JP7149108B2 - Automated driving support device - Google Patents

Description

The present invention sets the lateral position of the own vehicle when entering the intersection according to the presence or absence of a following vehicle when proceeding from the intersection ahead to another roadway connected to the roadway on which the vehicle is currently traveling. Regarding the device.

When a driver (operator) sets a destination, this type of automatic driving support device sets a driving route from the current location to the destination, and automatically drives all or part of the route instead of the driver. It is. During autonomous driving on general roads, sensing devices such as cameras recognize the driving environment in front of the vehicle, and constantly monitor the presence or absence of preceding vehicles, the color of traffic lights, the direction indicated by traffic lights, and so on.

Then, when a preceding vehicle is detected in front of the traveling path of the own vehicle, the own vehicle speed is controlled based on the inter-vehicle distance from the preceding vehicle, the relative vehicle speed, and the like. Also, if the light color of the traffic light installed at the intersection is blue (green light), or if the light color is red (red light) but the arrow direction indicated by the arrow traffic light is the traveling direction of the vehicle, The own vehicle is made to enter an intersection, and the own vehicle is made to travel along a target travel route set along the travel route, such as going straight or turning left or right.

For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2017-1596), based on the map information stored in the map database, an area such as an intersection on the planned travel route is extracted, and the light color of the traffic signal at the intersection is extracted. A technology is disclosed in which the subject vehicle is stopped at the stop line at the entrance of the intersection when it is red based on image information captured by a camera.

At that time, for example, as described in Patent Document 2 (Japanese Patent Application Laid-Open No. 2017-224164), on a road where left-hand traffic is stipulated, the traveling direction of the own vehicle is set to a route that turns left from an intersection. If so, it checks whether or not there is a two-wheeled vehicle approaching toward the vehicle based on the recognition result of the sensor that monitors the rear, and if an approaching two-wheeled vehicle is detected, operates the brakes to stop the vehicle, Alternatively, there is disclosed a technique of performing driving assistance for avoiding entrainment, such as changing the course of the own vehicle by steering control.

JP 2017-1596 A JP 2017-224164 A

In the technology disclosed in Patent Document 2, the vehicle is stopped at the stop line in front of the intersection due to a red light, and it is checked whether or not a two-wheeled vehicle is approaching. , driving assistance is provided to avoid entanglement.

However, when the vehicle is stopped at a stop line and is about to turn left on a road where left-hand traffic is stipulated, the approach of a two-wheeled vehicle is detected and, for example, in order to secure a space on the left side of the road, the vehicle is turned to the right by steering control. If you move it to , it will hinder the progress of the following vehicle.

By the way, it is known that when one's own vehicle attempts to turn left from an intersection on a road where left-hand traffic is stipulated, it basically moves to the left end before the intersection and turns left along the side end. Therefore, after stopping at a red light and trying to start at a green light, even if the approach of a two-wheeled vehicle is detected from behind and the brakes are applied, if there is no space for the two-wheeled vehicle to pass on the left side, the two-wheeled vehicle will not be able to pass. cannot pass through.

In this case, the driver of the following two-wheeled vehicle, recognizing that the vehicle in front (own vehicle) has stopped, will proceed straight on the right side of the vehicle in front (own vehicle), which, on the contrary, hinders the passage of the following vehicle. Inconvenience will come.

In view of the above circumstances, the present invention provides a vehicle that does not hinder the passage of following vehicles when turning left from an intersection on a road where left-hand traffic is stipulated (turning right on a road where right-hand traffic is stipulated). An object of the present invention is to provide an automatic driving support device capable of safely changing to a left-turn (right-turn) direction.

The present invention comprises forward driving environment information obtaining means for obtaining driving environment information in front of the own vehicle, rear driving environment information obtaining means for obtaining driving environment information behind the own vehicle, and current position of the own vehicle. A target course is determined from road map information stored in a storage means based on the vehicle position estimation means for estimating the vehicle position, the current position of the vehicle estimated by the vehicle position estimation means, and the destination set by the operator. Based on the target traveling route setting means and the target traveling route set by the target traveling route setting device, the intersection ahead of the vehicle position estimated by the vehicle position estimating means is a road where left-hand traffic is stipulated. a direction change determination means for determining whether or not to make a right turn on a road where left turn or right-hand traffic is stipulated; Crosser recognition means for checking whether there is a crosser crossing the road in the turning direction based on the information acquired by the forward driving environment information acquisition means when it is determined that the vehicle is making a right turn on a road on which traffic is regulated. In the support device, when the crossing person recognition means determines that there is a crosser and the following vehicle is determined based on the driving environment information acquired by the rear driving environment information acquisition means, the own vehicle stops in the driving lane. A stop lateral position setting means for setting a lateral position according to the type of the following vehicle is further provided , and the stop lateral position setting means allows the following vehicle to slip through the traveling lane on the side of the vehicle in the direction of turning. If it is determined that it is possible to pass through, the vehicle is stopped in front of the intersection on the opposite side of the lane change direction, and the vehicle is stopped until the following vehicle passes through the side of the vehicle. to maintain

According to the present invention, when a vehicle intends to turn left at an intersection on a road where left-hand traffic is stipulated (right turn on a road where right-hand traffic is stipulated), a crossing person crosses the road in the turning direction. In this case, the lateral stop position of the vehicle in the driving lane is set according to the type of the following vehicle, so the vehicle can safely turn left (or right) without obstructing the passage of the following vehicle. be able to.

Schematic diagram of automatic driving support device Flowchart showing left turn control processing routine Flowchart showing the first stop position processing routine Flowchart showing the second stop position processing routine Explanatory diagram showing the target course of the own vehicle about to turn left Explanatory drawing showing the stop lateral position at the red light of the own vehicle about to turn left when there is no following vehicle. Explanatory drawing showing the stop lateral position at the red light of the own vehicle about to turn left when the following vehicle is a two-wheeled vehicle Explanatory drawing showing the stop lateral position at the red light of the own vehicle about to turn left from the left turn lane when the following vehicle is a bicycle. Explanatory drawing showing the stop lateral position at the red light of the own vehicle about to turn left when the following vehicle is a car Explanatory diagram showing the possibility that a two-wheeled vehicle traveling straight ahead will collide with the own vehicle when turning left An explanatory view showing the stop lateral position of the own vehicle about to turn left when the following vehicle is a car and a two-wheeled vehicle is about to pass the following vehicle. An explanatory diagram showing the stopping position of the vehicle when a pedestrian is crossing the pedestrian crossing in the left-turn direction.

An embodiment of the present invention will be described below based on the drawings. The automatic driving support device 1 shown in FIG. 1 is mounted on a vehicle M (see FIGS. 5 to 11). This automatic driving support device 1 includes a locator unit 11 as means for detecting the position of the own vehicle, a camera unit 21 as means for acquiring forward traveling environment information, a rear detection unit 22 as means for acquiring backward traveling environment information, and a vehicle. A control unit 23 is mounted.

The locator unit 11 estimates the position of the own vehicle M (own vehicle position) on the road map and acquires road map data around the own vehicle position. On the other hand, the camera unit 21 acquires the driving environment information in front of the own vehicle M, recognizes the marking lines that divide the left and right of the driving lane, the shape of the road, the presence or absence of the preceding vehicle, etc. Calculate the inter-vehicle distance and relative speed with the preceding vehicle. Further, the rear detection unit 22 acquires information on the driving environment behind the own vehicle M, recognizes the type of the following vehicle (four-wheeled vehicle, motorcycle, bicycle, etc.), and determines the distance from the own vehicle M. Ask.

The locator unit 11 has a map locator calculator 12 and a high precision road map database 16 as storage means. The map locator calculation unit 12, the forward traveling environment recognition unit 21d, the following vehicle detection unit 22b, and the vehicle control unit 23, which will be described later, are each composed of a well-known microcomputer equipped with a CPU, RAM, ROM, etc., and peripheral devices thereof. In the ROM, programs to be executed by the CPU and fixed data such as base maps are stored in advance.

A GNSS (Global Navigation Satellite System) receiver 13 , an autonomous traveling sensor 14 , and a destination information input device 15 are connected to the input side of the map locator calculator 12 . The GNSS receiver 13 receives positioning signals transmitted from a plurality of positioning satellites. In addition, the autonomous traveling sensor 14 enables autonomous traveling in an environment such as traveling in a tunnel where reception sensitivity from GNSS satellites is low and positioning signals cannot be effectively received. It consists of an acceleration sensor and the like. Then, the map locator calculation unit 12 performs localization based on the movement distance and direction based on the vehicle speed detected by the vehicle speed sensor, the angular velocity detected by the gyro sensor, and the longitudinal acceleration detected by the longitudinal acceleration sensor.

In addition, when the driver who is the operator inputs destination information (address, telephone number, selection from a registration list displayed on the monitor, etc.), the destination information input device 15 inputs corresponding position coordinates (latitude, longitude, etc.). ) and set this position coordinate as the destination.

The map locator calculation unit 12 includes a vehicle position estimation calculation unit 12a as vehicle position estimation means, a road map information acquisition unit 12b, and a target course setting calculation unit 12c as target course setting means. The vehicle position estimation calculation unit 12a acquires position coordinates (latitude, longitude) as position information of the vehicle M based on the positioning signal received by the GNSS receiver 13 . In addition, in an environment where effective positioning signals from positioning satellites cannot be received due to decreased sensitivity of the GNSS receiver 13, the position coordinates of the own vehicle M are estimated based on signals from the autonomous traveling sensor 14. FIG.

The road map information acquisition unit 12b converts the position coordinates of the own vehicle M and the position coordinates (latitude, longitude) of the destination set by the destination information input device 15 into a road map stored in the high-precision road map database 16. Map matching on top. Then, both positions are specified, and road map information around the destination from the current position of the vehicle is transmitted to the target travel route setting calculation unit 12c. The high-precision road map database 16 is a large-capacity storage medium such as an HDD, and stores high-precision road map information (dynamic map). This high-precision road map information has lane data (lane width data, lane center position coordinate data, lane traveling azimuth angle data, speed limit, etc.) necessary for automatic driving, and this lane data are stored at intervals of several meters for each lane on the road map.

The target travel route setting calculation unit 12c first creates a travel route connecting the current position map-matched by the road map information acquisition unit 12b and the destination on the road map. Then, on this travel route, a target course for automatically traveling the own vehicle M (going straight, turning left or right from an intersection, driving lanes such as left lane, center lane, right lane if going straight, and within the lane , etc.) are sequentially set and updated from several hundred to several kilometers in front of the own vehicle M. Information on the target course is read by the vehicle control unit 23 .

On the other hand, the camera unit 21 is fixed to the upper center of the front part of the passenger compartment of the vehicle M, and consists of a main camera 21a and a sub-camera 21b arranged at symmetrical positions with respect to the center in the vehicle width direction. It has an in-vehicle camera (stereo camera), an image processing unit (IPU) 21c, and a forward traveling environment recognition section 21d. This camera unit 21 uses both cameras 21a and 21b to image a predetermined imaging area If (see FIGS. 5, 7, 9, and 11) in front of the vehicle M. The IPU 21c outputs a predetermined image of the driving environment image information. process.

The forward running environment recognition unit 21d reads the running environment image information image-processed by the IPU 21c, and recognizes the forward running environment based on this running environment image information. The recognized forward traveling environment includes the shape of the road on which the vehicle M travels (own vehicle traveling path) (road curvature [1/m] at the center of the lane dividing the left and right, and the width between the left and right lanes (vehicle width)), intersections, traffic light colors, road signs, pedestrians, bicycles, and other crossers.

The rear detection unit 22 identifies the presence or absence of a following vehicle approaching the host vehicle M, and the vehicle type (four-wheel vehicle, motorcycle, bicycle, etc.) of the approaching following vehicle, and measures the distance between the approaching vehicle and the host vehicle M. is provided with a rear detection sensor 22a and a following vehicle detection unit 22b. The rear detection sensor 22a senses a predetermined rear sensing area Ir (see FIGS. 5, 7, 9, and 11) to acquire rear environment information. camera, ultrasonic sensor, millimeter wave radar, microwave radar, infrared sensor, laser radar, lidar (Light Detection And Ranging, or Laser Imaging Detection And Ranging)), etc. there is Note that the camera is not limited to a stereo camera, and may be a monocular camera.

Also, the following vehicle detection unit 22b checks whether there is a following vehicle based on the rear environment information acquired by the rear detection sensor 22a. When a following vehicle is detected, its vehicle type (four-wheeled vehicle, motorcycle, bicycle, etc.) is identified by well-known pattern matching techniques, etc., and the distance to the host vehicle M, relative speed, etc. are obtained. , whether or not the host vehicle M is approaching. Information about the following vehicle is read by the vehicle control unit 23 .

The vehicle control unit 23 includes a right/left turn information acquisition section 23a and a vehicle control calculation section 23b. The portion 21d and the following vehicle detection portion 22b of the rear detection unit 22 are connected. Further, on the output side of the vehicle control unit 23, a steering control unit 31 for causing the own vehicle M to travel along the target traveling route, a brake control unit 32 for decelerating the own vehicle M by forced braking, and a vehicle speed control unit 32 for controlling the vehicle speed of the own vehicle M. An acceleration/deceleration control unit 33 and an alarm device 34 are connected.

The right/left turn information acquisition unit 23a checks whether or not the target travel route set by the target travel route setting calculation unit 12c of the map locator calculation unit 12 includes an intersection at which the vehicle M turns left or right. When the left-turning intersection is set in front of the vehicle M, the information around the intersection is read based on the information acquired by the forward traveling environment recognition section 21d of the camera unit 21 . Also, based on the information acquired by the following vehicle detection section 22b of the rear detection unit 22, the information of the following vehicle is read. Then, it determines whether the vehicle M can pass through the intersection where the vehicle M turns right or left, or whether the vehicle needs to be stopped, and transmits the information to the vehicle control calculation unit 23b.

The vehicle control calculation unit 23b controls the steering control unit 31, the brake control unit 32, and the acceleration/deceleration control unit 33 in a predetermined manner, and controls the own vehicle M based on the positioning signal indicating the own vehicle position received by the GNSS receiver 13. The vehicle is automatically driven along the target travel route on the road map set by the target travel route setting calculation unit 12c. At that time, based on the forward running environment recognized by the forward running environment recognition unit 21d, well-known following vehicle distance control (ACC: Adaptive Cruise Control) and lane keeping control (ALK: Active Lane Keep) are performed, and the preceding vehicle is detected. If detected, the preceding vehicle is followed, and if the preceding vehicle is not detected, the own vehicle M is caused to travel along the traveling lane within the speed limit.

Further, the vehicle control calculation unit 23b performs right/left turn control processing of the own vehicle M based on the information acquired by the right/left turn information acquisition unit 23a. In the following description, a road for which left-hand traffic is stipulated will be exemplified, and a left turn is read as a right turn on a road for which right-hand traffic is stipulated. In addition, the present embodiment is characterized by assisting automatic driving when turning left (turning to the passenger seat side in a right-hand drive vehicle) on a road where left-hand traffic is stipulated. Therefore, the following description will focus on automatic driving support control when turning left.

First, the left turn control process executed by the right/left turn information acquisition section 23a is specifically executed according to the left turn control process routine shown in FIG. In this routine, first, in step S1, the target traveling route set by the target traveling route setting calculator 12c and the vehicle position (latitude, longitude) estimated based on the positioning signal received by the GNSS receiver 13 are read, Map-matching the position of the own vehicle on the target traveling route, it is checked whether or not the intersection in front of the own vehicle M is to be turned to the left (left turn).

Then, in the case of going straight or turning right, the routine is exited as is, and well-known straight running control or right turning running control is executed. Note that the straight travel control or the right turn travel control is the same as the conventional one, so the explanation will be omitted. Further, the processing in step S1 corresponds to the direction change determination means of the present invention.

If it is determined to turn left at the intersection ahead, the process proceeds to step S2 to check whether or not there is a traffic signal at the intersection. The presence or absence of traffic lights may be recognized by pattern matching or the like based on the information acquired by the forward driving environment recognition section 21d, or may be read from the map information acquired by the road map information acquisition section 12b. If it is determined that there is a traffic signal, the process proceeds to step S3, and if it is determined that there is no traffic signal, the process jumps to step S6.

When proceeding to step S3, based on the information acquired by the forward running environment recognition unit 21d, it is checked whether the light color of the traffic light is blue (green light). If it is blue, it jumps to step S6, and if it is yellow (yellow light) or red (red light), it proceeds to step S4.

In step S4, it is checked whether the left turn arrow signal is on. If it is determined in step S4 that the left turn arrow signal is off or that the left turn arrow signal is not detected, that is, the traffic signal is a stop signal, the vehicle M is stopped in front of the intersection in step S5. proceed to If it is determined that the left-turn arrow signal is on, the process branches to step S6. Note that the process of recognizing the light color of a traffic light and an arrow signal executed by the forward traveling environment recognition unit 21d is already known in Japanese Patent No. 5852637 filed earlier by the present applicant. description is omitted.

When it is determined that the traffic light indicates a stop before the intersection and the process proceeds to step S5, the stop position processing flag Fs is set to 1 (Fs ← 1), exit the routine. The initial value of this stop position processing flag Fs is zero.

On the other hand, when proceeding from step S3 or step S4 to step S6, the value of the stop position processing flag Fs is referred to. If Fs=1, the process branches to step S7. If Fs=0, the process proceeds to step S8. Since the stop position processing flag Fs is set to 1 in step S5 described above, when it is determined that Fs=1 in step S6, the traffic signal changes from red to green, or the first time after the left turn arrow signal is turned on. The host vehicle M is stopped at the stop line before the left turn intersection by the first stop position processing routine shown in FIG. 2, which will be described later. On the other hand, Fs=0 indicates that the own vehicle M is traveling in the lane before the intersection.

When Fs=1 and, for example, the own vehicle M is stopped on the right side of the driving lane, a following vehicle such as a bicycle or a motorcycle passes through the left side and goes straight. The vehicle control calculation unit 23b checks whether or not the own vehicle M can start, based on the behavior of the following vehicle. Then, when the following vehicle is about to pass, it waits until the passage is completed. On the other hand, when the passage of the following vehicle is recognized, the vehicle M is permitted to start, and the process proceeds to step S8.

Then, when the process proceeds from step S6 or step S7 to step S8, before entering the intersection, based on the information acquired by the forward driving environment recognition unit 21d, the driver is crossing or about to cross the pedestrian crossing ahead of the left turn. traverser is detected. As shown in FIG. 6, pedestrians include not only pedestrians but also moving bodies such as bicycles that cross the pedestrian crossing. Incidentally, the crosser is recognized using a method such as known pattern matching based on the forward running environment acquired by the forward running environment recognition unit 21d, for example. Also, the processing in step S8 corresponds to the crosser recognition means of the present invention.

If no crosser is detected, the process proceeds to step S9, clears the stop position processing flag Fs (Fs←0) to allow the vehicle M to pass in the left-turn direction, and exits the routine. If a crosser is detected, the process branches to step S10, and the value of the stop position processing flag Fs is referred to again. Therefore, the stop position processing flag Fs is set to 2 (Fs←2), and the routine is exited.

On the other hand, if Fs=1, the process proceeds to step S12, the host vehicle M is kept stopped, and the process jumps to step S40 in FIG. Therefore, even if the vehicle is permitted to start in step S7, the vehicle is kept stopped at the stop line in front of the intersection when a crosser is detected before the left turn.

The value of the stop position processing flag Fs described above is read by the vehicle control calculation section 23b. The vehicle control calculation unit 23b executes a first stop position processing routine shown in FIG. 3, a second stop position processing routine shown in FIG. 4, and a left turn travel processing. As shown in FIG. 5, the left turn travel processing when the value of the stop position processing flag Fs is cleared (Fs=0) is already known to cause the own vehicle M to travel left turn along the target travel route. Since it is a control that is based on the

In the first stop position processing routine shown in FIG. 3, first, in step S21, the value of the stop position processing flag Fs is referred to. , the process proceeds to step S22. Also, if Fs=0 or Fs=2, the routine exits.

After proceeding to step S22, in steps S22 to S29, the lateral position (horizontal stop position) in the driving lane when the own vehicle M is stopped at the stop line is set according to the following vehicle. The processing in steps S22 to S29 and the processing in steps S32 to S41 to be described later correspond to the stop lateral position setting means of the present invention.

First, in step S22, based on the information acquired by the following vehicle detection section 22b of the rear detection unit 22, it is checked whether or not there is a following vehicle approaching the own vehicle M. Then, when it is recognized that there is a following vehicle, the process proceeds to step S23. Also, if the approaching following vehicle is not recognized, the process jumps to step S29.

In step S23, the host vehicle M travels based on the road information acquired by the road map information acquisition section 12b of the map locator calculation section 12 or based on the road information recognized by the forward traveling environment recognition section 21d of the camera unit 21. It is checked whether the left-hand lane before the intersection where the vehicle is crossing is a left-turn-only lane (reversing direction-only lane). If the lane is not a left-turn-only lane, such as a straight-ahead left-turn lane, the process branches to step S24. On the other hand, when it is determined that the lane is a left turn only lane, the process proceeds to step S26.

When branching to step S24, it is checked whether the following vehicle can pass through the left side of the own vehicle M in the driving lane. Whether or not it is possible to pass through is determined by the vehicle information width of the driving lane obtained based on the road information or the information acquired by the forward driving environment recognition unit 21d, the vehicle width of the own vehicle M stored in advance, and detection of the following vehicle. Based on the vehicle width of the following vehicle detected by the unit 22b and the preset allowance width,
Lane width ≥ (Vehicle width of own vehicle + Vehicle width of following vehicle + Clearance width)
In the case of , it is determined that it is possible to pass through. In many cases, vehicles that can pass through are motorcycles, mopeds, and bicycles, but mopeds also include scooters and three-wheelers.

If it is determined that the following vehicle can pass through, the process proceeds to step S25. If it is determined that the vehicle cannot pass through, the process branches to step S28.

Proceeding to step S25, it is determined whether or not the left turn signal of the following vehicle is blinking, that is, whether or not the following vehicle is about to turn left in the same direction as the own vehicle M. Check whether you are trying to convert to The flashing of the left-turn blinker is recognized based on the information acquired by the following vehicle detection section 22b.

If the blinking of the left-turn blinker is not recognized, the process proceeds to step S27. If blinking is recognized, the process branches to step S28. If the following vehicle that is approaching does not have a turn signal as in the case of the bicycle P2, the flashing of the left turn turn signal is not recognized, so the process proceeds to step S27.

On the other hand, when proceeding from step S23 to step S26, it is checked whether or not there is a bicycle approaching from behind. Whether or not the vehicle is a bicycle is determined based on the information detected by the following vehicle detection unit 22b by a method such as a known pattern matching method. When an approaching bicycle is detected, the process branches to step S37, and when not detected, the process proceeds to step S29.

Further, when the process proceeds from step S24, step S25 or step S26 to step S27, it is determined that the following vehicle is going to pass through the left side and is about to go straight, the right side stop lateral position control at the stop line before the intersection is executed, and the routine is executed. Exit. As a result, as shown in FIGS. 7 and 8, the own vehicle M is stopped at a lateral position on the right side of the lane (on the side opposite to the turning direction) before the stop line.

The right side stop lateral position control by the vehicle control calculation unit 23b is performed by the steering control unit 31 and the brake control unit 32 based on the lateral position of the host vehicle M in the driving lane and the distance to the stop line recognized by the forward driving environment recognition unit 21d. is controlled. By stopping the own vehicle M on the right side before the stop line, a passing space is secured on the left side of the own vehicle M, and a following vehicle such as a motorcycle P1 or a bicycle P2 that can pass through can enter the passing space. can.

As shown in FIG. 8, even if the lane is exclusively for left turns, the bicycle P2 traveling straight will travel in this lane exclusively for left turns. , the bicycle P2 can pass preferentially.

Further, when branching from step S24 to step S28, left side stop lateral position control at the stop line in front of the intersection is executed, and as shown in FIG. Stop the car and exit the routine. Left-side stop lateral position control by the vehicle control calculation unit 23b is performed by the steering control unit 31 and the steering control unit 31 based on the lateral position of the host vehicle M in the driving lane and the distance to the stop line, which are recognized by the forward traveling environment recognition unit 21d in the same manner as described above. This is done by controlling the brake control unit 32 .

As shown in FIG. 9, a vehicle P3 (a three-wheeled vehicle, a four-wheeled vehicle, a vehicle with four or more wheels, etc.) in which the following vehicle cannot pass through on the left side, when the own vehicle M enters an intersection and tries to turn left, the own vehicle M Try to go straight through the right side of M. Therefore, by stopping the own vehicle M on the left side (turning direction side) of the traveling lane before the stop line, a passage space is secured on the right side of the own vehicle M, and the straight-ahead automobile P3 can be easily passed.

Even when the following vehicle P1 is a motorcycle P1 which cannot pass through the left side due to the relatively narrow width of the traveling lane, the vehicle M can be stopped on the left side so that the vehicle M can easily pass through the right side. Also, when the following vehicle is blinking its left turn signal, it means that the vehicle is about to turn left and there is no need to secure a passage space on the left side, so the own vehicle M is stopped on the left side.

Further, when proceeding from step S22 or step S26 to step S29, the vehicle control calculation unit 23b, based on the lateral position of the host vehicle M in the driving lane and the distance to the stop line, recognized by the forward traveling environment recognition unit 21d, The steering control unit 31 and the brake control unit 32 are operated to control the vehicle M, for example, as shown in FIG. ) to exit the routine.

The second stop position processing routine shown in FIG. 4 recognizes that the light color of the traffic light is blue (green light) or that the left-turn arrow signal is lit, and that the vehicle M can enter the intersection and turn left. is also processing when a pedestrian is recognized at the pedestrian crossing ahead of the left turn.

That is, first, in step S31, the value of the stop position processing flag Fs is referred to, and if Fs=2, the process proceeds to step S32 in order to stop the vehicle at the stop line in front of the intersection. Also, if Fs=0 or Fs=1, the routine exits. The processing of steps S32 to S38 is the same as the processing of steps S22 to S28 of the first stop position processing routine described above, but after the processing of steps S37 and S38 is completed, the process proceeds to step S40. Therefore, steps S22 to S28 of the first stop position processing routine are read as steps S32 to S38 and applied, and the process proceeds from step S37 or step S38 to step S40, and the description here is omitted. As described above, the processing in steps S32 to S38 also corresponds to the stop lateral position setting means of the present invention.

By the way, when the light color of the traffic light is blue (green light) or when the left turn arrow signal is on, the own vehicle M can enter the intersection and turn left. Therefore, as shown in FIG. 10, the own vehicle M should wait for the crosswalker (the bicycle P2, the pedestrian P4, etc.) to cross the crosswalk before the left turn ahead.

However, if the following vehicle is a motorcycle P1, a bicycle P2, or the like, which is going to pass through the left side of the vehicle M and go straight ahead, the vehicle M stops before the pedestrian crossing where the vehicle M is to turn left, as shown in FIG. If so, there is a possibility of contact with the following vehicle (motorcycle P1 in the figure). Therefore, in step S37, even if it is possible to turn left, the motorcycle P1 and the bicycle P2 are allowed to pass by stopping right before the stop line as indicated by the dashed line in the figure.

On the other hand, as shown in FIG. 11, when the following vehicle is an automobile P3 and a motorcycle P1 (bicycle P2) is traveling in that direction, the lateral position of the own vehicle M in the driving lane is adjusted to match the following vehicle. Let me decide. Therefore, in the figure, the following vehicle is the automobile P3, and since it is difficult to pass through the left side, the own vehicle M is moved to the left side of the driving lane and stopped in step S38. When the own vehicle M that is about to turn left stops before the intersection, the following vehicle P3 tries to pass through the right side and go straight. Therefore, as indicated by the dashed-dotted line frame in FIG. 1, when the host vehicle M is brought to the right side of the traveling lane and stopped in order to ensure that the two-wheeled motor vehicle P1 passes through, there is a possibility that the host vehicle M will come into contact with the vehicle P3 that is going straight ahead. There is

Also, when the process proceeds from step S32 or step S36 to step S39, as shown in FIG. 12, the own vehicle M is caused to enter the intersection and stop before the crosswalk where the left turn is to be made, and the process proceeds to step S40.

In step S40, the vehicle waits until the pedestrians (the bicycle P2 and the pedestrian P4 in FIG. 12) have crossed the pedestrian crossing ahead of the left turn. The crosser is recognized based on the forward running environment information acquired by the forward running environment recognition unit 21d.

Then, when the crosser is no longer detected, the process proceeds to step S41, the stop position processing flag Fs is cleared (Fs←0) to permit the vehicle M to advance, and the routine exits. When the stop position processing flag Fs is cleared, the vehicle control calculation unit 23b causes the steering control unit 31, the brake control unit 32, and the acceleration/deceleration control unit 33 to carry out predetermined control operations to bring the host vehicle M onto the target travel route (Fig. 5).

As described above, in the present embodiment, when the host vehicle M tries to turn left at an intersection on a road where left-hand traffic is stipulated (read as a right turn on a road where right-hand traffic is stipulated), first, the left turn destination It is checked whether or not a pedestrian is crossing or about to cross the pedestrian crossing, and whether or not there is a following vehicle. Then, when a pedestrian is recognized on the crosswalk ahead of the left turn and a vehicle that is going to go straight through the left side of the own vehicle M is recognized, the own vehicle M is stopped on the right side of the stop line in front of the intersection. As a result, when the own vehicle M turns left from the intersection, the vehicle M can safely turn left without hindering the traffic of the following vehicle that is going to pass through the left side and go straight.

Also, when a pedestrian is recognized on the crosswalk at the left turn destination and a following vehicle that is going to overtake the right side of the own vehicle M and go straight ahead is recognized, the own vehicle M is stopped at the stop line in front of the intersection on the left side. . As a result, when the own vehicle M stops in front of the stop line until the crosser is crossed, the following vehicle can be overtaken from the right side, so that the passage of the following vehicle is not hindered.

Furthermore, when the light color of the traffic signal at the intersection where the vehicle is about to turn left is red (red light), and the vehicle M is stopped at the stop line before the intersection, the type of the following vehicle is determined in the same manner as described above. Then, when the traffic light color changes to blue (green light) or when the left-turn arrow signal lights up, the vehicle M passes through without starting immediately. In this case, too, the vehicle M can be made to turn left safely without obstructing the progress of the following vehicle.

The present invention is not limited to the above-described embodiment, and for example, intersections are not limited to crossroads, and include three-way intersections such as T-junctions and Y-junctions, or five-way intersections.

1... Automatic driving support device,
11... Locator unit,
12 ... map locator calculation unit,
12a ... own vehicle position estimation calculation unit,
12b ... road map information acquisition unit,
12c ... target course setting calculation unit,
13 ... GNSS receiver,
14... Autonomous traveling sensor,
15 ... destination information input device,
16... high-precision road map database,
21... camera unit,
21a... Main camera,
21b... Sub camera,
21c... image processing unit,
21d ... forward traveling environment recognition unit,
22 ... rear detection unit,
22a ... rear detection sensor,
22b ... following vehicle detection unit,
23... vehicle control unit,
23a... Right/left turn information acquisition unit,
23b ... vehicle control calculation unit,
31 ... steering control section,
32 ... brake control section,
33 Acceleration/deceleration control unit,
34 ... alarm device,
Fs... stop position processing flag,
If...predetermined imaging area,
Ir...predetermined sensing area,
M... own vehicle,
P1... motorcycle,
P2... Bicycle,
P3... Automobiles,
P4...Pedestrian

Claims (7)

forward driving environment information acquisition means for acquiring driving environment information ahead of the own vehicle;
a rear driving environment information obtaining means for obtaining driving environment information behind the own vehicle;
vehicle position estimation means for estimating the current position of the vehicle;
target traveling route setting means for setting a target traveling route from road map information stored in a storage means based on the current position of the vehicle estimated by the vehicle position estimating means and the destination set by the operator;
Based on the target travel route set by the target travel route setting means, left turn or right-hand traffic is prescribed at the intersection ahead of the vehicle position estimated by the vehicle position estimation means on a road where left-hand traffic is prescribed. a direction change determination means for determining whether or not to make a right turn on the road on which the vehicle is located;
When the direction change determination means determines that the intersection is a left turn on a road that stipulates left-hand traffic or a right turn on a road that stipulates right-hand traffic, based on the information acquired by the forward driving environment information acquisition means. In an automatic driving support device having a crosser recognition means for checking the presence or absence of a crosser crossing the road in the turning direction,
When it is determined by the crossing person recognition means that there is a crossing person and when it is determined that there is a following vehicle based on the driving environment information acquired by the said rear driving environment information acquisition means, the stop lateral position in the driving lane of the own vehicle is determined as described above. further comprising stop lateral position setting means for setting according to the type of the following vehicle ,
The stop lateral position setting means checks whether or not the following vehicle can pass through the lane on the side of the vehicle in the direction in which the vehicle is turning. Stop the vehicle in front of the intersection on the opposite side of the turning direction and maintain the stopped state until the following vehicle passes through the side of the own vehicle.
An automatic driving support device characterized by: forward driving environment information acquisition means for acquiring driving environment information ahead of the own vehicle;
a rear driving environment information obtaining means for obtaining driving environment information behind the own vehicle;
vehicle position estimation means for estimating the current position of the vehicle;
target traveling route setting means for setting a target traveling route from road map information stored in a storage means based on the current position of the vehicle estimated by the vehicle position estimating means and the destination set by the operator;
Based on the target travel route set by the target travel route setting means, left turn or right-hand traffic is prescribed at the intersection ahead of the vehicle position estimated by the vehicle position estimation means on a road where left-hand traffic is prescribed. a direction change determination means for determining whether or not to make a right turn on the road on which the vehicle is located;
When the direction change determination means determines that the intersection is a left turn on a road that stipulates left-hand traffic or a right turn on a road that stipulates right-hand traffic, based on the information acquired by the forward driving environment information acquisition means. In an automatic driving support device having a crosser recognition means for checking the presence or absence of a crosser crossing the road in the turning direction,
When it is determined by the crossing person recognition means that there is a crossing person and when it is determined that there is a following vehicle based on the driving environment information acquired by the said rear driving environment information acquisition means, the stop lateral position in the driving lane of the own vehicle is determined as described above. further comprising stop lateral position setting means for setting according to the type of the following vehicle ,
The vehicle stop lateral position setting means determines whether or not the following vehicle can pass through on the side of the vehicle in the lane in which the vehicle is turning, based on the rear driving environment information obtained by the rear driving environment information obtaining means. If it is determined that the vehicle cannot pass through, the vehicle is stopped in the direction of the change of the lane, and whether or not the following vehicle is about to change in the same direction as the vehicle based on the driving environment information behind the vehicle. If the vehicle is about to turn in the same direction, the vehicle is stopped near the turning direction of the traveling lane.
An automatic driving support device characterized by: forward driving environment information acquisition means for acquiring driving environment information ahead of the own vehicle;
a rear driving environment information obtaining means for obtaining driving environment information behind the own vehicle;
vehicle position estimation means for estimating the current position of the vehicle;
target traveling route setting means for setting a target traveling route from road map information stored in a storage means based on the current position of the vehicle estimated by the vehicle position estimating means and the destination set by the operator;
Based on the target travel route set by the target travel route setting means, left turn or right-hand traffic is prescribed at the intersection ahead of the vehicle position estimated by the vehicle position estimation means on a road where left-hand traffic is prescribed. a direction change determination means for determining whether or not to make a right turn on the road on which the vehicle is located;
When the direction change determination means determines that the intersection is a left turn on a road that stipulates left-hand traffic or a right turn on a road that stipulates right-hand traffic, based on the information acquired by the forward driving environment information acquisition means. In an automatic driving support device having a crosser recognition means for checking the presence or absence of a crosser crossing the road in the turning direction,
When it is determined by the crossing person recognition means that there is a crossing person and when it is determined that there is a following vehicle based on the driving environment information acquired by the said rear driving environment information acquisition means, the stop lateral position in the driving lane of the own vehicle is determined as described above. further comprising stop lateral position setting means for setting according to the type of the following vehicle ,
The vehicle stop lateral position setting means is adapted to change the driving lane into a dedicated turning lane based on the driving environment information obtained by the forward driving environment information obtaining means or the road map information of the target traveling route set by the target traveling route setting means. Even if it is determined that the lane is a turning direction exclusive lane, if the following vehicle is determined to be a bicycle based on the rear driving environment information acquired by the rear driving environment information acquisition means, Stop the own vehicle on the side opposite to the turning direction
An automatic driving support device characterized by: The stop lateral position setting means checks whether or not the following vehicle is about to turn in the same direction as the own vehicle based on the rear driving environment information acquired by the rear driving environment information acquisition means, and changes to the same direction. 4. The automatic driving support system according to claim 1 or 3, wherein, when the vehicle is about to move, the own vehicle is stopped nearer to the turning direction of the driving lane. The vehicle stop lateral position setting means determines that the driving lane is a dedicated turning lane based on the driving environment information acquired by the forward driving environment information acquiring means or the road map information of the target traveling route set by the target traveling route setting means. Even if the lane is determined to be a turning-direction only lane, if the following vehicle is determined to be a bicycle based on the rear driving environment information acquired by the rear driving environment information acquisition means, 3. The automatic driving support system according to claim 1, wherein the host vehicle is stopped in a direction opposite to the turning direction. The vehicle stop lateral position setting means, when determining that the traffic light at the intersection is a stop signal based on the driving environment information acquired by the forward driving environment information acquisition means, determines the timing of stopping the own vehicle at the stop line in front of the intersection. The automatic driving support system according to any one of claims 1 to 5 , wherein the vehicle stop lateral position is set according to the type of the following vehicle. When the stop lateral position setting means determines that the traffic light at the intersection is a green light or an arrow signal in a turning direction based on the driving environment information acquired by the forward driving environment information acquisition means, it is possible to enter the intersection. maintain a stopped state until the following vehicle slips through the side of the own vehicle
The automatic driving support device according to any one of claims 1 and 3 to 6, characterized in that:

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