direction of the extracted sound source of the engine sound, for example. For example, the other vehicle recognition unit 132 estimates the direction in which the sound source of the engine sound exists based on the reception times of the engine sound collected by the microphones 15 provided at a plurality of positions of the host vehicle M. For example, when the engine sound is extracted from the direction in which the other vehicle m exists among the sounds collected by the microphone 15, the other vehicle recognition unit 132 determines that the other vehicle m starts.

  The other vehicle recognition unit 132 may recognize based on the recognition result of the camera 10 that lights of other vehicles m such as lights and blinkers are lit (light emission). Moreover, the other vehicle recognition part 132 may recognize that the blinker of the other vehicle m is blinking. The other vehicle recognition unit 132 compares, for example, a plurality of images of the other vehicle m output by the object recognition device 16 at a predetermined sampling interval, and the blinker of the other vehicle m is blinking and the unlit state When it is recognized that "and" are repeated, the blinking is recognized.

  The winker is any or all of the front winker, the side winker, the tail winker, etc. of the other vehicle m. The other vehicle recognition unit 132 may recognize the lighting of the brake lamp of the other vehicle m.

  In addition, as an element recognized from the appearance of the other vehicle m, the other vehicle recognition unit 132 may analyze an image captured by the camera 10 and recognize a change in the angle of the steering wheel of the other vehicle m.

  The other vehicle recognition unit 132 recognizes whether or not the driver is on the other vehicle m based on the recognition result of the camera 10. The other vehicle recognizing unit 132 estimates the state in which an occupant is on the other vehicle m by recognizing whether the vehicle height of the other vehicle m has changed based on the recognition result of the camera 10. Good.

  FIG. 4 is a diagram illustrating an example of a change in the vehicle height of the other vehicle m. For example, the other vehicle recognition unit 132 recognizes a change in the height of the other vehicle m based on the recognition result of the camera 10. As shown in the figure, when an occupant such as a driver gets on the other vehicle m, the weight of the passenger compartment increases, and the vehicle height changes lower than normal. For example, the other vehicle recognizing unit 132 analyzes an image captured by the camera 10 and estimates a sinking amount (h0−h1) from the reference vehicle height (h0) of the other vehicle m. The reference vehicle height of the other vehicle m may be acquired from the other vehicle m by inter-vehicle communication via the communication device 20, or may be acquired from the network based on the recognized vehicle type information of the other vehicle m. Good. The other vehicle recognition unit 132 may set the reference vehicle height of the other vehicle m based on the information acquired by traveling.

  When other vehicle m can communicate with other vehicle m, other vehicle recognition unit 132 communicates with other vehicle m, and acquires information on the operation of other vehicle such as starting, starting, stopping, and surrendering of other vehicle m. Thus, the operation of the other vehicle m may be recognized.

[Ambient environment recognition section]
The surrounding environment recognition unit 134 analyzes the image acquired by the camera 10, analyzes the image based on the difference in luminance of the image, and recognizes the surrounding environment where the other vehicle m is stopped. The surrounding environment recognition unit 134 recognizes a place where the other vehicle m is stopped, for example.

  Returning to FIG. 3, the surrounding environment recognition unit 134 recognizes, for example, the parking frame P provided in the area W outside the road. The surrounding environment recognition unit 134 recognizes white lines or the like written at predetermined intervals in the area W outside the road as the parking frame P.

  The surrounding environment recognition unit 134 recognizes the road structure around the position where the other vehicle m is stopped. The road structure is, for example, a structure provided artificially such as a median strip, a curbstone, or a sidewalk, and includes a pattern written on a road surface such as a lane mark. For example, the surrounding environment recognition unit 134 recognizes the curb G that extends to the left end of the road. The surrounding environment recognition unit 134 recognizes an area extending along the road R adjacent to the left side of the curb G as a sidewalk Q. For example, the surrounding environment recognition unit 134 recognizes a sidewalk provided as a structure.

  In addition to the sidewalk provided by the structure, the surrounding environment recognition unit 134 recognizes a roadside zone that is partitioned by a predetermined lane mark at the end of the road, and estimates the roadside zone as a sidewalk.

  The surrounding environment recognition unit 134 further recognizes the approach path S formed in the curb G. The approach road S is a road structure provided on the curb G that allows the vehicle to pass between the road R and the area W outside the road. The approach path S is formed as a cut in the curb G, for example. The approach path S may be provided as a slope S <b> 1 in which the height of a part of the curb G is formed lower than the other part, in addition to the one provided as a cut line of the curb G. The approach path S may be a slope S2 additionally installed on the road side adjacent to the curb G.

  The surrounding environment recognition unit 134 recognizes display contents such as “P” displayed on the signboard K indicating the entrance / exit of the parking lot existing outside the road, and sets the area connected to the road R in the vicinity of the signboard K as the approach path. It may be recognized as S (entrance / exit). The vicinity of the signboard K is, for example, an area within a predetermined distance from the signboard K, and the vicinity of the entrance / exit is a space connected to the entrance / exit and a position within the predetermined distance. In addition to the signboard K, the surrounding environment recognition unit 134 may recognize an electronic bulletin board, a color classification of a road surface and a sidewalk, symbols written on the road surface and a sidewalk, and the like as a display indicating an entrance.

[Avoidance control unit]
The avoidance control unit 142 determines whether another vehicle exists in an area outside the road based on the recognition results of the other vehicle recognition unit 132 and the surrounding environment recognition unit 134. When it is determined that the other vehicle m exists, the avoidance control unit 142 determines that the other vehicle m enters the road from the outside of the road based on the recognition result of the state of the other vehicle m and the surrounding environment where the other vehicle m is stopped. Determine whether to enter. When it is determined that the other vehicle m enters the road based on the determination result, the avoidance control unit 142 causes the host vehicle M to perform a predetermined avoidance operation according to the state of the other vehicle m, the approach route, and the like. The avoidance operation includes at least one of lane change and deceleration operation. The deceleration operation is deceleration or stop.

  FIG. 5 is a diagram illustrating an example of a state in which another vehicle m enters in a direction crossing the road R. The other vehicle recognition unit 132 recognizes the other vehicle m existing in the vicinity of the approach road S, and recognizes the distance between the other vehicle m and the host vehicle M and the direction of the other vehicle m with respect to the road R. The vicinity of the approach path S is, for example, a space connected to the approach path S and a position within a predetermined distance.

  When the avoidance control unit 142 determines that the distance between the other vehicle m and the host vehicle M is within a predetermined distance and the other vehicle m enters the road R, the other vehicle m is at least the host vehicle M on the road R. It is determined whether or not the vehicle enters in a direction crossing the own lane L1 on which the vehicle is traveling. For example, the avoidance control unit 142 determines whether the other vehicle m is the own lane L1 or the overtaking lane L2 based on the presence / absence of the turn of the other vehicle recognized or predicted by the other vehicle recognition unit 132, the turning start point, and the turning angle. Alternatively, it is determined whether or not the vehicle enters the oncoming lane L3. For example, when the other vehicle m joins the own lane L1, the turning start point CP1 of the turning track C1 is located in the vicinity of the approach path S.

  The avoidance control unit 142 determines that the other vehicle m enters the road in the direction of joining the own lane when the other vehicle recognition unit 132 recognizes the turning start point CP1 of the turning track C1. When the other vehicle m joins the overtaking lane L2, for example, the other vehicle travels in a direction crossing the own lane L1, and the turning start point CP2 on the turning track C2 is located away from the turning start point CP1 in the direction of the road R. To do. The avoidance control unit 142 determines that the other vehicle m enters the road in a direction crossing the own lane L1 when the other vehicle recognition unit 132 recognizes the turning start point CP2 of the turning track C2.

  For example, when another vehicle m merges with the oncoming lane L3, the other vehicle m travels in a direction crossing the own lane L1 and the passing lane L2, and the turning start point CP3 of the turning track C3 is on the road R side from the turning start point CP2. Located in the direction. The avoidance control unit 142 determines that the other vehicle m enters the road in a direction crossing the own lane L1 when the other vehicle recognition unit 132 recognizes the turning start point CP3 of the turning track C3.

  When the other vehicle m is stopped in the vicinity of the approach path S, the turning start point is not recognized, so the avoidance control unit 142 determines that the other vehicle m enters the road in a direction crossing the own lane L1. The avoidance control unit 142 may use the recognition result of the change in the angle of the steering wheel of the other vehicle m as an auxiliary in determining the approach route of the other vehicle m.

  The avoidance control unit 142 decelerates or stops the host vehicle M when it is determined that the other vehicle m enters the direction crossing the host lane L1. The other vehicle m entering the direction crossing the road R enters any lane of the road in which the host vehicle M travels, or enters the opposite lane across the road in the direction in which the host vehicle M travels. That is expected. Therefore, when the state of the other vehicle is recognized, it is desirable to prioritize the other vehicle to enter the road. When it is determined that the other vehicle m enters the direction crossing the road R, the avoidance control unit 142 decelerates or stops the host vehicle M.

  However, when the following vehicle is traveling behind the own vehicle M and the distance between the following vehicle and the own vehicle is equal to or less than the predetermined distance, the avoidance control unit 142 restricts the avoidance operation, and the own vehicle M is run as it is without decelerating or stopping. Here, the predetermined distance is a distance at which the succeeding vehicle can decelerate or stop without colliding with the own vehicle when the own vehicle is decelerated or stopped. As the predetermined distance, a value corresponding to the speed at which the host vehicle travels may be set in advance, or a time until the host vehicle reaches before the other vehicle may be used instead of the predetermined distance.

  FIG. 6 is a diagram illustrating an example of a state in which another vehicle m enters in the direction of joining the road R. For example, the avoidance control unit 142 determines that the other vehicle m enters the road R in an oblique direction based on the recognized movement direction of the other vehicle m in the vicinity of the approach path S. The avoidance control unit 142 determines an angle formed by the traveling direction of the other vehicle m entering the road from outside the road and the extending direction of the road based on the recognized turning angle of the other vehicle m. Is determined to enter in an oblique direction with respect to the road R.

  When the turning start point CP5 is recognized in the vicinity of the approach road S, the avoidance control unit 142 determines that the direction of the other vehicle m is an oblique direction with respect to the extending direction of the road R. When the turning start point CP5A of the other vehicle m is recognized in the area W outside the road, the avoidance control unit 142 determines that the other vehicle m enters the road R obliquely.

  The avoidance control unit 142 may recognize the angle formed by the other vehicle m and the extending direction of the road R based on the recognition result of the image captured by the camera 10. The avoidance control unit 142 may use the recognition result of the change in the angle of the steering wheel of the other vehicle m as an auxiliary in determining the approach route of the other vehicle m.

  The other vehicle m that enters in an oblique direction with respect to the road R is predicted to enter so as to join the own lane L1. Therefore, when the state of the other vehicle is recognized, it is desirable to prioritize the other vehicle to enter the road. When it is determined that the vehicle enters in an oblique direction with respect to the road R, the avoidance control unit 142 determines whether it is possible to change the lane to another lane. If there is an overtaking lane adjacent to the lane in which the host vehicle M travels and the lane change is possible, the avoidance control unit 142 causes the host vehicle M to change the lane from the driving lane to the overtaking lane. However, on a road to which traffic regulations such as overtaking prohibition are applied, the avoidance control unit 142 gives priority to traveling according to the traffic regulations.

  Even when the avoidance control unit 142 determines that the other vehicle m enters in an oblique direction with respect to the road R when the direction of the other vehicle m is in the vicinity of the approach path S, the avoidance control unit 142 travels at a point that is not in the vicinity of the approach path S. When the turning start point joining in the direction is recognized, it is determined that the other vehicle m crosses the own lane L1 and enters the overtaking lane L2 in the road. When it is determined that the other vehicle m crosses the own lane L1, the avoidance control unit 142 decelerates or stops the own vehicle M.

  Even when the avoidance control unit 142 recognizes that the direction of the other vehicle m is an oblique direction in the vicinity of the approach path S, the avoidance control unit 142 has a turning start point that merges in the traveling direction of the oncoming lane L3 in the own lane L1 or the overtaking lane L2. If recognized, it is determined that the other vehicle m enters the opposite lane L3 across the own lane L1, and the own vehicle M is decelerated or stopped.

Avoidance control to avoid other vehicles]
Next, a flow of avoidance control processing executed by the avoidance control unit 142 will be described. FIG. 7 is a flowchart illustrating an example of a flow of processing executed in the avoidance control unit 142.

  The avoidance control unit 142 determines based on the recognition result of the other vehicle recognition unit 132 whether or not another vehicle exists in an area outside the road on which the host vehicle M travels (step S100). If a negative determination is obtained in step S100, the process of step S100 is repeated. When a positive determination is obtained in step S100, the avoidance control unit 142 determines whether or not the other vehicle enters the road based on the state of the other vehicle m recognized by the other vehicle recognition unit 132 ( Step S110). The avoidance control unit 142 causes the host vehicle M to perform an avoidance operation according to the determination result (step S130).

  Next, the process for determining whether or not the other vehicle m started in step S110 in the automatic driving control apparatus 100 will be described in detail. FIG. 8 is a flowchart showing the flow of processing executed in step S110 in the automatic driving control apparatus 100. The avoidance control unit 142 performs the following determination process based on the recognition results of the other vehicle recognition unit 132 and the surrounding environment recognition unit 134.

  The avoidance control unit 142 determines whether or not the recognized distance between the other vehicle and the host vehicle is equal to or less than a predetermined distance (step S111). The predetermined distance is a distance that affects the travel of the host vehicle when another vehicle enters the road and requires the host vehicle to perform some avoidance operation. As the predetermined distance, for example, a distance between the position where the other vehicle is predicted to enter the road and the own vehicle may be used, or a distance between the own vehicle and the other vehicle may be used. The predetermined distance may be set in advance according to the speed, or a time until the host vehicle reaches before the other vehicle may be used instead of the predetermined distance.

  When a negative determination is obtained in step S111, the avoidance control unit 142 determines that another vehicle does not enter the road (step S117). When the distance between the host vehicle and the other vehicle is longer than a predetermined distance, even if the other vehicle enters the road, it does not affect the travel of the host vehicle. It is included in step S117 where it is determined that another vehicle does not enter the road.

  If a positive determination is obtained in step S111, the avoidance control unit 142 determines whether or not the other vehicle is moving in the direction of the road (step S112). When a positive determination is obtained in step S112, the avoidance control unit 142 determines that another vehicle enters the road (step S119). When the distance to the host vehicle is equal to or less than the predetermined distance and the other vehicle m is moving in the direction from the outside of the road to the inside of the road, there is a high possibility that the other vehicle m will enter the road R and avoid the own vehicle. This is because an operation is required.

  When the avoidance control unit 142 obtains a negative determination in step S112, the avoidance control unit 142 determines whether an approach road is formed on the road (step S113). When a positive determination is obtained in step S113, the avoidance control unit 142 determines whether or not the other vehicle is stopped near the approach path (step S114). This is because when the other vehicle m is stopped in the vicinity of the approach path S, there is a high possibility that the other vehicle m enters the road.

  If a negative determination is obtained in step S113, the avoidance control unit 142 proceeds with the process to step S115. When the position of the other vehicle m is not in the vicinity of the approach path S, the avoidance control unit 142 acquires other information recognized from the appearance state of the other vehicle and the state of the surrounding environment, and enters the other vehicle into the road. Determine approach.

  When a positive determination is obtained in step S114, the avoidance control unit 142 determines whether or not the other vehicle has a heat generation area (step S118). When a positive determination is obtained in step S118, the avoidance control unit 142 determines that another vehicle enters the road (step S119). This is because when the heat generation area exists in the other vehicle m, the engine or the like is already in operation, and the possibility that the other vehicle m enters the road is increased.

  When a negative determination is obtained in step S118, the avoidance control unit 142 determines whether sound or vibration is generated from another vehicle (step S120). When the other vehicle m is immediately after the engine is started, or when it is an electric vehicle or a hybrid vehicle, the heat generation region is not always recognizable. Therefore, when factors such as lighting of lights and inverter noise of the motor are recognized, the possibility that the other vehicle m starts will increase.

  When at least one of state changes related to sound such as sound and vibration of the other vehicle m is recognized, it becomes a factor for determining that the other vehicle m enters the road. If a positive determination is obtained in step S120, the avoidance control unit 142 proceeds with the process to step S119. When a negative determination is obtained in step S120, the avoidance control unit 142 determines whether or not there is a driver in another vehicle (step S121). This is because when there is a driver in another vehicle, there is a high possibility that the other vehicle m will enter the road.

  If a positive determination is obtained in step S121, the avoidance control unit 142 proceeds with the process to step S119. When a negative determination is obtained in step S121, the avoidance control unit 142 determines whether the vehicle height of the other vehicle has decreased (step S122). This is because the driver is not always recognizable from the outside of the other vehicle, and therefore when the decrease in the vehicle height of the other vehicle is recognized, the possibility that the driver is in the vehicle increases.

  If an affirmative determination is obtained in step S122, the avoidance control unit 142 proceeds with the process to step S119. When a negative determination is obtained in step S122, the avoidance control unit 142 determines whether or not the lights of other vehicles are lit (step S123). When a positive determination is obtained in step S123, the avoidance control unit 142 determines that another vehicle enters the road (step S119). In addition to recognizing the driver existing inside the other vehicle, if a change in the external state of the other vehicle is recognized, it becomes a determination factor for starting the other vehicle. For example, if the blinker flashes, the other vehicle This is because there is a high possibility of entering.

  If a negative determination is obtained in step S123, the avoidance control unit 142 determines whether or not the other vehicle is stopped near a signboard such as an entrance (step S124). If a positive determination is obtained in step S124, the avoidance control unit 142 advances the process to step S119. This is because there is a high possibility that the vehicle enters the road when other vehicles are stopped in the vicinity of a signboard or the like that displays the entrance of the facility or parking lot.

  When a negative determination is obtained in step S124, the avoidance control unit 142 determines that another vehicle does not enter the road (step S117).

  When a negative determination is obtained in step S114, the avoidance control unit 142 determines whether or not the other vehicle is stopped in the parking frame in the area outside the road (step S115). If a positive determination is obtained in step S115, the avoidance control unit 142 determines that the other vehicle does not enter the road. This is because when another vehicle is stopped in the parking frame, the possibility of entering the road is reduced.

  When a negative determination is obtained in step S115, the avoidance control unit 142 determines whether or not the other vehicle is stopped near the road shoulder, the roadside belt, or the sidewalk (step S116). In the determination in step S116, the avoidance control unit 142 determines whether or not the other vehicle is stopped by approaching the left shoulder, and whether or not the other vehicle is stopped over the roadside zone (lane mark) or the sidewalk. To do.

  When a negative determination is obtained in step S116, the avoidance control unit 142 determines that another vehicle does not enter the road (step S117). If a positive determination is obtained in step S116, the avoidance control unit 142 advances the process to step S118.

  In the flowchart described above, the order of steps S111 to S124 is not limited to this, and may be changed as appropriate. In the flowchart described above, it is determined that another vehicle enters the road when one of the conditions is satisfied. Instead, the other vehicle enters the road when a plurality of conditions are satisfied. Then, it may be determined.

  Next, a process for causing the host vehicle M to perform an avoidance operation according to the determination result determined in step S110 in the automatic driving control apparatus 100 will be described in detail. FIG. 9 is a flowchart showing the flow of processing executed in step S130 in the automatic driving control apparatus 100.

  The avoidance control unit 142 starts processing according to whether or not another vehicle enters the road based on the determination result determined in step S110 (step S131). If step S131 is negative, the avoidance control unit 142 causes the host vehicle to travel as it is (step S140). When step S131 is affirmative, the avoidance control unit 142 determines whether or not communication with another vehicle is possible (step S132). For example, when the other vehicle is capable of inter-vehicle communication, it is possible to control the own vehicle according to the operation of the other vehicle by referring to the information related to the future operation of the other vehicle in advance from the other vehicle acquired by the acquisition unit 144. Because it is possible.

  If a positive determination is obtained in step S132, the avoidance control unit 142 determines whether or not information indicating “transfer” relating to travel control has been received from another vehicle (step S139). When a positive determination is obtained in step S139, the avoidance control unit 142 causes the host vehicle to travel as it is (step S140).

  When a negative determination is obtained in step S139, the avoidance control unit 142 determines whether or not information indicating that “start” has been received from another vehicle (step S141). If a negative determination is obtained in step S141, the avoidance control unit 142 returns the process to step S140. If a positive determination is obtained in step S134, the avoidance control unit 142 proceeds with the process to step S135.

  When the other vehicle does not have a communication function between the vehicles and a negative determination is obtained in step S132, the avoidance control unit 142 determines whether or not the other vehicle travels in the direction crossing the own lane (step S133). . If a positive determination is obtained in step S133, the avoidance control unit 142 proceeds with the process to step S135. When a negative determination is obtained in step S133, the avoidance control unit 142 determines whether it is possible to change the lane to another lane (step S134). If a positive determination is obtained in step S134, the avoidance control unit 142 causes the host vehicle to change lanes (step S138).

  When a negative determination is obtained in step S134, the avoidance control unit 142 determines whether the distance between the succeeding vehicle and the host vehicle is equal to or greater than a predetermined distance (step S135). If a negative determination is obtained in step S135, the avoidance control unit 142 causes the host vehicle to travel as it is (step S140). At this time, the avoidance control unit 142 may transmit information indicating “going forward” to another vehicle that can communicate.

  If a positive determination is obtained in step S135, the avoidance control unit 142 decelerates or stops the host vehicle (step S136). The avoidance control unit 142 outputs, to the host vehicle, information prompting entry into the road with respect to another vehicle via the output unit 90 when the host vehicle decelerates or stops (step S139). The output information includes, for example, lighting of passing lights, horns, voice messages, information display on an external display device, and the like, as well as transmitting information indicating “transfer” by inter-vehicle communication.

  In the flowchart described above, the order of the steps from step S131 to step S140 is not limited to this, and may be appropriately changed. In the flowchart described above, it is determined that another vehicle enters the road when one of the conditions is satisfied. Instead, the other vehicle enters the road when a plurality of conditions are satisfied. Then, it may be determined.

  According to the above-described embodiment, the automatic driving control device 100 can smoothly travel the host vehicle even when another vehicle existing outside the road on which the host vehicle travels enters the road.

[Hardware configuration]
FIG. 10 is a diagram illustrating an example of a hardware configuration of the automatic driving control apparatus 100 according to the embodiment. As shown in the figure, an automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, and a ROM (Read Only Memory) that stores a boot program and the like. 100-4, a storage device 100-5 such as a flash memory or HDD (Hard Disk Drive), a drive device 100-6, and the like are connected to each other via an internal bus or a dedicated communication line. The communication controller 100-1 communicates with components other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded in the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thereby, some or all of the other vehicle recognition unit, the surrounding environment recognition unit, and the avoidance control unit are realized.

The embodiment described above can be expressed as follows.
A storage device storing the program;
A hardware processor,
The hardware processor executes a program stored in the storage device,
Recognize the surrounding situation of the vehicle,
Automatically controlling acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation;
Based on the positional relationship between the recognized vehicle and the other vehicle located outside the road on which the recognized vehicle travels, and the state of the other vehicle or the state of the driver of the other vehicle, the other vehicle is moved from outside the road. Determine whether to enter the road,
When it is determined that the vehicle enters, the host vehicle performs an avoidance operation according to the approach route of the other vehicle.
A vehicle control device configured as described above.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added. For example, in the above embodiment, the avoidance operation required when another vehicle enters from an area outside the road on the left side of the road has been described. However, the present invention is not limited to this, and the other vehicle is located on the opposite lane side. May be applied to avoidance control when the vehicle enters from the right side through a break in the median strip.

DESCRIPTION OF SYMBOLS 1 ... Vehicle system, 10 ... Camera, 12 ... Radar apparatus, 14 ... Finder, 15 ... Microphone, 16 ... Object recognition apparatus, 20 ... Communication apparatus, 40 ... Vehicle sensor, 50 ... Navigation apparatus, 51 ... GNSS receiver, 51 Receiving unit 52 Navi HMI 53 Route determination unit 54 First map information 61 Recommended lane determination unit 62 Second map information 80 Driving operator 90 Output unit 100 Automatic Operation control device, 100-1 ... communication controller, 100-2 ... CPU, 100-3 ... RAM, 100-5 ... storage device, 100-5a ... program, 100-6 ... drive device, 120 ... first control unit, DESCRIPTION OF SYMBOLS 130 ... Recognition part, 132 ... Other vehicle recognition part, 134 ... Surrounding environment recognition part, 140 ... Action plan production | generation part, 142 ... Avoidance control part, 160 ... 2nd control part, 162 ... Acquisition part, 164 Speed control unit, 166 ... steering control unit, 200 ... driving force output unit, 210 ... brake device, 220 ... steering device

Claims (18)

A recognition unit that recognizes the surroundings of the vehicle,
An operation control unit that automatically controls acceleration / deceleration and steering of the host vehicle based on the surrounding situation recognized by the recognition unit,
The driving control unit includes a positional relationship between another vehicle located outside the road on which the host vehicle travels recognized by the recognition unit and the host vehicle, and a state of the other vehicle or a driver state of the other vehicle. Based on the above, it is determined whether or not the other vehicle enters the road from outside the road, and if it is determined that the vehicle enters, the host vehicle performs an avoidance operation according to the approach route of the other vehicle.
Vehicle control device. When the driving control unit determines that the other vehicle recognized by the recognition unit enters the road from outside the road, the driving control unit causes the host vehicle to change lanes as the avoidance operation.
The vehicle control device according to claim 1. The driving control unit determines that the other vehicle enters the road from outside the road, and the distance between the following vehicle and the own vehicle traveling behind the own vehicle is a predetermined distance or more, Causing the host vehicle to decelerate as an avoidance operation,
The vehicle control device according to claim 1. An output unit for outputting information;
The driving control unit, when causing the host vehicle to decelerate as the avoidance operation, causes the output unit to output information that prompts the other vehicle to enter the road.
The vehicle control device according to claim 3. The recognition unit recognizes an approach path provided in a curb extending to the road,
The driving control unit determines that the other vehicle enters the road from outside the road when the other vehicle exists in a region in the vicinity of the approach road, and causes the own vehicle to perform an avoidance operation.
The vehicle control device according to any one of claims 1 to 4. The recognizing unit recognizes a heat generation area of the other vehicle existing outside the road;
When the temperature of the heat generation area of the other vehicle recognized by the recognition unit is equal to or higher than a predetermined value, the operation control unit determines that the other vehicle enters the road from outside the road, and performs an avoidance operation on the own vehicle. ,
The vehicle control device according to any one of claims 1 to 5. The recognizing unit recognizes at least one of state changes including sound, vibration, and light emission generated from the other vehicle existing outside the road;
The driving control unit determines that the other vehicle enters the road from outside the road based on the state change recognized by the recognition unit, and causes the host vehicle to perform an avoidance operation.
The vehicle control device according to any one of claims 1 to 6. The recognition unit recognizes the presence of a driver in the other vehicle existing outside the road,
When the recognition unit recognizes that the driver is present in the other vehicle, the driving control unit determines that the other vehicle enters the road from outside the road, and causes the host vehicle to perform an avoidance operation.
The vehicle control device according to any one of claims 1 to 7. The recognizing unit recognizes a change in vehicle height of the other vehicle;
The driving control unit determines that the other vehicle enters the road from outside the road when the recognition unit recognizes a change in vehicle height of the other vehicle, and causes the host vehicle to perform an avoidance operation.
The vehicle control device according to any one of claims 1 to 8. The recognizing unit recognizes the presence of other vehicles that stop across the sidewalk and the road,
The driving control unit determines whether or not the other vehicle enters the road when the recognizing unit recognizes the other vehicle stopped across the sidewalk and the road. Make an avoidance action,
The vehicle control device according to any one of claims 1 to 9. The driving control unit determines whether the other vehicle enters the road when the recognizing unit recognizes the other vehicle stopped across the lane mark marked on the road, and Make the vehicle avoid
The vehicle control device according to any one of claims 1 to 10. The recognizing unit recognizes the presence of a display indicating an entrance / exit of a parking lot outside the road, recognizes the vicinity of the recognized display as the entrance / exit,
The driving control unit determines that the other vehicle in the vicinity of the doorway enters the road when the recognition unit recognizes the display indicating the doorway of the parking lot existing outside the road. Make an avoidance action,
The vehicle control device according to any one of claims 1 to 11. An acquisition unit for acquiring information on the other vehicle via a communication unit communicating with the other vehicle;
The driving control unit determines that the other vehicle enters the road based on the information acquired by the acquiring unit, and causes the host vehicle to perform an avoidance operation.
The vehicle control device according to any one of claims 1 to 12. The recognizing unit recognizes an angle formed by the traveling direction of the other vehicle entering the road from outside the road and the extending direction of the road;
The driving control unit causes the host vehicle to perform an avoidance operation based on an angle formed by a traveling direction of the other vehicle entering the road from outside the road recognized by the recognition unit and an extending direction of the road.
The vehicle control device according to any one of claims 1 to 13. The driving control unit causes the host vehicle to perform an avoidance operation based on an angle formed by a traveling direction of the other vehicle entering the road from outside the road recognized by the recognition unit and an extending direction of the road.
The vehicle control device according to any one of claims 1 to 14. The recognizing unit recognizes that the other vehicle existing outside the road is stopped in a parking frame,
When the recognition unit recognizes that the other vehicle existing outside the road is stopped in the parking frame, the driving control unit determines that the vehicle does not enter the road from outside the road, and avoids the own vehicle. Limit,
The vehicle control device according to any one of claims 1 to 15. Computer
Recognize the surrounding situation of the vehicle,
Automatically controlling acceleration / deceleration and steering of the host vehicle based on the recognized surrounding situation;
Based on the positional relationship between the recognized vehicle and the other vehicle located outside the road on which the recognized vehicle travels, and the state of the other vehicle or the state of the driver of the other vehicle, the other vehicle is moved from outside the road. Determine whether to enter the road,
When it is determined that the vehicle enters, the host vehicle performs an avoidance operation according to the approach route of the other vehicle.
Vehicle control method. On the computer,
Recognize the surrounding situation of your vehicle,
Automatically controlling acceleration / deceleration and steering of the vehicle based on the recognized surrounding situation;
The other vehicle is located outside the road based on the positional relationship between the other vehicle located outside the road on which the host vehicle is recognized and the host vehicle and the state of the other vehicle or the driver of the other vehicle. To determine whether to enter the road from
If it is determined to enter, the host vehicle performs an avoidance operation according to the approach route of the other vehicle.
program.

Images