JP2020087191A - Lane boundary setting apparatus and lane boundary setting method - Google Patents

Abstract

To set a lane boundary accurately even when a lane marking cannot be recognized.SOLUTION: Lane boundary setting apparatuses 105, 105a include: a recognition unit 111 which acquires a detection result of a detection apparatus 120 mounted on a vehicle 10 and including at least a camera 122, and repeatedly recognizes at least one of a shape of a road-side object 30 located around the vehicle in a traveling direction and moving histories 21, 21a, 21b, 21c of other vehicles 20, 20a, 20b, 20c, as surrounding information; a reference line estimation unit 112 which repeatedly estimates a reference line 11 formed of a point sequence representing a road shape with points, in the traveling direction of the vehicle, by use of the surrounding information recognized by the recognition unit; and a first lane boundary setting unit 114 which repeatedly sets positions separated by a predetermined first distance D1 in vehicle lateral direction from the reference line estimated by the reference line estimation unit, as first lane boundaries 15R, 15L which are boundaries of a lane where the vehicle travels.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a lane boundary setting device and a lane boundary setting method.

Patent Document 1 describes a technique of setting a lane boundary in which a vehicle travels from an edge point of a lane marking of a road recognized by a camera. The set lane boundary is used, for example, to determine the lane change of another vehicle to the own lane.

JP, 2016-134093, A

However, the technique of Patent Document 1 does not consider the case where the lane marking is not recognized by the camera, such as the case where the lane marking of the road is faint. Therefore, there has been a demand for a technique capable of accurately setting a lane boundary even when a lane marking is not recognized.

The present disclosure has been made to solve the above problems, and can be realized as the following modes.

According to the first aspect of the present disclosure, a lane boundary setting device (105, 105a) is provided. This device acquires the detection result of a detection device (120) mounted on the host vehicle (10) and including at least a camera (122) to determine the shape of the roadside object (30) around the traveling direction of the host vehicle and other factors. A recognition unit (111) that repeatedly recognizes at least one of the movement history (21, 21a, 21b, 21c) of the vehicle (20, 20a, 20b, 20c) as peripheral information,
A reference line estimation unit (112) that repeatedly estimates a reference line (11) consisting of a point sequence representing a road shape in points in the traveling direction of the host vehicle using the peripheral information recognized by the recognition unit;
The first lane that is the boundary of the traveling lane of the host vehicle is located at a position separated by a predetermined first distance (D1) from the reference line estimated by the reference line estimation unit to both sides in the vehicle width direction of the host vehicle. A first lane boundary setting unit (114) that is repeatedly set as boundaries (15R, 15L). According to this aspect, even when the lane markings are not recognized, the first lane boundary, which is the boundary of the traveling lane of the host vehicle, can be set. Further, since the other vehicle and the roadside object having a three-dimensional shape can be detected farther than the lane markings painted on the road, the first lane boundary can be set farther.

According to the second aspect of the present disclosure, a lane boundary setting method is provided. In this method, at least one of the shape of a roadside object around the traveling direction of the own vehicle and the movement history of another vehicle is repeatedly recognized as peripheral information (step S100), and the recognized peripheral information is used to identify In the traveling direction of the vehicle, a reference line made up of a sequence of points representing the road shape is repeatedly estimated (step S200), and a predetermined first distance is deviated from the estimated reference line to both sides in the vehicle width direction of the vehicle. The position is repeatedly set as the first lane boundary which is the boundary of the traveling lane of the own vehicle (step S300). According to this aspect, even when the lane markings are not recognized, the first lane boundary, which is the boundary of the traveling lane of the host vehicle, can be set. Further, since the other vehicle and the roadside object having a three-dimensional shape can be detected farther than the lane markings painted on the road, the first lane boundary can be set farther.

The present disclosure can be implemented in various forms other than the lane boundary setting device. For example, it can be implemented in the form of a driving system including a lane boundary setting device, a vehicle including a lane boundary setting device, a lane boundary setting method, a computer program for realizing such a method, a storage medium storing such a computer program, and the like. it can.

The figure which shows schematic structure of the vehicle provided with a lane boundary setting device. FIG. 6 is a process chart showing lane boundary setting processing in the first embodiment. The image figure of the point sequence estimated by a reference line estimation part. The image figure of the reference line estimated by the reference line estimation part. FIG. 5 is an image diagram showing a first lane boundary set by a lane boundary setting unit. The process figure which shows the lane boundary setting process in 2nd Embodiment. The process figure which shows the exclusion vehicle specific process in 2nd Embodiment. The figure which shows the example of the other vehicle specified as a 1st exclusion vehicle. The figure which shows the example of the other vehicle specified as a 1st exclusion vehicle. The figure which shows the example of the other vehicle which is not pinpointed as a 1st exclusion vehicle. The process figure which shows the exclusion vehicle specific process in 3rd Embodiment. The figure which shows the example of the 1st separated vehicle specified as a 1st exclusion vehicle. The figure which shows the example of the 1st separated vehicle which is not specified as a 1st exclusion vehicle. The figure which shows the example of the 1st separated vehicle which is not specified as a 1st exclusion vehicle. The figure which shows schematic structure of the vehicle provided with the lane boundary setting apparatus in 4th Embodiment. The process drawing which shows a 2nd lane boundary setting process. The figure which shows the example in which the 2nd lane boundary is set outside the 1st lane boundary. The figure which shows the example which the 2nd lane boundary is not set outside the 1st lane boundary. The process drawing which shows the exclusion vehicle specific process in 5th Embodiment. The figure showing the example of other vehicles not specified as other vehicles specified as the 2nd exclusion vehicles. The process drawing which shows the exclusion vehicle specific process in 6th Embodiment. The figure which shows the example in which several 2nd lane boundary is set in other Embodiment 1. FIG. The figure which shows the example in which the 1st lane boundary is set using a lane marking in other Embodiment 3. The figure which shows the example in which a reference line is estimated using map information in other Embodiment 4.

A. First Embodiment As shown in FIG. 1, a vehicle 10 as an embodiment of the present disclosure includes an automatic driving control system 100. In the present embodiment, the automatic driving control system 100 includes a lane boundary setting device 105, a detection device 120, a driving control unit 210, a driving force control ECU (Electronic Control Unit) 220, a braking force control ECU 230, and a steering control. And an ECU 240. The lane boundary setting device 105, the driving control unit 210, the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240 are connected via an in-vehicle network 250. The vehicle 10 is also referred to as “own vehicle”. In the present embodiment, the automatic driving control system 100 executes automatic driving of the vehicle 10. The driver may drive manually.

The detection device 120 mounted on the vehicle 10 includes a camera 122 and repeatedly detects information at least around the traveling direction of the vehicle 10. In the present embodiment, the camera 122 is installed toward the front, side, and rear of the vehicle 10, and acquires captured images of the front, side, and rear. The side is the vehicle width direction of the vehicle 10. The rear includes the right front and the left rear in addition to the rear front of the vehicle 10. A monocular camera may be used as the camera 122. Also, a stereo camera or a multi-camera configured with two or more cameras may be used.

The detection device 120 of the present embodiment further includes a sensor group that monitors the periphery of the vehicle 10, a sensor group that monitors the traveling state of the vehicle 10, and an information communication device that uses V2X (Vehicle to Everything). Examples of the sensor group that monitors the periphery of the vehicle 10 include object sensors that use reflected waves, such as millimeter-wave radar, LiDAR (Light Detection And Ranging or Laser Imaging Detection And Ranging), and ultrasonic sensors. Examples of the sensor group that monitors the traveling state of the vehicle 10 include a vehicle speed sensor, an acceleration sensor, a GNSS (Global Navigation Satellite System) sensor, and a yaw rate sensor. The vehicle speed sensor detects the speed of the vehicle 10. The acceleration sensor detects the acceleration of the vehicle 10. The yaw rate sensor detects the rotational angular velocity of the vehicle 10. The GNSS sensor is composed of, for example, a GPS (Global Positioning System) sensor, and detects the current position of the vehicle 10 based on the radio waves received from the navigation satellites that compose the GPS. An information communication device using V2X performs wireless communication with an Intelligent Transport System, vehicle-to-vehicle communication with other vehicles, and road-to-vehicle communication with a roadside radio installed in road equipment. By executing the information, it is possible to exchange information about the situation of the vehicle 10 and the surrounding situation with another vehicle or the like. Each sensor of the detection device 120 is provided with an ECU (Electronic Control Unit) that processes a detection result of each sensor. The detection device 120 can detect the various information described above.

The lane boundary setting device 105 includes a recognition unit 111, a reference line estimation unit 112, and a first lane boundary setting unit 114. In the present embodiment, the lane boundary setting device 105 further includes an excluded vehicle specifying unit 113 and an output unit 115. The excluded vehicle specifying unit 113 will be described in the second embodiment. The lane boundary setting device 105 is configured as a computer including a CPU 110, a memory 117, and an interface (not shown). The CPU 110 realizes the functions of the above units by expanding and executing the program P1 stored in the memory 117. However, some or all of the functions of these units may be realized by a hardware circuit.

The recognition unit 111 acquires the detection result of the detection device 120 and repeatedly recognizes at least one of the shape of the roadside object and the movement history of another vehicle as peripheral information. Roadside objects are three-dimensional structures existing on the side edges of roads. In the present embodiment, the recognition unit 111 recognizes the presence and the position of a roadside object as peripheral information from the detection result of the detection device 120. The recognition unit 111 also recognizes the movement history of the other vehicle as peripheral information by using the presence, position, size, distance, traveling direction, speed, yaw angular velocity, etc. of the other vehicle acquired from the detection device 120. If the recognizing unit 111 can acquire the presence of a lane marking and its position on the traveling road from the detection result of the detection device 120, the recognizing unit 111 recognizes the presence of the lane marking and its position as peripheral information. Good.

The reference line estimation unit 112 includes a sequence of points that represent the road shape of the travel route of the vehicle 10 from the center in the vehicle width direction of the vehicle 10 toward the traveling direction, using the peripheral information recognized by the recognition unit 111. Estimate the baseline repeatedly. The reference line is a curve at the center of the first lane boundary, which will be described later, in the vehicle width direction. For estimating the reference line, for example, a Kalman filter or a least square method can be used.

The first lane boundary setting unit 114 sets the positions of the vehicle 10 at predetermined first distances D1 on both sides in the vehicle width direction of the vehicle 10 from the positions on the reference line estimated by the reference line estimation unit 112. Set repeatedly as the boundary of the driving lane. The boundary of the driving lane of the host vehicle is also referred to as “first lane boundary”. In the present embodiment, the first distance D1 is stored in the memory 117 in advance. The first distance D1 is a distance corresponding to one half of a general lane width value. In another embodiment, the first distance D1 may be determined based on the lane width learned by a vehicle width learning device (not shown).

The output unit 115 repeatedly outputs the first lane boundary set by the first lane boundary setting unit 114 to the driving control unit 210 and the like through the in-vehicle network 250.

The operation control unit 210 is composed of a microcomputer including a CPU (not shown), a memory, and an interface (not shown). The CPU of the operation control unit 210 realizes the automatic driving function by expanding and executing the program stored in the memory. The driving control unit 210 controls the driving force control ECU 220, the braking force control ECU 230, and the steering control ECU 240 by using, for example, the first lane boundary and the second lane boundary described later.

The driving force control ECU 220 is an electronic control device that controls an actuator that generates a driving force of the vehicle such as an engine. When the driver manually drives, the driving force control ECU 220 controls a power source such as an engine or an electric motor according to the operation amount of the accelerator pedal. On the other hand, when performing automatic driving, the driving force control ECU 220 controls the power source according to the required driving force calculated by the driving control unit 210.

The braking force control ECU 230 is an electronic control device that controls a brake actuator that generates a braking force of the vehicle. When the driver manually operates, the braking force control ECU 230 controls the brake actuator according to the operation amount of the brake pedal. On the other hand, when performing automatic driving, the braking force control ECU 230 controls the brake actuator according to the required braking force calculated by the driving control unit 210.

The steering control ECU 240 is an electronic control device that controls a motor that generates a steering torque of the vehicle. When the driver manually operates, the steering control ECU 240 controls the motor according to the operation of the steering wheel to generate the assist torque for the steering operation. As a result, the driver can operate the steering with a small amount of force, and the steering of the vehicle is realized. On the other hand, when performing automatic driving, the steering control ECU 240 performs steering by controlling the motor according to the required steering angle calculated by the driving control unit 210.

The lane boundary setting process shown in FIG. 2 is a series of processes in which the lane boundary setting device 105 sets the lane boundary of the road on which the vehicle 10 travels. This process is repeatedly executed by the lane boundary setting device 105 every 100 ms while the vehicle 10 is traveling. The detection device 120 repeatedly detects information around the traveling direction of the vehicle 10.

In step S100, the recognition unit 111 acquires the detection result of the detection device 120 and recognizes at least one of the shape of the roadside object and the movement history of another vehicle as peripheral information.

In step S200, the reference line estimation unit 112 estimates the reference line using the peripheral information recognized by the recognition unit 111. The reference line estimation unit 112 first estimates a point sequence in which the road shape is represented by points in the traveling direction of the host vehicle 10, and estimates a reference line from the estimated point sequence.

As shown in FIG. 3, in the present embodiment, the reference line estimation unit 112 sets the shape of the roadside object 30 and the movement history 21 of the other vehicle 20 recognized by the recognition unit 111 in the center of the vehicle 10 in the vehicle width direction. Estimate the coordinate position of the sequence of points by making a transition. In another form, the reference line estimation unit 112 may estimate the coordinate position of the point sequence from the shapes of the left and right roadside objects 30 in the vehicle width direction of the host vehicle, or the left and right sides of the host vehicle in the vehicle width direction. It may be estimated from the movement history 21 of the other vehicle 20. Further, the reference line estimation unit 112 may estimate the coordinate position of the point sequence from the shape of the roadside object 30 on one side in the vehicle width direction of the host vehicle 10, or one side in the vehicle width direction of the host vehicle 10. It may be estimated from the movement history 21 of the other vehicle 20. In FIG. 3 and subsequent figures, the point sequence estimated by the reference line estimation unit 112 is represented by x. The point sequence is estimated from the center of the vehicle 10 in the vehicle width direction toward the traveling direction. The reference line estimation unit 112 uses the road model stored in the memory 117 and utilizes the Kalman filter or the least squares method to estimate the reference line 11 from the point sequence as shown in FIG.

In step S300, the first lane boundary setting unit 114 sets each position at a predetermined first distance D1 from the estimated reference line 11 to both sides of the vehicle 10 in the vehicle width direction as a first lane boundary. As shown in FIG. 5, in step S300, a first lane boundary 15 including a boundary 15R on the right side in the vehicle width direction of the vehicle 10 and a boundary 15L on the left side in the vehicle width direction of the vehicle 10 is set. Hereinafter, the right lane boundary of the first lane boundaries 15 is also referred to as a first lane boundary 15R, and the left lane boundary is also referred to as a first lane boundary 15L.

In step S400 of FIG. 2, the output unit 115 outputs the set first lane boundary 15 to the driving control unit 210 and the like. The lane boundary setting process is executed as described above.

According to this aspect, the lane boundary setting device 105 acquires the detection result of the detection device 120, recognizes at least one of the shape of the roadside object 30 and the movement history 21 of the other vehicle 20 as peripheral information, and recognizes it. Using the peripheral information thus obtained, the reference line 11 consisting of a sequence of points representing the road shape is repeatedly estimated. In addition, the lane boundary setting device 105 sets a position, which is a predetermined first distance D1 away from the estimated reference line 11 on both sides in the vehicle width direction of the vehicle 10, as a boundary of the traveling lane of the vehicle 10. The lane boundary 15 is repeatedly set. Therefore, the first lane boundary 15 can be set even when the lane marking 40 as shown in FIGS. 3 to 5 is not recognized due to reflection of light or the like. Further, since the other vehicle 20 and the roadside object 30 having a three-dimensional shape can be detected farther than the lane marking 40 painted on the road, the first lane boundary 15 can be set farther.

B. Second Embodiment The lane boundary setting process of the second embodiment shown in FIG. 6 is different from the first embodiment in that step S120, step S140, and step S150 are provided, and the other steps are the same as in the first embodiment. .. In the following, the same reference numerals will be given to the same configurations and processes as those already described, and description thereof will be omitted.

In step S120, the excluded vehicle specifying unit 113 illustrated in FIG. 1 uses the movement history of the other vehicle recognized by the recognizing unit 111 and the set lane boundary to detect another vehicle around the traveling direction of the own vehicle 10. Among them, the excluded vehicle which is the other vehicle whose movement history does not follow the road shape is specified. In the present embodiment, the excluded vehicle specifying unit 113 specifies the other vehicle whose moving history does not follow the road shape as the first excluded vehicle by using the movement history of the other vehicle and the set first lane boundary 15. To do.

FIG. 7 is a process diagram showing an excluded vehicle specifying process executed by the excluded vehicle specifying unit 113. In step S121, the excluded vehicle identification unit 113 acquires the detection result of the detection device 120 and determines whether or not another vehicle exists in the traveling direction of the host vehicle 10. If another vehicle exists, the excluded vehicle identification unit 113 advances the process to step S123. If there is no other vehicle, the excluded vehicle specifying unit 113 ends the excluded vehicle specifying process.

In step S123, the excluded vehicle specifying unit 113 uses the captured image acquired at the time of starting the excluded vehicle specifying process this time, and within the predetermined second distance D2 in the traveling direction of the vehicle 10, another vehicle is It is determined whether to cross the set first lane boundary 15. The second distance D2 is a distance from the center of the vehicle 10 in the vehicle width direction toward the traveling direction. The second distance D2 is a distance set by the reference line estimation unit 112 for estimating the point sequence, which is obtained by experiments or simulations using the detection range of the detection device 120. The case where step S123 is affirmatively determined is a case where at least a part of the other vehicle 20 overlaps the set first lane boundary 15 as in the example shown in FIG. As shown in FIG. 8, when the other vehicle 20 crosses the set first lane boundary 15, the excluded vehicle identification unit 113 advances the process to step S132 to identify the other vehicle 20 as the first excluded vehicle. . When the other vehicle 20 does not cross the set first lane boundary 15, the excluded vehicle specifying unit 113 advances the process to step S125.

In step S125, the excluded vehicle specifying unit 113 sets the movement history of the other vehicle within the second distance D2 from the previous lane boundary setting process to the current lane boundary setting process. It is determined whether or not the first lane boundary 15 is crossed. That is, in steps S123 and S125, the excluded vehicle specifying unit 113 crosses the set first lane boundary 15 from the previous lane boundary setting process to the current lane boundary setting process. However, the other vehicle is specified as the first excluded vehicle.

As in the example illustrated in FIG. 9, when the movement history 21 of the other vehicle 20 intersects with the set first lane boundary 15 within the second distance D2, the excluded vehicle specifying unit 113 causes the process to proceed to step S130. Then, the other vehicle 20 is identified as the first excluded vehicle. As in the example illustrated in FIG. 10, when the movement history 21 of the other vehicle 20 does not intersect with the set first lane boundary 15 within the second distance D2, the excluded vehicle specifying unit 113 causes the process to proceed to step S132. Proceed and do not specify the other vehicle 20 as the first excluded vehicle. As described above, the excluded vehicle specifying unit 113 executes the excluded vehicle specifying process.

Returning to FIG. 6, in step S140, the reference line estimation unit 112 determines whether the excluded vehicle is specified. When the excluded vehicle specifying unit 113 specifies the excluded vehicle, the reference line estimating unit 112 advances the process to step S150. When the excluded vehicle is not specified by the excluded vehicle specifying unit 113, the reference line estimating unit 112 advances the process to step S200.

In step S150, the reference line estimation unit 112 excludes the movement history of the excluded vehicle from the peripheral information. That is, if the determination in step S140 is affirmative, in step S200, the reference line estimation unit 112 estimates the reference line 11 using the peripheral information excluding the movement history of the excluded vehicle.

According to this aspect, the excluded vehicle specifying unit 113 uses the first lane boundary 15 and the recognized movement history 21 of the other vehicle 20 to first exclude the other vehicle 20 whose movement history does not follow the road shape. The vehicle is specified as a vehicle, and the reference line estimation unit 112 estimates the reference line 11 without using the movement history 21 of the first excluded vehicle specified by the excluded vehicle specifying unit 113. Therefore, it is possible to set the first lane boundary 15 that is more in line with the road shape.

According to this aspect, the excluded vehicle specifying unit 113 is set to be the other vehicle 20 that crosses the set first lane boundary 15 within the predetermined second distance D2 in the traveling direction of the host vehicle 10. The other vehicle 20 at which the first lane boundary 15 and the movement history 21 intersect is specified as the first excluded vehicle. Therefore, the first lane boundary 15 can be set by appropriately identifying the other vehicle 20 whose movement history 21 does not follow the road shape.

C. Third Embodiment The excluded vehicle identification process of the third embodiment shown in FIG. 11 differs from the second embodiment in that step S122 and step S127 are provided, and the other steps are the same as in the second embodiment. In step S121, the excluded vehicle specifying unit 113 advances the process to step S122 when another vehicle exists around the traveling direction of the own vehicle 10.

In step S122, the excluded vehicle identification unit 113 determines whether or not the detected other vehicle is the first separated vehicle. The first separated vehicle is another vehicle that is separated from the host vehicle 10 by a predetermined third distance. The third distance D3 is a distance from the center of the vehicle 10 in the vehicle width direction toward the traveling direction, and is a distance equal to or greater than the second distance D2. In the present embodiment, the third distance D3 is equal to the second distance. The third distance D3 is determined from the relationship between the processing speed of the lane boundary setting device 105 and the vehicle speed as a distance in which the first lane boundary 15 can be appropriately set with a margin. The third distance D3 is obtained by experiment or simulation. When the other vehicle 20 is not the first separated vehicle, the excluded vehicle identification unit 113 advances the process to step S123, and executes the processes of step S123 to step S132 as in the above-described second embodiment. If the other vehicle 20 is the first separated vehicle, the excluded vehicle identification unit 113 advances the process to step S127.

In step S127, the excluded vehicle specifying unit 113 determines whether the movement history 21 of the first separated vehicle intersects with the set first lane boundary 15 at a position within the third distance D3. 12 to 14 show the other vehicle 20 which is the first separated vehicle and the set first lane boundary 15. As in the example illustrated in FIG. 12, when the vehicle crosses the first lane boundary 15 in which the movement history 21 of the other vehicle 20 is set at a position within the third distance D3, the excluded vehicle identification unit 113 performs the process. In step S132, the first separated vehicle is identified as the first excluded vehicle.

In the example shown in FIG. 13, the other vehicle 20 straddles the set first lane boundary 15 at a position distant from the third distance D3. However, the movement history 21 of the other vehicle 20 does not intersect with the set first lane boundary 15 within the third distance D3. Further, in the example shown in FIG. 14, the movement history 21 of the other vehicle 20 intersects with the first lane boundary 15 at a position distant from the third distance D3. In the example illustrated in FIGS. 13 and 14, the excluded vehicle identification unit 113 proceeds with the process to step S130 and does not identify the other vehicle 20 as the first excluded vehicle.

In the subsequently performed reference line estimation process (FIG. 6, step S200), the reference line estimation unit 112 determines that the movement history of the first lane boundary 15 is set within the third distance D3 of the first separated vehicle. The reference line 11 is estimated using the peripheral information including the movement history of other vehicles that do not intersect.

For example, when the shape of the road changes greatly, such as at the entrance and exit of a curve, the first lane boundary 15 at a position distant from the host vehicle 10 may be the road due to the relationship between the processing speed of the lane boundary setting device 105 and the vehicle speed. It may not follow the shape. However, if the movement history of the first separated vehicle does not intersect with the set first lane boundary 15 within the third distance D3, it is considered that the movement history of the first separated vehicle is along the road shape. Be done. According to this aspect, among the first separated vehicles that are farther than the third distance D3 from the own vehicle 10, the other vehicles 20 that do not intersect the first lane boundary 15 for which the movement history is set within the third distance D3 , Not specified as the first excluded vehicle. Therefore, the reference line 11 is estimated by using the movement history of the vehicle whose movement history is along the road shape among the first separated vehicles, so that the estimation accuracy of the reference line can be improved.

D. Fourth Embodiment As shown in FIG. 15, a vehicle 10a according to a fourth embodiment includes an automatic driving control system 100a having a lane boundary setting device 105a. In the present embodiment, the lane boundary setting device 105a is different from the lane boundary setting device 105 of the above-described embodiment in that the second lane boundary setting unit 116 is provided and that the output unit 115 is provided instead of the output unit 115. .. The CPU 110a of the lane boundary setting device 105a develops and executes the program P1a stored in the memory 117a to thereby recognize the recognition unit 111, the reference line estimation unit 112, the excluded vehicle specifying unit 113, and the first lane boundary setting. It functions as the unit 114, the output unit 115a, and the second lane boundary setting unit 116.

The second lane boundary setting unit 116 sets a second lane boundary, which is a boundary of the traveling lane of the vehicle, on the side opposite to the side where the vehicle 10 is located with respect to the set first lane boundary 15. The side opposite to the side where the vehicle 10 is located with respect to the first lane boundaries 15R and 15L is also referred to as the outside of the first lane boundary. The output unit 115a outputs the set second lane boundary in addition to the first lane boundary 15.

FIG. 16 is a process diagram showing a lane boundary setting process executed by the second lane boundary setting unit 116. This process is executed every time the first lane boundary setting unit 114 sets the first lane boundary 15.

In step S310, the second lane boundary setting unit 116, the movement history of the other vehicle recognized by the recognition unit 111, the set first lane boundary 15, and the information of the excluded vehicle specified by the excluded vehicle specifying unit 113. Using and, it is determined whether or not there is a movement history of another vehicle that is not an excluded vehicle outside the set first lane boundary 15. When the movement history of the other vehicle exists, the second lane boundary setting unit 116 advances the process to step S320. If the movement history of the other vehicle does not exist, the second lane boundary setting unit 116 ends this processing.

In step 320, the second lane boundary setting unit 116 predetermines from the first lane boundary 15 to the outside of the set first lane boundary 15 and the side where the movement history of another vehicle that is not an excluded vehicle is recognized. The determined position at the fourth distance D4 is set as the second lane boundary. The second lane boundary setting unit 116 sets one second lane boundary for one movement history. The fourth distance D4 is a vehicle width stored in advance in the memory 117a and obtained by experiments or simulations. In the present embodiment, the fourth distance D4 is twice the first distance D1.

In step S410, the output unit 115a outputs the set second lane boundary.

In the example shown in FIG. 17, the movement history 21a of the other vehicle 20a exists on the right side of the set first lane boundary 15R, and the movement history 21b of the other vehicle 20b exists on the left side of the set first lane boundary 15L. Exists. Since the movement history 21a of the other vehicle 20a does not intersect the set first lane boundary 15 within the second distance D2, the other vehicle 20a is not specified as the first excluded vehicle. Therefore, the second lane boundary setting unit 116 sets the second lane boundary 25a by sliding the first lane boundary 15R to the right of the set first lane boundary 15R by the fourth distance D4. Further, since the movement history 21b of the other vehicle 20b does not intersect with the set first lane boundary 15 within the second distance D2, the other vehicle 20b is not specified as the first excluded vehicle. Therefore, the second lane boundary setting unit 116 sets the second lane boundary 25b by sliding the first lane boundary 15L to the left of the first lane boundary 15L by the fourth distance D4. In the example shown in FIG. 18, the movement history 21a of the other vehicle 20a exists on the right side of the set first lane boundary 15R. Since the movement history 21a of the other vehicle 20a intersects the set first lane boundary 15 within the second distance D2, the other vehicle 20a is specified as the first excluded vehicle. Therefore, the second lane boundary setting unit 116 does not set the second lane boundary on the right side of the first lane boundary 15R.

According to this aspect, when the movement history of the other vehicle is recognized outside the set first lane boundary 15, the second lane boundary setting unit 116 recognizes the movement history of the other vehicle. In addition, the second lane boundary can be set.

In step S310 of the above embodiment, the second lane boundary setting unit 116 sets the second lane boundary using the set first lane boundary 15 and the movement history 21 of the other vehicle. On the other hand, or in addition to this, when the recognizing unit 111 recognizes a lane marking on the road on the opposite side of the first lane boundary 15 to the side where the vehicle 10 is present, as peripheral information, The second lane boundary setting unit 116 may set the position at the fourth distance D4 on the side where the lane marking is recognized with respect to the set first lane boundary 15 as the second lane boundary.

E. Fifth Embodiment In the fifth embodiment, the excluded vehicle specifying unit 113, in addition to the functions of the above-described embodiment, further includes a movement history of another vehicle and a second lane boundary set by the second lane boundary setting unit 116. Among the other vehicles 20 around the own vehicle 10 in the traveling direction, the other vehicle whose movement history 21 does not follow the road shape is specified as the second excluded vehicle.

The excluded vehicle specifying process shown in FIG. 19 is a process executed when the second lane boundary is set. The process shown in FIG. 19 differs from the excluded vehicle identification process of the second embodiment in that step S123a, step S125a, step S132, and step S132a are provided instead of step S123, step S125, step S130, and step S132, respectively. ..

In step S123a, the excluded vehicle specifying unit 113 uses the captured image acquired at the start of the excluded vehicle specifying process this time, and within the predetermined second distance D2 in the traveling direction of the own vehicle 10, another vehicle is It is determined whether or not the set second lane boundary is crossed. When another vehicle does not cross the set second lane boundary, the excluded vehicle identification unit 113 advances the process to step S125a.

In step S125a, the excluded vehicle identification unit 113 sets the movement history of another vehicle within the second distance D2 from the time when the previous lane boundary setting processing was performed to the time when this lane boundary setting processing is performed. It is determined whether or not the second lane boundary is crossed. That is, in steps S123a and S125a, the excluded vehicle specifying unit 113 crosses the set second lane boundary from the previous lane boundary setting process to the current lane boundary setting process. The other vehicle will be specified as the second excluded vehicle.

As in the example illustrated in FIG. 20, when the movement history 21a of the other vehicle 20a intersects with the set second lane boundary 25a within the second distance D2, the excluded vehicle identification unit 113 causes the process to proceed to step S130a. Then, the other vehicle 20a is identified as the second excluded vehicle. The other vehicle 20b illustrated in FIG. 20 does not intersect with the second lane boundary 25b in which the movement history 21 is set. In such a case, the excluded vehicle specifying unit 113 proceeds with the process to step S132a and does not specify the other vehicle 20b as the second excluded vehicle. As described above, the excluded vehicle specifying unit 113 executes the excluded vehicle specifying process using the second lane boundaries 25a and 25b set by the second lane boundary setting unit 116. When the second excluded vehicle is specified, the reference line estimation unit removes the movement history of the second excluded vehicle from the recognition information in the lane boundary setting process illustrated in FIG. 6 (see FIG. 6, step S150), and The reference line is estimated using the peripheral information excluding the movement history of the excluded vehicle (see step S200 in FIG. 6).

According to this aspect, the excluded vehicle specifying unit 113 determines not only the first lane boundary 15 set by the first lane boundary setting unit 114 but also the second lane boundary 25a set by the second lane boundary setting unit 116. Since the excluded vehicle is specified by using this, the first lane boundary 15 can be set with higher accuracy.

F. Sixth Embodiment The excluded vehicle identification process shown in FIG. 21 is a process executed when the second lane boundary setting unit 116 sets the second lane boundary. The process shown in FIG. 21 differs from the fifth embodiment (FIG. 19) in that step S122a and step S127a are included, and the other steps are the same as in the fifth embodiment.

In step S122a, the excluded vehicle identification unit 113 determines whether or not the other vehicle is the second separated vehicle that is further away than the fifth distance. The fifth distance D5 is defined as a distance with a margin that can appropriately set the second lane boundary from the relationship between the processing speed of the lane boundary setting device 105a and the vehicle speed. The fifth distance D5 is obtained by experiments and simulations. In the present embodiment, the fifth distance D5 is equal to the third distance D3 in the above embodiment. If the other vehicle is the second separated vehicle, the excluded vehicle identification unit 113 advances the process to step S127a. When the other vehicle is not the second separated vehicle, the excluded vehicle specifying unit 113 advances the process to step S123a. Since step S123a and step S125a are the same as in the fifth embodiment, description thereof will be omitted.

In step S127a, the excluded vehicle identification unit 113 determines whether the vehicle crosses the second lane boundary in which the movement history of the second separated vehicle is set within the fifth distance D5. When the vehicle crosses the second lane boundary in which the movement history of another vehicle is set within the fifth distance D5, the excluded vehicle specifying unit 113 advances the process to step S132a, and sets the second separated vehicle as the second excluded vehicle. Specify as. When the second excluded vehicle is specified, the reference line estimation unit removes the movement history of the second excluded vehicle from the recognition information in the lane boundary setting process illustrated in FIG. 6 (see FIG. 6, step S150), and The reference line is estimated using the peripheral information excluding the movement history of the excluded vehicle (see step S200 in FIG. 6).

According to this aspect, among the second separated vehicles located farther from the own vehicle 10 than the third distance D3, other vehicles that are within the fifth distance D5 and do not intersect with the second lane boundary for which the movement history is set are , Not specified as the second excluded vehicle. Therefore, the reference line is estimated using the movement history of the separated vehicle whose movement history is along the road shape among the second separated vehicles, so that the estimation accuracy of the reference line can be further improved.

G. Other Embodiments G1. Other Embodiment 1
In the above embodiment, the second lane boundary setting unit 116 may set a plurality of second lane boundaries outside the first lane boundary 15. Specifically, the second lane boundary setting unit 116 is not specified as an excluded vehicle on the side opposite to the side on which the first lane boundary 15 is set with respect to the set second lane boundary in step S310 of FIG. When the movement history of another vehicle exists, the position at the fourth distance D4 is further set as the second lane boundary from the set second lane boundary to the side opposite to the side where the first lane boundary 15 is set. You may. Instead of this or in addition to this, the second lane boundary setting unit 116 causes the recognition unit 111 to set the road on the side opposite to the side where the first lane boundary 15 is set with respect to the set second lane boundary. When the lane marking 40 is recognized, the position at the fourth distance D4 is further set as the second lane boundary from the set second lane boundary to the side opposite to the side where the first lane boundary 15 is set. You may.

In the example shown in FIG. 22, the set second lane boundary 25a is on the outer side in the vehicle width direction, and the set second lane boundary 25a is opposite to the side (left side) on which the first lane boundary 15R is set. The movement history 21c of the other vehicle 20c exists on the side (right side). Since the movement history 21c of the other vehicle 20c does not intersect the second lane boundary 25a set within the second distance D2, the other vehicle 20c is not specified as the excluded vehicle. Therefore, the second lane boundary setting unit 116 further sets the second lane boundary 25c on the right side of the second lane boundary 25a.

According to this aspect, it is possible to set a plurality of second lane boundaries outside the first lane boundary in the vehicle width direction.

G2. Other Embodiment 2
The other embodiment 1 described above can be combined with the fifth embodiment or the sixth embodiment. For example, the excluded vehicle identification unit 113 uses the set first lane boundary 15 and the set plurality of second lane boundaries to select the movement history among other vehicles located in the traveling direction of the host vehicle 10. Other vehicles that do not follow the road shape may be specified as excluded vehicles. According to this aspect, the second lane boundary setting unit 116 separates the first excluded vehicle specified using the first lane boundary 15 and the second excluded vehicle specified using the plurality of second lane boundaries. Since the reference line 11 is estimated using the peripheral information excluding the movement history, the first lane boundary 15 can be set with higher accuracy.

G3. Other Embodiment 3
In the above embodiment, the recognizing unit 111 may recognize the lane markings 40 as peripheral information when the lane markings 40 can be recognized. When the lane marking 40 is recognized in the vicinity of the host vehicle 10 and the lane marking 40 is not recognized in the distant place as in the example shown in FIG. 23, the reference line estimation unit 112 recognizes the lane marking 40 recognized in the vicinity. Alternatively, the reference line 11 may be estimated by estimating the point sequence using the roadside object 30 and the movement history 21 that are recognized in the distance from the vicinity.

G4. Other Embodiment 4
In the above embodiment, when the recognition unit 111 does not recognize any of the movement history of the roadside object 30, the other vehicle, and the marking line 40 as the peripheral information, the reference line estimation unit 112 detects that the GNSS detects the information. The temporary reference line may be estimated using the position of the vehicle 10 and the map information having the coordinates of the point sequence. The first lane boundary setting unit 114 may set the first lane boundary using the estimated provisional reference line. At this time, as in the example shown in FIG. 24, the reference line estimation unit 112 uses the self-position of the vehicle 10 detected by the detection device 120 and the map information acquired by communication from the memories 117 and 117a or another device. May be used to estimate the point sequence, and the temporary reference line 12 may be estimated from the point sequence. The first lane boundary setting unit 114 may set the temporary first lane boundary using the temporary reference line 11a. The interval between the adjacent point sequences estimated using the map information may be wider than the interval between the point sequences estimated in the above embodiment. Further, depending on the traveling environment of the vehicle 10, the positional accuracy of the vehicle 10 detected by the GNSS may decrease. Therefore, the reference line estimation unit 112 sets the provisional reference line 12 to the movement history of the roadside object 30 or another vehicle at a stage when the movement history of the roadside object 30 or another vehicle can be recognized as peripheral information by the recognition unit 111. It is desirable to update with the reference line estimated using. According to this aspect, while controlling the traveling of the vehicle 10 by the provisional reference line 12 and the provisional first lane boundary, the movement history of the roadside object 30 or another vehicle can be recognized as the peripheral information, It is possible to control the traveling of the host vehicle 10 by setting a more accurate first lane boundary.

The present disclosure is not limited to the above-described embodiments, and can be implemented with various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in the modes described in the summary of the invention are provided in order to solve some or all of the above problems, or some of the above effects. Or, in order to achieve all, it is possible to appropriately replace or combine. If the technical features are not described as essential in this specification, they can be deleted as appropriate.

The recognition unit 111, the reference line estimation unit 112, the excluded vehicle identification unit 113, the first lane boundary setting unit 114, the second lane boundary setting unit 116, the control units such as the output units 115 and 115a, and the like described in the present disclosure. The control unit and its method may be realized by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and the method thereof described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method thereof described in the present disclosure are based on a combination of a processor and a memory programmed to execute one or a plurality of functions and a processor configured by one or more hardware logic circuits. It may be implemented by one or more dedicated computers configured. Further, the computer program may be stored in a computer-readable non-transition tangible recording medium as an instruction executed by a computer.

10, 10a Own vehicle, 11 Reference line, 15R, 15L First lane boundary, 20, 20a, 20b, 20c Other vehicle, 21, 21a, 21b, 21c Movement history, 25a, 25b, 25c Second lane boundary, 30 Roadside Object, 105, 105a lane boundary setting device, 111 recognition unit, 112 reference line estimation unit, 114 first lane boundary setting unit

Claims (12)

A lane boundary setting device (105, 105a),
The detection result of the detection device (120) including at least the camera (122) mounted on the host vehicle (10) is acquired, and the shape of the roadside object (30) around the traveling direction of the host vehicle and the other vehicle (20, A recognition unit (111) that repeatedly recognizes at least one of the movement history (21, 21a, 21b, 21c) of (20a, 20b, 20c) as peripheral information;
A reference line estimation unit (112) that repeatedly estimates a reference line (11) consisting of a point sequence representing a road shape in points in the traveling direction of the host vehicle using the peripheral information recognized by the recognition unit;
The first lane that is the boundary of the traveling lane of the host vehicle is located at a position separated by a predetermined first distance (D1) from the reference line estimated by the reference line estimation unit to both sides in the vehicle width direction of the host vehicle. A lane boundary setting device comprising: a first lane boundary setting unit (113) that is repeatedly set as boundaries (15R, 15L). The lane boundary setting device according to claim 1,
Further, by using the movement history of the other vehicle and the set first lane boundary, among the other vehicles located around the traveling direction of the subject vehicle, the movement history is the other vehicle that does not follow the road shape. 1 Excluded vehicle specifying unit (114) for specifying an excluded vehicle,
The lane boundary setting device, wherein the reference line estimation unit estimates the reference line using the peripheral information excluding the movement history of the first excluded vehicle. The lane boundary setting device according to claim 2,
The excluded vehicle specifying unit is configured to be a different vehicle that crosses the set first lane boundary within a predetermined second distance (D2) from the own vehicle in the traveling direction of the own vehicle and the set vehicle. A lane boundary setting device that identifies, as the first excluded vehicle, another vehicle in which a first lane boundary and a movement history of the other vehicle intersect. The lane boundary setting device according to claim 3,
The excluded vehicle specifying unit is a distance that is equal to or greater than the second distance, and is a first vehicle that is another vehicle that is further away from the own vehicle in a traveling direction of the own vehicle than a predetermined third distance (D3). Out of the vehicle
When the set first lane boundary and the movement history of the first separated vehicle intersect within the third distance, the first separated vehicle is specified as the first excluded vehicle,
When the set first lane boundary and the movement history of the first separated vehicle intersect at a position distant from the third distance, the first separated vehicle is not specified as the first excluded vehicle, Lane boundary setting device. The lane boundary setting device according to claim 3 or 4,
Further, a second lane that sets a second lane boundary (25a, 25b, 25c), which is a boundary of the traveling lane of the vehicle, on the side opposite to the side where the vehicle is located with respect to the set first lane boundary. A boundary setting unit (116) is provided,
The second lane boundary setting unit,
Acquiring the movement history of the other vehicle recognized by the recognition unit, the set first lane boundary, and information of the first excluded vehicle,
If there is a movement history of the other vehicle that is not specified as the first excluded vehicle on the side opposite to the side on which the own vehicle exists with respect to the set first lane boundary, the set first lane A lane boundary setting device that sets a position at a predetermined fourth distance from a boundary on the side where the movement history of the other vehicle exists as the second lane boundary. The lane boundary setting device according to claim 3 or 4,
Furthermore, a second lane boundary setting unit that sets a second lane boundary, which is a boundary of the traveling lane of the vehicle, is provided on the side opposite to the side where the vehicle is located with respect to the set first lane boundary,
The second lane boundary setting unit acquires the recognition result of the recognition unit and the set first lane boundary,
When a lane marking is recognized by the recognition unit on the side opposite to the side where the vehicle is located with respect to the set first lane boundary, the recognition unit partitions the set first lane boundary from the set first lane boundary. A lane boundary setting device that sets a position at a predetermined fourth distance on the side where the line is recognized as the second lane boundary. The lane boundary setting device according to claim 5 or 6, wherein
The second lane boundary setting unit is set when the movement history of the other vehicle exists on the opposite side of the set second lane boundary from the side on which the first lane boundary is set. A lane boundary setting device that further sets, as the second lane boundary, a position at the fourth distance on the side where the movement history of the other vehicle exists from the second lane boundary. The lane boundary setting device according to claim 5 or 6, wherein
The second lane boundary setting unit, when a lane marking of the road is recognized by the recognition unit on the side opposite to the side on which the first lane boundary is set with respect to the set second lane boundary, A lane boundary setting device that further sets, as the second lane boundary, a position at the fourth distance from the set second lane boundary to the side where the marking line is recognized by the recognition unit. The lane boundary setting device according to any one of claims 5 to 8,
The excluded vehicle identification unit further uses the movement history of the other vehicle and the set second lane boundary to determine that the movement history is a road shape among other vehicles located around the traveling direction of the own vehicle. Identify the second excluded vehicle that does not follow,
The reference line estimation unit further estimates the reference line using the peripheral information excluding the movement history of the second excluded vehicle specified using the set second lane boundary, lane boundary Setting device. The lane boundary setting device according to claim 9,
The excluded vehicle specifying unit, within the second distance from the own vehicle in the traveling direction of the own vehicle, another vehicle that straddles the set second lane boundary, the set second lane boundary, and the other vehicle. A lane boundary setting device that identifies, as the second excluded vehicle, another vehicle that intersects with the movement history of the other vehicle. The lane boundary setting device according to claim 10,
The exclusion vehicle specifying unit is a second separation that is a distance that is greater than or equal to the second distance and that is another vehicle that is further away from the host vehicle in the traveling direction of the host vehicle than a predetermined fifth distance (D5). Out of the vehicle
When the set second lane boundary and the movement history of the second separated vehicle intersect within the fifth distance, the second separated vehicle is specified as the second excluded vehicle,
When the set second lane boundary and the movement history of the second separated vehicle intersect at a position distant from the fifth distance, the second separated vehicle is not specified as the second excluded vehicle, Lane boundary setting device. A lane boundary setting method,
At least one of the shape of the roadside object around the traveling direction of the own vehicle and the movement history of the other vehicle is repeatedly recognized as peripheral information (step S100),
Using the recognized peripheral information, a reference line made up of a sequence of points representing the road shape is repeatedly estimated in the traveling direction of the host vehicle (step S200),
A position separated by a predetermined first distance from the estimated reference line to both sides of the vehicle in the vehicle width direction is repeatedly set as a first lane boundary which is a boundary of the traveling lane of the vehicle (step S300). , Lane boundary setting method.

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