JP4985488B2 - Driving support device - Google Patents

Description

  The present invention relates to a travel support apparatus for supporting travel of a moving body.

As a conventional driving assistance device, for example, a device described in Patent Document 1 is known. In such a travel support device, a plurality of route candidates (guidance routes) to the destination of the mobile object are acquired by the route candidate acquisition means, and the travel loads of the plurality of route candidates are respectively calculated by the navigation system. Then, a route candidate is selected based on the calculated traveling load, and the selected route candidate is displayed on the display.
JP 2007-113964 A

  However, the above-described travel support device has the following problems. That is, in evaluating the route candidate, only the end point of the route candidate is evaluated, and each position other than the end point is not considered. Therefore, as shown in FIG. 4B, for example, when travel support is performed based on the route candidate S0, the route candidate S is updated when the moving body 10 is located at the position P1 before the end point Pk. In some cases, the moving body 10 can travel only slightly toward the destination T. Therefore, there is a problem that it takes time to arrive at the destination.

  Then, this invention makes it a subject to provide the driving assistance apparatus which can arrive at a destination early.

  In order to solve the above problems, the driving support device according to the present invention evaluates a plurality of course candidate acquisition means for acquiring a plurality of course candidates to the destination of the moving body, and a plurality of course candidates acquired by the course candidate acquisition means. A route candidate evaluation means, and a travel support means for supporting the traveling of the moving object based on the evaluation result by the route candidate evaluation means, the route candidate evaluation means discretizes the route candidates into a plurality of position candidates and discretizes them. A total sum of distances from each of the plurality of position candidates to the destination is calculated, and a route candidate is evaluated based on the calculated total sum of distances.

  In this travel support apparatus, a plurality of route candidates to the destination of the moving body are acquired, and the route candidates are discretized into a plurality of position candidates. Then, the route candidate is evaluated based on the sum of the distances from the plurality of position candidates to the destination. That is, a plurality of positions on the route candidate are considered as position candidates in the evaluation of the route candidate. Therefore, by supporting the traveling of the mobile body based on the evaluation result, the mobile body 10 can travel so as to approach the destination T quickly as shown in FIG. 4A, for example. . As a result, it is possible to prevent the route candidate from being updated and the moving body to move only slightly, and to arrive at the destination early.

  Here, the course candidate evaluation means preferably discretizes the course candidates into a first position candidate that is an end point of the course candidate and a plurality of second position candidates different from the first position candidate. In this case, when evaluating a plurality of course candidates, a plurality of positions on the course candidates are further considered, and it is possible to arrive at the destination earlier.

  Here, it is preferable that the course candidate evaluation unit discretizes the course candidate into a first position candidate that is an end point of the course candidate and a third position candidate that is different from the first position candidate. In this case, when evaluating the plurality of route candidates, a plurality of positions on the route candidates are considered while reducing the calculation cost.

  In addition, as a configuration that preferably exhibits the above-described effects, the route candidate evaluation unit selects a route candidate having a minimum sum of distances from the plurality of route candidates, and the travel support unit has been selected by the route candidate evaluation unit. The structure which supports the driving | running | working of the said mobile body so that a mobile body may drive based on a course candidate is mentioned.

  According to the present invention, it is possible to arrive at the destination early.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same or corresponding elements are denoted by the same reference numerals, and redundant description is omitted.

  First, the driving assistance apparatus according to the first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a schematic configuration of a driving support apparatus according to the first embodiment of the present invention. The travel support device of this embodiment is for supporting the travel of a vehicle such as an automobile, and the travel support device here is used for automatically driving the vehicle. As shown in FIG. 1, the travel support device 1 is mounted on a vehicle 10 and includes a vehicle state acquisition unit 2, a destination acquisition unit 3, an ambient environment acquisition unit 4, an ECU (Electronic Control Unit) 5, and an actuator 6. Yes.

  The vehicle state acquisition unit 2 acquires vehicle state information such as the position, speed, and direction of the vehicle 10. Here, as the vehicle state acquisition unit 2, a device using a GPS (Global Positioning System), a vehicle speed sensor, an odometry, a yaw rate sensor, and the like are used. Further, the vehicle state acquisition unit 2 is connected to the ECU 5 and outputs the acquired vehicle state information to the ECU 5.

  The destination acquisition unit 3 acquires destination information that is information related to the destination of the vehicle 10. Specifically, the destination acquisition unit 3 acquires destination information as a plurality of coordinates including a waypoint. A car navigation system is used as the destination acquisition unit 3 here. The destination acquisition unit 3 is connected to the ECU 5 and outputs the acquired destination information to the ECU 5.

  The ambient environment acquisition unit 4 acquires ambient environment information that is information related to the ambient environment of the vehicle 10. Here, as the surrounding environment acquisition unit 4, a device using vehicle-to-vehicle communication or road-to-vehicle communication is used. The ambient environment acquisition unit 4 is connected to the ECU 5 and outputs the acquired ambient environment information to the ECU 5. In addition, as surrounding environment information, the surrounding traffic condition, the lighting condition of a traffic light, etc. are mentioned, for example.

  The ECU 5 includes, for example, a CPU, a ROM, a RAM, and the like. The ECU 5 acquires a plurality of route candidates that are candidates for the route to the destination in the vehicle 10 based on the information input from the units 2, 3, 4, and evaluates the plurality of route candidates. Specifically, a plurality of course candidates are acquired so as to be updated at a predetermined cycle, the course candidates are discretized into position candidates that are a plurality of positions on the course candidates, and each of the plurality of discretized position candidates is obtained. Calculate the total distance to the destination. Then, a course candidate that minimizes the sum of the distances is selected from a plurality of course candidates (details will be described later). The ECU 5 is connected to the actuator 6 and controls the actuator 6 so that the vehicle 10 automatically travels based on the selected course candidate.

  The actuator 6 executes traveling control of the vehicle 10. Specifically, the actuator 6 is controlled by the ECU 5 and adjusts the braking force, driving force, steering force, or the like of the vehicle 10. Examples of the actuator 6 include a brake actuator that adjusts the brake hydraulic pressure, an actuator that adjusts the opening degree of the throttle valve of the engine, and a suspension aqua actuator that adjusts the damping force of the suspension.

  Next, the operation of the above-described travel support device 1 will be described.

  First, vehicle state information, destination information, and surrounding environment information are acquired by the units 2, 3, and 4 (S1). Subsequently, based on these pieces of information, the ECU 5 acquires a plurality of course candidates and evaluates them. Specifically, the ECU 5 performs the following processing.

  That is, on the route from the current position of the vehicle 10 to the destination, n tracks (where n is an integer equal to or greater than 2) are generated and acquired as path candidates to the point where the vehicle 10 can be located after a predetermined time t has elapsed. (S2). Here, the point where the vehicle 10 can be located is obtained by repeatedly calculating, for example, taking into consideration all operations that the vehicle 10 can allow.

  FIG. 3 is a diagram illustrating an example of a course candidate acquired in the travel support apparatus of FIG. FIG. 3 illustrates an arbitrary course candidate S among the obtained n course candidates S. As shown in FIG. 3, the route candidate S to be generated is generated as a change in position that the vehicle 10 can take with time in a space-time composed of time and distance (distance x component and distance y component). Has been. That is, the course candidate S is represented by a curve in space-time that starts at the current position P0 and ends at the position candidate Pk after a predetermined time t. This fixed time t is set to a time corresponding to a change in surrounding traffic conditions, an update cycle of the route candidate S, and the like. Incidentally, the course candidate S may use the destination as Pk without setting the position after the predetermined time t as the position candidate Pk.

  Subsequently, each of the obtained n course candidates S is discretized into k position candidates P1 to Pk at a predetermined time interval dt (S3). That is, in each of the route candidates S (curve), positions (points) where the vehicle 10 is estimated to be located at every elapse of a predetermined time interval dt are extracted as position candidates P1 to Pk. The number k of position candidates to be discretized is at least three or more, and here is the maximum number that the ECU 5 can tolerate in terms of calculation cost. That is, as shown in FIG. 3, a position candidate (first position candidate) Pk that is the end point of the course candidate S and a plurality of position candidates (second position candidates) located between the current position P0 and the position candidate Pk of the vehicle 10. ) P1 to Pk-1 are extracted. Note that the predetermined time interval dt is preferably equal to or shorter than the update cycle of the route candidate S, and is more preferably equal to the update cycle of the route candidate here.

  Subsequently, in each course candidate S, the sum of the distances from each of the discretized position candidates P1 to Pk to the destination (hereinafter simply referred to as “total distance”) is calculated (S4). The distance from each of the position candidates P1 to Pk to the destination is a distance obtained by considering the Eugrid distance between two points or the current orientation of the vehicle 10 (such as the angle of the vehicle 10) to the Eugrid distance. There is a case.

  Subsequently, a course candidate Sop (see FIG. 4A) that minimizes the calculated total distance is selected from the plurality of course candidates S (S5). That is, the course candidate S is evaluated based on the total distance, and the course candidate Sop is selected as the evaluation result. Then, the actuator 6 is controlled so as to travel on the selected route candidate Sop (S6). Thereby, in the vehicle 10, automatic driving based on the course candidate Sop is performed.

  In addition, although the driving assistance apparatus 1 of this embodiment makes the vehicle 10 drive automatically, you may assist driving | running | working of the vehicle 10 (guidance assistance). In the case of guidance assistance, for example, the selected route candidate Sop and the total distance may be displayed on a display device such as a display of a car navigation system. Furthermore, in this case, for example, one or two or more course candidate Sop whose total distance is smaller than the threshold may be selected and displayed on a display or the like. When the number of course candidates Sop is two or more, You may make a driver select any one from these course candidate Sops.

  In the above, the ECU 5 that acquires a plurality of route candidates S to the destination T of the vehicle 10 constitutes a route candidate acquisition means. The ECU 5 that evaluates the plurality of course candidates S constitutes a course candidate evaluation unit. The ECU 5 and the actuator 6 that control the actuator 6 based on the evaluation result constitute a travel support means.

  As described above, according to the driving support device 1 of the present embodiment, a plurality of route candidates S are acquired, the route candidates S are discretized into a plurality of position candidates P1 to Pk, and from these position candidates P1 to Pk to the destination. Is calculated. Then, a route candidate Sop is selected from the plurality of route candidates S so that the calculated total distance is minimized. That is, the route candidate S is evaluated based on each total distance from the position candidates P1 to Pk to the destination. Therefore, a plurality of positions on the route candidate S are considered in the evaluation of the route candidate S, and as shown in FIG. 4A, in the selected route candidate Sop, the vehicle 10 moves toward the destination T for a short time. It will come closer.

  As a result, for example, when the route candidate S is updated before the vehicle 10 reaches the end point Pk of the route candidate S, the moving body 10 slightly advances toward the destination T (FIG. 4B). Reference) is prevented. Therefore, according to the driving assistance device 1, it is possible to approach the destination T efficiently and quickly and arrive at the destination T early.

  In the driving support device 1, as described above, the position candidate Pk that is the end point of the course candidate S and a plurality of positions (different from the position candidate Pk) located between the current position P0 and the position candidate Pk of the vehicle 10 The course candidates S are discretized between the candidates P1 to Pk-1. As described above, the number k of position candidates is the maximum number allowed by the ECU 5 in terms of calculation cost. Therefore, when evaluating the plurality of course candidates S, the plurality of positions on the course candidate S are most considered, and it is possible to arrive at the destination T earliest.

  In the driving support device 1, the predetermined time interval dt in the discretization is made equal to the update cycle of the course candidate S. In this case, when evaluating the plurality of course candidates S, a plurality of positions on the course candidates S are preferably considered. This is because if the predetermined time interval dt is longer than the update cycle, the route candidate S is updated before the vehicle 10 reaches the first position candidate P1, whereas if it is shorter than the update cycle, the calculation cost is reduced. It is because it is not preferable.

  Here, generally, when the vehicle 10 makes a right turn in a complicated traffic environment such as an intersection, the behavior required of the vehicle 10 is to promptly enter the right turn start position in the intersection, and the oncoming vehicle at that position. After leaving right and making a right turn, he leaves the intersection immediately. In order to realize such complicated and fine control, it is indispensable to move quickly to a predetermined position (right turn stop line or temporary stop line). In this respect, in the driving support device 1, such a behavior, that is, a behavior of quickly entering and quickly leaving without performing control according to the limit of the residence time in the intersection or the distance to the stop line, etc. It is easily realized. Therefore, the driving support device 1 can easily realize natural automatic driving that is close to the driver's actual driving feeling.

  By the way, the conventional driving support device is supposed to be driven by a person, whereas the driving support device 1 of the present embodiment is not only driven by a person as described above, Control assistance and automatic driving are possible. That is, it can be said that in the travel support device 1, the route candidate Sop is determined in consideration of how the vehicle 10 travels along the route candidate S to go to the destination T.

  Next, a driving support apparatus according to a second embodiment of the present invention will be described. The driving support device of this embodiment is different from the driving support device 1 in that the ECU 5 has a position candidate Pk that is an end point of the course candidate S, a current position P0 and a position candidate Pk of the vehicle 10 as shown in FIG. The path candidate S is discretized into two position candidates Pk and Pc, which are a position candidate (third position candidate) Pc (different from the position candidate Pk) located in between.

  The driving support device of the present embodiment also has the same effect as the above effect, that is, the effect of arriving at the destination T early. Further, as described above, when evaluating the route candidate S, since the route candidate S is discretized by limiting to the two position candidates Pk and Pc, a plurality of positions on the route candidate are considered while reducing the calculation cost. The That is, it is possible to ensure a suitable balance between arriving at the destination early and reducing the calculation cost.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, the course candidate S is discretized at a predetermined time interval dt, but may be discretized at a predetermined distance interval, and may be discretized so that a plurality of arbitrary position candidates are extracted. . In these cases, there may be cases where they can be treated substantially equally because of transient response (non-linearity) due to acceleration or deceleration of the vehicle 10.

  Moreover, in the said embodiment, although the driving | running | working of the vehicle 10 was supported, it may be an autonomous mobile body (robot) etc. instead of the vehicle 10, and what is necessary is just a mobile body.

It is a block diagram which shows schematic structure of the driving assistance device which concerns on 1st Embodiment of this invention. It is a flowchart which shows the operation | movement flow of the driving assistance device of FIG. It is a figure which shows an example of the course candidate acquired in the driving assistance apparatus of FIG. (A) is a figure explaining an example of the vehicle behavior by the driving assistance device of FIG. 1, (b) is a figure explaining an example of the vehicle behavior by the conventional driving assistance device. It is a figure which shows an example of the course candidate acquired in the driving assistance device which concerns on 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Travel assistance apparatus, 5 ... ECU (course candidate acquisition means, course candidate evaluation means, travel support means), 6 ... Actuator (travel support means), 10 ... Vehicle (moving body), P ... Position candidate, P1-Pk -1 ... position candidate (second position candidate), Pc ... position candidate (third position candidate), Pk ... position candidate (first position candidate), S, S0, Sop ... course candidate, T ... destination.

Claims (4)

A route candidate acquisition means for acquiring a plurality of route candidates to the destination of the moving object;
Course candidate evaluation means for evaluating the plurality of course candidates acquired by the course candidate acquisition means;
Travel support means for supporting the travel of the moving body based on the evaluation result by the course candidate evaluation means,
The course candidate evaluation means includes:
The course candidate is discretized into a plurality of position candidates at predetermined time intervals ,
Calculating the sum of the distances from each of the plurality of discretized position candidates to the destination;
A driving support device characterized in that the route candidate is evaluated based on the calculated sum of the distances.   The course candidate evaluation means discretizes the course candidate into a first position candidate that is an end point of the course candidate and a plurality of second position candidates that are different from the first position candidate. The travel support apparatus according to claim 1.   The course candidate evaluation unit discretizes the course candidate into a first position candidate that is an end point of the course candidate and a third position candidate that is different from the first position candidate. 1. The driving support device according to 1. The route candidate evaluation means selects a route candidate that minimizes the sum of the distances from a plurality of the route candidates,
The travel support means supports travel of the mobile body so that the mobile body travels based on the course candidate selected by the course candidate evaluation means. The travel support device according to one item.

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