JP6596047B2 - Vehicle control device, vehicle, and method - Google Patents

Description

  The present invention relates to a technique for controlling a traveling position of a vehicle.

  In an autonomous driving vehicle, it is important to set the traveling track of the vehicle appropriately so as not to interfere with other vehicles. In Patent Document 1, when it is assumed that the other vehicle overtakes an object, the lateral position of the vehicle is moved in a direction to avoid the other vehicle in consideration of the trajectory of the other vehicle performing the overtaking. Is described.

JP, 2006-030537, A

  In order to facilitate traffic, it is important to allow not only the own vehicle but also other vehicles to drive appropriately, and in order to do so, it is necessary for the vehicles to recognize each other's existence.

  The present invention provides a vehicle trajectory control technique for allowing another vehicle to recognize the presence of the host vehicle.

Vehicle control apparatus according to an embodiment of the present invention, adjacent lane A vehicle control apparatus for executing control of the vehicle, when the vehicle is traveling on a host vehicle traveling lane, adjacent to the host vehicle traveling lane When the other vehicles traveling in the adjacent lane are detected to have shifted to a predetermined approach state, the vehicle is within the range of the own vehicle traveling lane, It is configured to perform control to move in the lateral direction toward the adjacent lane .

  ADVANTAGE OF THE INVENTION According to this invention, while traveling on an adjacent lane, the presence of the own vehicle can be recognized with respect to the other vehicle which may move to the lane where the own vehicle travels.

The block diagram explaining the structure of a vehicle. The figure which illustrates operation | movement of a vehicle roughly. The flowchart which shows the example of the flow of the process which a vehicle control apparatus performs.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(Configuration of vehicle control device)
FIG. 1 shows a block diagram of a vehicle control apparatus according to this embodiment for controlling the vehicle 1. Although the description will be given on the assumption that the vehicle control device is provided inside the vehicle 1, the vehicle control device may exist outside the vehicle 1, and communicates with the vehicle 1 by communicating with the vehicle 1. 1 may be controlled. In FIG. 1, the outline of a vehicle 1 is shown in a plan view and a side view. The vehicle 1 is a sedan type four-wheeled passenger car as an example. The vehicle 1 may be a vehicle other than a four-wheel vehicle such as a two-wheeled vehicle.

  The vehicle control device in FIG. 1 includes a control unit 2. The control unit 2 includes a plurality of ECUs 20 to 29 that are communicably connected via an in-vehicle network. Each ECU (Electronic Control Unit) includes a processor represented by a CPU (Central Processing Unit), a storage device such as a semiconductor memory, and an interface with an external device. The storage device stores a program executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

  Hereinafter, functions and the like which the ECUs 20 to 29 are in charge of will be described. Note that the number of ECUs and the functions in charge can be appropriately designed for the vehicle 1, and can be further subdivided or integrated as compared with the present embodiment.

  The ECU 20 executes control related to automatic driving of the vehicle 1. In automatic operation, at least one of steering and acceleration / deceleration of the vehicle 1 is automatically controlled.

  The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels in accordance with the driving operation (steering operation) of the driver with respect to the steering wheel 31. In addition, the electric power steering device 3 includes a motor that assists the steering operation or that exhibits a driving force for automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

  The ECUs 22 and 23 control the detection units 41 to 43 that detect the surrounding situation of the vehicle and perform information processing on detection results. The detection unit 41 is a camera that captures the front of the vehicle 1 (hereinafter may be referred to as the camera 41). In the present embodiment, two detection units 41 are provided at the front of the roof of the vehicle 1. By analyzing the image captured by the camera 41, it is possible to extract the outline of the target and the lane markings (white lines, etc.) on the road.

  The detection unit 42 is Light Detection and Ranging (LIDAR) (hereinafter sometimes referred to as a lidar 42), and detects a target around the vehicle 1 or measures a distance from the target. . In the present embodiment, five riders 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter may be referred to as a radar 43), detects a target around the vehicle 1, and measures a distance from the target. In the present embodiment, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner.

  The ECU 22 performs control of one camera 41 and each rider 42 and information processing of detection results. The ECU 23 performs control of the other camera 42 and each radar 43 and information processing of detection results. By providing two sets of devices that detect the surroundings of the vehicle, the reliability of the detection results can be improved, and by providing different types of detection units such as cameras, lidars, and radars, analysis of the surrounding environment of the vehicle Can be performed in many ways.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c and performs information processing on detection results or communication results. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24 b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The ECU 24 can access the map information database 24a constructed in the storage device, and the ECU 24 searches for a route from the current location to the destination.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity and exchanges information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1 and includes, for example, an engine and a transmission. For example, the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The gear position of the transmission is switched based on the information. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

  The ECU 27 controls a lighting device (headlight, taillight, etc.) including the direction indicator 8. In the case of the example in FIG. 1, the direction indicator 8 is provided at the front part, the door mirror, and the rear part of the vehicle 1.

  The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and receives input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is disposed on the driver's seat surface, for example, and constitutes an instrument panel or the like. In addition, although an audio | voice and a display were illustrated here, you may alert | report information by a vibration or light. In addition, information may be notified by combining a plurality of voice, display, vibration, or light. Furthermore, the combination may be varied or the notification mode may be varied depending on the level of information to be notified (for example, the degree of urgency).

  The input device 93 is a switch group that is arranged at a position where the driver can operate and gives an instruction to the vehicle 1, but a voice input device may also be included.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1. The vehicle 1 is decelerated or stopped by applying resistance to the rotation of the wheel. For example, the ECU 29 controls the operation of the brake device 10 in response to a driver's driving operation (brake operation) detected by an operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can be operated to maintain the vehicle 1 in a stopped state. Moreover, when the transmission of the power plant 6 includes a parking lock mechanism, this can be operated to maintain the vehicle 1 in a stopped state.

(Process flow)
The vehicle control apparatus according to the present embodiment executes control related to automatic driving of the vehicle 1 in the ECU 20 based on information on the surrounding environment obtained by at least one of the camera 41 and the camera 42. In the present embodiment, the vehicle 1 monitors other vehicles traveling in the second lane adjacent to the first lane while traveling in the first lane. Then, when there is a possibility that another vehicle traveling in the second lane may enter the first lane, control is performed so that the other vehicle can recognize the presence of the vehicle 1. For example, when the vehicle control device detects that one of two other vehicles traveling in the second lane has shifted to a predetermined approach state in which it is predicted that the vehicle will pass, The vehicle 1 is moved laterally toward the second lane. For example, the vehicle control device performs control for moving the vehicle 1 in the above-described lateral direction in order to place the vehicle 1 in a range in which the vehicle 1 can be recognized by a sensor of another vehicle that may pass the vehicle. In addition, the vehicle control device performs control to move the vehicle 1 to a position where the vehicle 1 appears in any mirror of another vehicle that may be overtaken. Note that the vehicle control device, for example, in order to be able to recognize the vehicle 1 regardless of whether or not the other vehicle is an autonomous driving vehicle, 1 can be moved. Thereby, the other vehicle (or its driver) can recognize the vehicle 1, and the probability that the other vehicle interferes with the vehicle 1 due to the lane change can be reduced. The vehicle control device moves the vehicle 1 to the second lane side within the range of the first lane. Accordingly, it is possible to increase the probability that the other vehicle can recognize the vehicle 1 while reducing the probability that the other vehicle traveling in the second lane interferes with the vehicle 1.

  The vehicle control device responds to the fact that the two other vehicles are separated from the predetermined approach state in the second lane after the vehicle 1 is moved laterally toward the second lane. Thus, control for returning the position of the vehicle 1 in the lateral direction to the original position (for example, to the center of the first lane) can be performed. Here, “return to the original” means not only returning to the exact same position but also releasing the control of bringing the vehicle 1 to the second lane side, and consequently moving to the opposite side to the second lane. Including control. In addition, after the vehicle 1 moves in the lateral direction to the second lane side, the vehicle control device is configured such that at least one of the two other vehicles in the second lane is changed from the second lane to the other lane. In response to the movement, the control of returning the position of the vehicle 1 in the lateral direction can be performed. The other lane here is the first lane or another lane. As described above, when the probability that another vehicle enters the first lane and affects the travel of the vehicle 1 is lowered, the lateral position of the vehicle 1 is returned to avoid unnecessary proximity to the second lane. Thus, the probability that the vehicle 1 interferes with other vehicles can be reduced.

  In addition, after the vehicle 1 has moved in the lateral direction toward the second lane, the vehicle control device causes the two other vehicles that are in a predetermined approach state in the second lane to further approach the second lane. In response to the transition to the approaching state, the vehicle 1 can be controlled to move laterally in the direction opposite to the second lane. That is, the vehicle control device avoids the two other vehicles in response to the fact that the two other vehicles in the approaching state in the second lane are likely to interfere with each other. The vehicle 1 can be moved. Thereby, in a situation where the probability that other vehicles interfere with each other is high, the probability that the vehicle 1 is involved in the situation can be reduced.

  The outline of these processes will be described with reference to FIGS. 2 (A) to 2 (D). FIG. 2A shows a situation where the vehicle 1 is traveling in the right lane and the other vehicles 201 and 202 are traveling in the left lane. The vehicle control device monitors other vehicles traveling in the left lane adjacent to the right lane in which the vehicle 1 is traveling. Then, the vehicle control device detects, for example, a distance between other vehicles and TTC (Time To Collision), and when two other vehicles enter a predetermined approach state, as shown in FIG. The vehicle 1 is moved to the lane side where another vehicle is traveling. The distance between the other vehicles is obtained by, for example, image analysis and distance estimation between the other vehicles based on radar and lidar position / speed data, and TTC is estimated from the distance between the other vehicles and the relative speed with respect to the vehicle 1. To be acquired. However, it is not restricted to these, Arbitrary distance or the acquisition method of TTC may be used. In addition, the vehicle control device has been notified that the rear traveling vehicle (other vehicle 201) among other vehicles to be monitored has applied an emergency brake, for example, by inter-vehicle communication or road-to-vehicle communication by the vehicle 1. Accordingly, it may be determined that these other vehicles have shifted to a predetermined approach state. Note that the predetermined approach state can be determined, for example, as a state where the probability that the other vehicle 201 overtakes the other vehicle 202 is equal to or higher than the predetermined probability. Thus, by performing the control for causing the other vehicle to recognize the presence of the vehicle 1, it is possible to reduce the probability that the other vehicle travels to interfere with the vehicle 1.

  In addition, even if the vehicle control device is another vehicle adjacent to the lane in which the vehicle 1 is traveling, for example, when the distance between the other vehicle and the vehicle 1 is sufficiently large (for example, a predetermined distance or more), the other Vehicles may be excluded from monitoring. That is, the vehicle control device does not have to perform monitoring and determination of transition to the approaching state for other vehicles that are less likely to interfere with the vehicle 1.

  Thereafter, as shown in FIG. 2C, for example, it is assumed that the other vehicle 201 has moved to the right lane in which the vehicle 1 is traveling. In this case, the vehicle control device determines that the other vehicle 201 and the other vehicle 202 are no longer in the predetermined approach state, and returns the position of the vehicle 1 in the lateral direction to the same position as in FIG. In addition, when the other vehicle 201 and the other vehicle 202 are separated to such an extent that they depart from a predetermined approach state as shown in FIG. 2A, the lateral position of the vehicle 1 can be restored. As described above, when it is detected that another vehicle in the approaching state has shifted to a state where the probability of interfering with the vehicle 1 is low, the vehicle 1 travels unnecessarily by returning the position of the vehicle 1 in the lateral direction. It is possible to prevent the vehicle from traveling in a lane other than the lane.

  On the other hand, when the vehicle control device shifts to the second approach state in which the distance between the other vehicle 201 and the other vehicle 202 is closer than the predetermined approach state, for example, as shown in FIG. The position in the lateral direction is moved in a direction away from these other vehicles. As described above, when two other vehicles are very close to each other, the vehicle 1 is moved in the direction opposite to the moving direction for causing the other vehicle in the predetermined approaching state to recognize the vehicle 1. Thus, by moving the vehicle 1 to the opposite side, in a situation where other vehicles interfere with each other, the probability that the vehicle 1 will be involved in that situation can be reduced.

  In the above-described example, the example in which the vehicle control device monitors the other vehicle traveling in front of the vehicle 1 among the other vehicles traveling in the lane adjacent to the lane in which the vehicle 1 is traveling is described. Other vehicles may be monitored. For example, the vehicle control device moves the position in the lateral direction of the vehicle 1 in the direction in which the other vehicle approaches the other vehicle in response to the other vehicle shifting to a predetermined approach state, and thereby the vehicle 1 is detected by the sensor of the other vehicle. Can be easily detected. Moreover, although the example mentioned above demonstrated the example which performs control which moves the position in the horizontal direction of the vehicle 1 according to two other vehicles having shifted to the predetermined | prescribed approach state, it is not restricted to this. For example, in a situation where one other vehicle is in proximity to another object, the vehicle control device changes the lateral position of the vehicle 1 to make the other vehicle recognize the presence of the vehicle 1. You may perform control to approach a vehicle.

  The flow of the above processing is summarized in FIG. When starting the processing, the vehicle control device first starts monitoring other vehicles in the adjacent lane (S301). This process can be started, for example, in response to the vehicle 1 entering an at least two-lane road. Thereafter, the vehicle control device determines whether two other vehicles traveling in the adjacent lane have shifted to a predetermined approach state (S302), and if no other vehicle has shifted to the predetermined approach state (in S302). NO) continues to monitor other vehicles. On the other hand, when it is determined that two other vehicles traveling in the adjacent lane have shifted to the predetermined approach state (YES in S302), the vehicle control device causes the vehicle 1 to approach the other vehicle in the lateral direction. That is, it is moved to the adjacent lane side (S303). Thereafter, the vehicle control device determines whether or not the predetermined approach state has been resolved in the two other vehicles (S304). If the vehicle control device has not resolved (NO in S304), these other vehicles are further approached. It is determined whether the state has shifted to the approaching state 2 (S305). When it is determined that the other vehicle has not shifted to the second approach state (NO in S305), the vehicle control device returns the process to S304. On the other hand, when it is determined that the predetermined approach state has been resolved in the two other vehicles (YES in S304), the vehicle control device performs control to return the lateral position of the vehicle 1 (S306), and the process is performed in S302. Return to. In addition, when the vehicle control device determines that two other vehicles have shifted to the second approaching state (YES in S305), the vehicle 1 is moved away from the other vehicles in the lateral direction. Control to move is performed (S307). By these processes, the vehicle 1 can be recognized by another vehicle, and it is possible to cause the other vehicle to determine an appropriate travel route. In a situation where there is a high probability that other vehicles will interfere, the vehicle 1 can be separated from those other vehicles so that the vehicle 1 is not involved in the situation.

<Summary of Embodiment>
1. The vehicle control device of the above embodiment is
A vehicle control device that executes control of a vehicle,
When the vehicle is traveling in a first lane, monitoring other vehicles traveling in a second lane adjacent to the first lane;
When it is detected that two other vehicles traveling in the second lane have shifted to a predetermined approach state, the vehicle is controlled to move laterally toward the second lane.
It is comprised so that it may be comprised.

  According to this embodiment, it is possible to create an environment in which the presence of the vehicle can be easily recognized by the other vehicle in response to the transition of the two other vehicles to the predetermined approaching state.

2. The vehicle control device of the above embodiment is
In the monitoring, the other vehicle traveling in front of the vehicle in the second lane is monitored.
It is characterized by that.

  According to this embodiment, it is possible to create an environment in which the presence of the vehicle can be easily recognized with respect to other vehicles in which the vehicle exists behind and it is relatively difficult to recognize the presence.

3. The vehicle control device of the above embodiment is
In the control, control is performed to move the vehicle toward the second lane within the range of the first lane.
It is characterized by that.

  According to this embodiment, it is possible to create an environment in which other vehicles can easily recognize the presence of the vehicle without affecting the adjacent lane.

4). The vehicle control device of the above embodiment is
In the control, control is performed to move the vehicle to a position where the other vehicle traveling near the vehicle among the two other vehicles can recognize the vehicle.
It is characterized by that.

  According to this embodiment, it is possible to create an environment in which another vehicle having a higher probability of interfering with the vehicle can easily recognize the presence of the vehicle.

5). The vehicle control device of the above embodiment is
In the control, control is performed to move the vehicle to a position where the vehicle is reflected in a mirror of another vehicle that travels in a position close to the vehicle among the two other vehicles.
It is characterized by that.

  According to this embodiment, when the other vehicle is not an autonomous driving vehicle, it is possible to create an environment in which the driver can easily recognize the presence of the vehicle.

6). The vehicle control device of the above embodiment is
In the control, after the movement in the lateral direction, control for returning the lateral position of the vehicle in response to at least one of the two other vehicles moving from the second lane to another lane. Do further,
It is characterized by that.

  According to this embodiment, it is possible to prevent the vehicle from unnecessarily continuing to approach the adjacent lane in a state where it is not necessary for the other vehicle to recognize the vehicle.

7). The vehicle control device of the above embodiment is
In the control, after the movement in the lateral direction, a control is further performed to return the lateral position of the vehicle in response to the separation of the two other vehicles to such an extent that they depart from the predetermined approach state.
It is characterized by that.

  According to this embodiment, it is possible to prevent the vehicle from unnecessarily continuing to approach the adjacent lane in a state where it is not necessary for the other vehicle to recognize the vehicle.

8). The vehicle control device of the above embodiment is
In the control, when it is detected that the two other vehicles have shifted from the predetermined approach state to a second approach state that is further approached after the lateral movement, the vehicle is moved to the second approach state. Further control to move laterally to the opposite side of the lane,
It is characterized by that.

  According to this embodiment, in a situation where there is a high probability that two other vehicles interfere with each other, the probability that the vehicle is involved in that situation can be reduced.

9. The vehicle of the above embodiment is
It has the above-mentioned vehicle control device.

  According to this, it is possible to execute appropriate control in real time by quickly executing the above-described processing inside the vehicle.

10. The method of the above embodiment
A method executed by a vehicle control device that executes control of a vehicle,
When the vehicle is traveling in a first lane, monitoring other vehicles traveling in a second lane adjacent to the first lane;
When it is detected that two other vehicles traveling in the second lane have shifted to a predetermined approach state, the vehicle is controlled to move laterally toward the second lane;
It is characterized by including.

  According to this embodiment, it is possible to create an environment in which the presence of the vehicle can be easily recognized by the other vehicle in response to the transition of the two other vehicles to the predetermined approaching state.

  The present invention is not limited to the above-described embodiment, and various changes and modifications can be made without departing from the spirit and scope of the present invention. Therefore, in order to make the scope of the present invention public, the following claims are attached.

1: Vehicle, 2: Control unit, 20: ECU

Claims (9)

A vehicle control device that executes control of a vehicle,
When the vehicle is traveling on a host vehicle traveling lane, and monitor other vehicles traveling adjacent lane adjacent to the host vehicle traveling lane,
When it is detected that two other vehicles traveling in the adjacent lane have shifted to a predetermined approach state, the vehicle is moved laterally toward the adjacent lane within the range of the own vehicle lane Do control,
A vehicle control device configured as described above. In the monitoring, monitoring other vehicles traveling in front of the vehicle in the adjacent lane ,
The vehicle control device according to claim 1. In the control, control is performed to move the vehicle to a position where the other vehicle traveling near the vehicle among the two other vehicles can recognize the vehicle.
The vehicle control device according to claim 1 or 2 , wherein In the control, control is performed to move the vehicle to a position where the vehicle is reflected in a mirror of another vehicle that travels in a position close to the vehicle among the two other vehicles.
The vehicle control device according to any one of claims 1 to 3 , wherein The control further includes a control for returning the position of the vehicle in the lateral direction in response to movement of at least one of the two other vehicles from the adjacent lane to the other lane after the lateral movement. Do,
The vehicle control device according to any one of claims 1 to 4 , wherein In the control, after the movement in the lateral direction, a control is further performed to return the lateral position of the vehicle in response to the separation of the two other vehicles to such an extent that they depart from the predetermined approach state.
The vehicle control device according to any one of claims 1 to 5, characterized in that. In the control, when it is detected that the two other vehicles have shifted from the predetermined approaching state to a second approaching state after the lateral movement, the vehicle is moved to the own vehicle. Within the range of the traveling lane, further performs control to move laterally to the opposite side of the adjacent lane ,
The vehicle control device according to claim 1, wherein the vehicle control device is a vehicle control device. Vehicle equipped with a vehicle control device according to any one of claims 1 to 7. A method executed by a vehicle control device that executes control of a vehicle,
And said vehicle when the vehicle is traveling on a host vehicle traveling lane, monitor other vehicles traveling adjacent lane adjacent to the host vehicle traveling lane,
When it is detected that two other vehicles traveling in the adjacent lane have shifted to a predetermined approach state, the vehicle is moved laterally toward the adjacent lane within the range of the own vehicle lane To perform control,
A method comprising the steps of:

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