WO2018109516A1 - Automatic driving assistance method and device - Google Patents

Automatic driving assistance method and device Download PDF

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Publication number
WO2018109516A1
WO2018109516A1 PCT/IB2016/001969 IB2016001969W WO2018109516A1 WO 2018109516 A1 WO2018109516 A1 WO 2018109516A1 IB 2016001969 W IB2016001969 W IB 2016001969W WO 2018109516 A1 WO2018109516 A1 WO 2018109516A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
branch line
branch
control device
host vehicle
Prior art date
Application number
PCT/IB2016/001969
Other languages
French (fr)
Japanese (ja)
Inventor
隼一 畑山
Original Assignee
日産自動車株式会社
ルノーエス・ア・エス
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 日産自動車株式会社, ルノーエス・ア・エス filed Critical 日産自動車株式会社
Priority to PCT/IB2016/001969 priority Critical patent/WO2018109516A1/en
Publication of WO2018109516A1 publication Critical patent/WO2018109516A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle

Definitions

  • the present invention relates to an automatic driving support method and apparatus.
  • branch line information on the road ahead of the vehicle regarding the main line and the branch line ahead of the branch point
  • the host vehicle enters the first branch line that is a non-guide route instead of the main line that is a guide route, and starts from a branch point between the main line and the first branch line (hereinafter referred to as a first branch point).
  • a branch point between the second branch line and the third branch line (hereinafter referred to as a second branch point) exists at a short distance.
  • the navigation system searches for a guidance route when entering the first branch line and includes the searched guidance route.
  • a method of outputting the road information ahead from the navigation system to the travel control device is conceivable.
  • this method there is a problem that the communication load between the navigation system and the travel control device increases.
  • the problem to be solved by the present invention is that the host vehicle enters the first branch line that is a non-guide route instead of the main route that is a guide route, and the second branch point is located at a short distance from the first branch point.
  • the present invention provides a main line set as a first guide route, a first branch line branched from the main line, a first branch point that is a branch point between the main line and the first branch line, and the first branch line. And a second branch line and a third branch line branching from the second branch point, and from the first branch point to the second branch point.
  • the travel time of the vehicle is determined by the automatic driving control device from the start of the second guidance route search processing when the second guidance route search processing is executed by the navigation system after the host vehicle enters the first branch line.
  • the navigation system The second guidance route search process is executed by Upon reaching a predetermined position, by executing the output processing of the automatic driving control apparatus of the second guide route by the navigation system, to solve the above problems.
  • the present invention in a situation where the host vehicle enters the first branch line that is a non-guide route instead of the main route that is a guide route, and the second branch point exists at a short distance from the first branch point. There is an effect that the automatic operation control can be continued while suppressing an increase in communication load.
  • FIG. 1 is a block diagram showing a configuration of a vehicle equipped with an automatic driving support system according to an embodiment of the present invention.
  • 2 is a flowchart for explaining a procedure of automatic driving control processing of the automatic driving support system in FIG. 1 when the host vehicle deviates from the guiding route and enters a non-guidance route. It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control approachs the 1st branch line which is a non-guide route.
  • FIG. 6 is a first half of a flowchart for explaining a process of automatic driving control of the automatic driving support system in FIG.
  • FIG. 6 is a first half of a flowchart for explaining a process of automatic driving control of the automatic driving support system in FIG. 1 in a situation where the own vehicle that is executing the automatic driving control enters the first branch line that is a non-guidance route. . It is the latter half part of the flowchart of FIG. 5A. It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control approachs the 1st branch line which is a non-guide route.
  • FIG. 1 is a block diagram showing a configuration of a vehicle equipped with an automatic driving support system 1 according to an embodiment of the present invention.
  • the automatic driving support system 1 executes automatic driving control of a vehicle according to the guidance route to the destination generated by the navigation system 20.
  • control is started in accordance with the driver's input, and the vehicle is driven according to the guidance route without the driver performing the accelerator operation, the brake operation, and the steering wheel operation.
  • the automatic driving control is stopped or temporarily interrupted, and various operations by the driver are given priority.
  • the vehicle includes an automatic driving support system 1, an engine control device (ECM: Engine Control Module) 2, a body control device (BCM: Body Control Module) 3, a steering control device 4, and a brake control device 5. And a transmission control device (TCM: Transmission Control Module) 6, a skid prevention device (VDC: Vehicle Dynamics Control) 7, and the like.
  • the automatic driving support system 1 includes an automatic driving control device 10, a camera 11, a radar 12, and a navigation system 20.
  • the navigation system 20 includes a navigation control device 201, a map database 202, and a locator 203.
  • the automatic driving control device 10 the navigation control device 201, the engine control device 2, the body control device 3, the steering control device 4, the brake control device 5, the transmission control device 6, and the skid prevention device 7.
  • a CAN (Controller Area Network) bus 8 as an in-vehicle LAN.
  • the engine control device 2 is a controller that executes operation control of the engine 21.
  • the engine control device 2 controls the engine 21 so as to realize the required driving force output from the automatic operation control device 10, the skid prevention device 7, or the like.
  • the vehicle provided with only the engine (internal combustion engine) as a travel drive source is taken as an example, an electric vehicle (including a fuel cell vehicle) including only an electric motor as a travel drive source, or a combination of an engine and an electric motor You may replace with a hybrid vehicle etc. provided with a thing as a driving source.
  • the body control device 3 includes door lock / unlock of the door lock device 31, keyless functions such as passive keyless and remote control keyless, engine start functions such as push engine start function, security functions such as immobilizer, room lamp, battery saver, etc. Controls various functions such as timer functions and safety functions such as tire pressure monitoring systems.
  • keyless functions such as passive keyless and remote control keyless
  • engine start functions such as push engine start function
  • security functions such as immobilizer, room lamp, battery saver, etc.
  • Controls various functions such as timer functions and safety functions such as tire pressure monitoring systems.
  • the steering control device 4 is a controller that executes control of the electric power steering motor 41.
  • the steering control device 4 controls the electric power steering motor 41 so as to realize the target steering angle output from the automatic driving control device 10 or the like.
  • the electric power steering motor 41 is a steering actuator attached to a steering column shaft (not shown).
  • the brake control device 5 is a controller that executes control of the brake unit 51.
  • the brake control device 5 controls the brake unit 51 so as to realize the required braking force output from the automatic driving control device 10, the skid prevention device 7, or the like.
  • the transmission control device 6 is a controller that controls an automatic match transmission (AT) 61.
  • the transmission control device 6 calculates the optimum gear from the vehicle speed, the accelerator opening, the shift position, etc. so as to realize the required driving force output from the automatic operation control device 10, the skid prevention device 7, etc. Shift control is executed.
  • the skid prevention device 7 uses various sensors to monitor the driving operation of the driver and the movement of the vehicle for the purpose of preventing the skid of the vehicle, and outputs the required driving force to the engine control device 2 according to the running state of the vehicle.
  • the required braking force is output to the brake control device 5.
  • the camera 11 is installed at the front of the vehicle, the side of the vehicle, the rear of the vehicle, and the like, and outputs image data obtained by photographing the front of the vehicle, the side of the vehicle, the rear of the vehicle, and the like to the automatic driving control device 10.
  • the radar 12 is installed in the front part of the vehicle, the side part of the vehicle, the rear part of the vehicle, etc., and automatically converts the polar coordinates (distance and position) of the reflection points of the objects existing in the front of the vehicle, the side of the vehicle, and the rear of the vehicle. Output to the operation control device 10.
  • the map database 202 stores map information.
  • This map information includes road types such as types of highways and general roads, link types such as types of highway main links and branch links, positions of branch points between main roads and branch lines of highways, and branch lines
  • the information includes the position of the branch point, the distance from the branch point between the main line and the branch line to the branch point between the branch lines, the speed limit, and the like.
  • Locator 203 calculates the position of the host vehicle at predetermined time intervals based on signals from a vehicle speed sensor, a direction sensor, a GPS receiver, and the like. Then, the locator 203 executes map matching processing for correcting the calculated position of the own vehicle using map information stored in the map database 202, and outputs the corrected position of the own vehicle to the navigation control device 201.
  • the navigation control device 201 searches for a route from the position of the host vehicle output from the locator 22 to the destination input by the driver, displays the search result on the display device, and controls automatic driving through the CAN bus 8. Output to the device 10.
  • the automatic operation control device 10 is an integrated circuit such as a microprocessor, and includes an A / D conversion circuit, a D / A conversion circuit, a central processing unit (CPU, Central Processing Unit), a ROM (Read Only Memory), and a RAM (Read). Access Memory).
  • the automatic operation control device 10 processes image data output from the camera 11 and information on reflection points output from the radar 12, recognizes objects such as other vehicles around the own vehicle, Recognize curbs and branch points. Further, the automatic driving control device 10 calculates the required driving force, the required braking force, and the target steering angle so as to travel along the route output from the navigation control device 201 while avoiding the recognized object.
  • the automatic driving control device 10 outputs the calculated required driving force to the engine control device 2 and the transmission control device 6 through the CAN bus 8, and outputs the calculated required braking force to the brake control device 5 through the CAN bus 8.
  • the target steering angle is output to the steering control device 4 through the CAN bus 8.
  • FIG. 2 is a flowchart for explaining the processing.
  • step S1 the navigation control device 201 re-searches the guidance route to the destination.
  • step S ⁇ b> 2 the navigation control apparatus 201 outputs the re-searched guidance route to the automatic driving control apparatus 10 through the CAN bus 8.
  • step S ⁇ b> 3 the automatic driving control device 10 processes the guidance route information output from the navigation control device 201.
  • step S 4 the automatic driving control device 10 outputs a command to output a voice guidance notifying the driver that selection of whether to change the guidance route is selected or not to the navigation control device 201 through the CAN bus 8.
  • step S5 the navigation control device 201 outputs the voice guidance.
  • step S6 the automatic driving control device 10 determines whether or not the driver has permitted the change of the guidance route by voice or switch operation. When the change of the guide route is permitted, the process proceeds to step S7, and when the change of the guide route is not permitted, the process proceeds to step S8.
  • step S8 the automatic driving control device 10 stops the automatic driving control.
  • the requested driving force is such that the automatic driving control device 10 travels along the re-search route output from the navigation control device 201 while avoiding the object recognized from the image data of the camera 11.
  • the required braking force and the target steering angle are calculated and output to the engine control device 2, the transmission control device 6, the brake control device 5, and the steering control device 4 through the CAN bus 8.
  • the time Tp required from the start of re-search for the guidance route of the navigation control device 201 to the completion of the automatic driving control according to the re-searched guidance route is generally assumed to be 10 seconds or more.
  • branch point 105 there is a branch point (hereinafter referred to as a first branch point) 105 between the main road 101 and the first branch line 102 of the expressway, and the first branch line 102 has a second branch point.
  • the main line 101 in which the own vehicle V that is performing the automatic driving control is the first guide route IC1 is present, and a branch point (hereinafter referred to as a second branch point) 106 between the branch line 103 and the third branch line 104 exists. It is assumed that the vehicle enters the first branch line 102 that is a non-guide route without being able to travel.
  • the distance D2 from the first branch point 105 to the second branch point 106 is short, and the traveling time T2 of the host vehicle V from the first branch point 105 to the second branch point 106 is the above required value. If it is shorter than the time Tp, the process of steps S1 to S6 described above has been executed after passing through the first branch point 105. Will not be able to.
  • the first branch point 105 exists, the second branch point 106 exists in the first branch line 102, and the second branch point 105 extends from the first branch point 105 to the second branch point 105. If the traveling time T2 of the host vehicle V to the first branch point 106 is shorter than the required time Tp, before the host vehicle V reaches the predetermined position 107 on the nearer side in the traveling direction than the first branch point 105.
  • the navigation control device 201 searches for the second guidance route IC2 and the host vehicle V reaches the predetermined position 107, the navigation control device 201 automatically controls the second guidance route IC2 through the CAN bus 8. Output to the device 10.
  • the navigation control device 201 searches for the second guidance route IC2 before the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1. The processing is started, and when the predetermined position 107 is reached, the searched second guidance route IC2 is output to the automatic operation control device 10 through the CAN bus 8. When the searched second guidance route IC2 is input, the automatic operation control device 10 executes the processes of steps S3 to S6 described above.
  • the above-described distance D1 is expressed by the following equation (1).
  • D2 is the distance from the 1st branch point 105 to the 2nd branch point 106
  • V2 is the area from the 1st branch point 105 of the 1st branch line 102 to the 2nd branch point 106
  • V1 is a speed limit in a section from the predetermined position 107 to the first branch point 105.
  • the distance D2 and the speed limits V1 and V2 are included in the map information stored in the map database 202, and the navigation control apparatus 201 calculates the distance D2 and the speed limit V1 from the map information stored in the map database 202.
  • V2 is read.
  • the first branch line 102 and the first branch point 105 exist, and the first branch line 102 includes the second branch line 103, the third branch line 104, and the second branch point 106.
  • the process is started, and the process proceeds to step S101.
  • step S101 the navigation control apparatus 201 refers to the map information stored in the map database 202, and determines a predetermined distance (for example, 2 to 10 km, preferably 4 to 6 km) from the vehicle V along the first guidance route IC1. In this embodiment, it is determined whether or not the first branch point 105 exists in the section of 5 km). If the determination is negative, step S101 is executed, and if the determination is affirmative, the process proceeds to step S102. In step S102, the navigation control apparatus 201 refers to the map information stored in the map database 202, and the second branch point 106 exists in the first branch line 102 branched from the main line 101 at the first branch point 105. It is determined whether or not to do. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S103.
  • a predetermined distance for example, 2 to 10 km, preferably 4 to 6 km
  • step S105 the navigation control apparatus 201 determines that the host vehicle V is the first before the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1.
  • the search process of the second guidance route IC2 is executed when the branch point 105 departs from the main line 101 set in the first guidance route IC1 and enters the first branch line 102 which is a non-guidance route.
  • step S106 the navigation control apparatus 201 determines whether or not the host vehicle V has reached the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by a distance D1. If the determination is negative, step S106 is executed, and if the determination is affirmative, the process proceeds to step S107.
  • step S107 the navigation control device 201 passes the second guidance route IC2 when the host vehicle V deviates to the first branch line 102, which is a non-guidance route, to the automatic driving control device 10 through the CAN bus 8 together with the map information. Output. That is, when the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1, the second branch line 103 and the third branch line 104 pass through the first branch line 102.
  • the re-search route that enters either one is output to the automatic operation control device 10 through the CAN bus 8.
  • step S108 the navigation control device 201 determines whether or not the position of the host vehicle V output from the locator 203 has deviated from the first guidance route IC1. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S109. In step S109, the automatic driving control device 10 processes the information on the second guidance route IC2 output from the navigation control device 201.
  • step S110 the automatic driving control device 10 outputs a voice guidance output command for notifying the driver to select the rejection of the guidance route change to the navigation control device 201 through the CAN bus 8.
  • step S111 the navigation control device 201 outputs the voice guidance.
  • step S112 the automatic driving control apparatus 10 determines whether or not the driver has permitted the change of the guidance route by voice or switch operation. If the change of the guide route is permitted, the process proceeds to step S113. On the other hand, when the change of the guidance route is not permitted, the automatic operation control is stopped in step S115, and the processing shown in the flowcharts of FIGS. 4A and 4B is ended.
  • step S113 the automatic driving control device 10 avoids the object recognized from the image data of the camera 11, and the second branch line 103 along the second guidance route IC2 output from the navigation control device 201.
  • the required driving force, the required braking force, and the target steering angle are calculated so as to travel through the third branch line 104, and the engine control device 2, the transmission control device 6, the brake control device 5, and the steering control device are transmitted through the CAN bus 8. 4 is output.
  • step S114 the automatic driving control apparatus 10 determines whether or not the automatic driving control is continued and the own vehicle V is traveling on the highway. When an affirmative determination is made, the process returns to step S101, and when a negative determination is made, the processing illustrated in the flowcharts of FIGS. 4A and 4B ends.
  • the host vehicle V is determined from the first branch point 105 only when the following first condition and the following second condition are met. Also, the search process of the second guidance route IC2 by the navigation system 20 is executed before reaching the predetermined position 107 on the near side in the traveling direction, and when the host vehicle V reaches the predetermined position 107, the navigation system 20 The output process to the automatic operation control device 10 of the second guidance route IC2 is executed.
  • the main line 101 having the first condition set in the first guide route IC1, the first branch line 102 branched from the main line 101, and the main line 101 A first branch point 105 that is a branch point between the first branch line 102, a second branch point 106 provided on the first branch line 102, and a second branch line that branches from the second branch point 106. 103 and the third branch line 104 exist.
  • the second condition is that the travel time of the host vehicle V from the first branch point 105 to the second branch point 106 is determined by the navigation control device 201 after the host vehicle V enters the first branch line 102.
  • the condition is that it is shorter than the required time Tp.
  • the host vehicle V enters the first branch line 102 which is a non-guide route instead of the main line 101 which is the first guide route IC1, and the branch point (first branch point) between the main line 101 and the first branch line 102 is reached.
  • a branch point (second branch point 106) between the second branch line 103 and the third branch line 104 exists at a position at a short distance from the point 105. Automatic operation can be continued.
  • the predetermined position 107 is set as a postscript condition.
  • the condition is that the travel time of the host vehicle V from the predetermined position 107 to the second branch point 106 is the second guidance by the automatic driving control device 10 from the start of the search process of the second guidance route IC2 by the navigation system 20.
  • This is a condition that the time required for executing the automatic driving of the host vehicle V along the route IC2 is equal to or longer than the required time Tp.
  • the automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed until the host vehicle V that has entered the first branch line 102 reaches the second branch point 106. It becomes possible to do.
  • the navigation system 20 searches for the distance D1 from the predetermined position 107 to the first branch point 105 and the navigation system 20 starts the search process for the second guidance route IC2.
  • Time required for execution of automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10, the speed limit V1 on the main line 101, the speed limit V2 on the first branch line 102, the first branch It sets so that the said (1) Formula may be satisfied by the relationship with the distance D2 from the point 105 to the 2nd branch point 106.
  • the host vehicle V that enters the first branch line 102 and travels below the speed limit reaches the second branch point 106 along the second guidance route IC2 by the automatic driving control device 10.
  • FIG. 5 is a flowchart for explaining the procedure of the automatic operation control according to another embodiment.
  • the automatic driving control when the automatic driving control is executed and the host vehicle V is traveling on the highway, the process is started and the process proceeds to step S101.
  • the second branch line 103 and the third branch line 104 are both As shown in FIG. 6, the second branch line 103 linearly extends from the first branch line 102, and the third branch line 104 is the first branch line. It is assumed that the car bends with a large curvature from 102.
  • processing similar to that in the above-described embodiment is executed, whereas in the case shown in FIG. 6, processing different from that in the above-described embodiment is executed.
  • step S203 the navigation system 21 refers to the map information stored in the map database 202, calculates an inclination angle ⁇ of the second branch line 103 and the third branch line 104 with respect to the first branch line 102, It is determined whether the inclination angle ⁇ of at least one of the second branch line 103 and the third branch line 104 is less than a predetermined value (for example, 10 °) ⁇ 0 . If a positive determination is made, the process proceeds to step S204. On the other hand, if a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed.
  • the inclination angle alpha with respect to the first branch 102 of the second branch 103 is described below as being less than the predetermined value alpha 0.
  • step S204 the navigation controller 201, the distance L1 to the destination when the inclination angle alpha has advanced the second branch 103 of less than the predetermined value alpha 0, the destination of a case it proceeded to the third branch 104 To determine whether or not the distance L1 is shorter than the distance L2. If a positive determination is made, the process proceeds to step S205. On the other hand, if a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed.
  • the distances L1 and L2 described above may be replaced with the time to the destination.
  • step S205 the navigation control device 201 determines whether or not the position of the host vehicle V output from the locator 203 has deviated from the first guidance route IC1. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S206.
  • step S206 the navigation control device 201 executes a search process for the second guidance route IC2 when the host vehicle V has traveled to the second branch line 103, and uses the searched second guidance route IC2 for the automatic driving control device. 10 is output.
  • step S207 the automatic driving control device 10 processes the information on the second guidance route IC2 output from the navigation control device 201. Then, steps S112 and S113 of the above-described embodiment are executed.
  • both the second branch line 103 and the third branch line 104 branched from the first branch line 102 are bent with a large curvature from the first branch line 102, and the second guide path For example, there is a traffic jam on the branch line searched for as IC2.
  • a voice guidance output command for allowing the driver to select whether or not to continue the automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation system 20.
  • the navigation control device 201 accepts the selection by the driver and the automatic driving control device 10 executes processing according to the selection by the driver. Therefore, in such a situation, after the search process of the second guidance route IC2 by the navigation system 20 is started, the automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed.
  • the required time Tp until is longer than a required time Tp ′ described later.
  • the host vehicle V when the first condition and the second condition are satisfied, the host vehicle V is more than the first branch point 105 except when the following third condition is satisfied.
  • the search process for the second guidance route IC2 by the navigation system 20 is executed before reaching the predetermined position 107 on the front side in the traveling direction, and when the host vehicle V reaches the predetermined position 107, the second navigation system 20 performs the second search.
  • the output process to the automatic operation control device 10 of the guidance route IC2 is executed.
  • one of the second branch line 103 and the third branch line 104 (second branch line 103) branched from the first branch line 102 extends linearly from the first branch line 102.
  • the other of the second branch line 103 and the third branch line 104 (third branch line 104) is bent with a large curvature from the first branch line 102, and the second branch line 103 is the second branch line 103.
  • the distance (or time) to the destination when searched as the guidance route IC2 and traveled on the second branch line 103 is more than the distance (or time) to the destination when traveled on the third branch line 104.
  • a voice guidance output command for allowing the driver to select whether or not to continue automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation control device 201.
  • a series of processes in which the navigation control apparatus 201 receives the selection by the driver and receives the selection by the driver and the automatic driving control apparatus 10 executes the process according to the selection by the driver is not necessary.
  • the automatic operation of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed.
  • the required time Tp ′ until the time is shorter than the required time Tp described above.
  • the host vehicle V is placed on the first branch line 102.
  • the search process of the second guide route IC2 by the navigation system 20 is executed, and the output process of the second guide route IC2 to the automatic driving control device 10 by the navigation system 20 is executed.
  • the third condition is that the second branch line 103 and the third branch line 104 have a high degree of linearity with respect to the first branch line 102 and the distance to the destination when the one branch line travels.
  • the condition is that (or time) is shorter than the distance (or time) to the destination when traveling on the other branch line.
  • the host vehicle V enters the first branch line 102 which is a non-guide route instead of the main line 101 which is the first guide route IC1, and the branch point (first branch point) between the main line 101 and the first branch line 102 is reached.
  • the branch point (second branch point 106) between the second branch line 103 and the third branch line 103 exists at a position at a short distance from the point 105).
  • the communication load of the CAN bus 8 is further increased.
  • the situation in which the host vehicle V is traveling on a highway has been described as an example.
  • the present invention may be applied to other roads where main lines and branch lines are distinguished.
  • the navigation control device 201 moves along the second guidance route IC2 in the automatic driving control device 10.
  • the output processing of the second guidance route IC2 by the navigation control device 201 is executed when the host vehicle V travels a distance D1 or more behind the first branch point 105. May be.
  • automatic driving support system 10 automatic driving control device 20 navigation system 101 main line 102 first branch line 103 second branch line 104 third branch line 105 first branch point 106 second branch point 107 predetermined position IC1 first guidance Route IC2 Second guidance route

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
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Abstract

The present invention makes it possible for automatic driving to continue while an increase in communication load is minimized under conditions in which a host vehicle approaches a first branch line, which is a non-guided route, and another divergence point is present at a position close to a divergence point of a main line and the first branch line. When there are a main line (101), a first branch line (102), a first divergence point (105), a second divergence point (106), a second branch line (103), and a third branch line (104) set in a first guided route (IC1), and the travel time of a host vehicle (V) from the first divergence point (105) to the second divergence point (106) is less than a required time from the initiation of a process of searching for a second guided route (IC2) by a navigation system to the execution of automatic driving of the host vehicle (V) along the second guided route (IC2) by an automatic driving control device (10), before the host vehicle (V) reaches a prescribed location (107) ahead of the first divergence point (105) along a travel direction, the navigation system executes the process of searching for the second guided route (IC2) and executes a process of outputting the second guided route (IC2) to the automatic driving control device (10).

Description

自動運転支援方法および装置Automatic driving support method and apparatus
　本発明は、自動運転支援方法および装置に関するものである。 The present invention relates to an automatic driving support method and apparatus.
　車両運転支援システムとして、高速道路の本線と非本線（以下、支線という）との分岐点の情報を含む道路情報を基に、分岐点よりも先の本線と支線とに関する自車前方道路情報を取得して、自車両が分岐点に到達する前に上記自車前方道路情報を走行制御装置に付与するものが知られている（例えば、特許文献１参照）。 As a vehicle driving support system, based on road information including information on the branch point between the main line and non-main line (hereinafter referred to as branch line) of the expressway, information on the road ahead of the vehicle regarding the main line and the branch line ahead of the branch point What acquires and gives the said vehicle front road information to a traveling control apparatus before the own vehicle reaches a branch point is known (for example, refer patent document 1).
特開２０１０−１４３５０４号公報JP 2010-143504 A
　自動運転支援システムでは、自車両が誘導経路である本線ではなく非誘導経路である第１の支線に進入し、本線と第１の支線との分岐点（以下、第１の分岐点という）から近距離の位置に第２の支線と第３の支線との分岐点（以下、第２の分岐点という）が存在する状況が想定される。かかる状況において自動運転制御を継続するための方法として、第１の分岐点が近づく度に、ナビゲーションシステムにおいて第１の支線に進入した場合の誘導経路を探索し、探索した誘導経路を含む自車前方道路情報をナビゲーションシステムから走行制御装置に出力する方法が考えられる。しかしながら、かかる方法によれば、ナビゲーションシステムと走行制御装置との間の通信負荷が増大するという問題がある。 In the automatic driving support system, the host vehicle enters the first branch line that is a non-guide route instead of the main line that is a guide route, and starts from a branch point between the main line and the first branch line (hereinafter referred to as a first branch point). A situation is assumed in which a branch point between the second branch line and the third branch line (hereinafter referred to as a second branch point) exists at a short distance. As a method for continuing the automatic driving control in such a situation, every time the first branch point approaches, the navigation system searches for a guidance route when entering the first branch line and includes the searched guidance route. A method of outputting the road information ahead from the navigation system to the travel control device is conceivable. However, according to this method, there is a problem that the communication load between the navigation system and the travel control device increases.
　本発明が解決しようとする課題は、自車両が誘導経路である本線ではなく非誘導経路である第１の支線に進入し、第１の分岐点から近距離の位置に第２の分岐点が存在する状況において、通信負荷の増大を抑制しつつ、自動運転制御の継続を可能にできる自動運転支援方法及び装置を提供することである。 The problem to be solved by the present invention is that the host vehicle enters the first branch line that is a non-guide route instead of the main route that is a guide route, and the second branch point is located at a short distance from the first branch point. To provide an automatic driving support method and apparatus capable of continuing automatic driving control while suppressing an increase in communication load in an existing situation.
　本発明は、第１の誘導経路に設定した本線と、この本線から分岐する第１の支線と、本線と第１の支線との分岐点である第１の分岐点と、この第１の支線に設けられた第２の分岐点と、この第２の分岐点から分岐する第２の支線及び第３の支線とが存在し、且つ、第１の分岐点から第２の分岐点までの自車両の走行時間が、自車両が第１の支線に進入した後にナビゲーションシステムによる第２の誘導経路の探索処理を実行した場合における第２の誘導経路の探索処理の開始から自動運転制御装置による第２の誘導経路に沿った自車両の自動運転の実行までの所要時間よりも短い場合には、自車両が第１の分岐点よりも進行方向手前側の所定位置に到達する前に、ナビゲーションシステムによる第２の誘導経路の探索処理を実行し、自車両が所定位置に到達した時点で、ナビゲーションシステムによる第２の誘導経路の自動運転制御装置への出力処理を実行することによって、上記課題を解決する。 The present invention provides a main line set as a first guide route, a first branch line branched from the main line, a first branch point that is a branch point between the main line and the first branch line, and the first branch line. And a second branch line and a third branch line branching from the second branch point, and from the first branch point to the second branch point. The travel time of the vehicle is determined by the automatic driving control device from the start of the second guidance route search processing when the second guidance route search processing is executed by the navigation system after the host vehicle enters the first branch line. If the time required for the automatic driving of the host vehicle along the two guidance routes is shorter than the time required for the host vehicle to reach a predetermined position on the nearer side of the traveling direction than the first branch point, the navigation system The second guidance route search process is executed by Upon reaching a predetermined position, by executing the output processing of the automatic driving control apparatus of the second guide route by the navigation system, to solve the above problems.
　本発明によれば、自車両が誘導経路である本線ではなく非誘導経路である第１の支線に進入し、第１の分岐点から近距離の位置に第２の分岐点が存在する状況において、通信負荷の増大を抑制しつつ、自動運転制御の継続を可能にできるという効果を奏する。 According to the present invention, in a situation where the host vehicle enters the first branch line that is a non-guide route instead of the main route that is a guide route, and the second branch point exists at a short distance from the first branch point. There is an effect that the automatic operation control can be continued while suppressing an increase in communication load.
本発明の一実施形態に係る自動運転支援システムが搭載された車両の構成を示すブロック図である。1 is a block diagram showing a configuration of a vehicle equipped with an automatic driving support system according to an embodiment of the present invention. 自車両が誘導経路を外れて非誘導経路に進入した場合における、図１の自動運転支援システムの自動運転制御の処理の手順を説明するためのフローチャートである。2 is a flowchart for explaining a procedure of automatic driving control processing of the automatic driving support system in FIG. 1 when the host vehicle deviates from the guiding route and enters a non-guidance route. 自動運転制御を実行中の自車両が、非誘導経路である第１の支線に進入する状況における、図１の自動運転支援システムの自動運転制御の処理を説明するための図である。It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control approachs the 1st branch line which is a non-guide route. 自動運転制御を実行中の自車両が、非誘導経路である第１の支線に進入する状況における、図１の自動運転支援システムの自動運転制御の処理を説明するためのフローチャートの前半部分である。FIG. 6 is a first half of a flowchart for explaining a process of automatic driving control of the automatic driving support system in FIG. 1 in a situation where the own vehicle that is executing the automatic driving control enters the first branch line that is a non-guidance route. . 図４Ａのフローチャートの後半部分である。4B is the latter half of the flowchart of FIG. 4A. 自動運転制御を実行中の自車両が、非誘導経路である第１の支線に進入する状況における、図１の自動運転支援システムの自動運転制御の処理を説明するためのフローチャートの前半部分である。FIG. 6 is a first half of a flowchart for explaining a process of automatic driving control of the automatic driving support system in FIG. 1 in a situation where the own vehicle that is executing the automatic driving control enters the first branch line that is a non-guidance route. . 図５Ａのフローチャートの後半部分である。It is the latter half part of the flowchart of FIG. 5A. 自動運転制御を実行中の自車両が、非誘導経路である第１の支線に進入する状況における、図１の自動運転支援システムの自動運転制御の処理を説明するための図である。It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control approachs the 1st branch line which is a non-guide route.
　以下、本発明の実施形態を図面に基づいて説明する。図１は、本発明の一実施形態に係る自動運転支援システム１が搭載された車両の構成を示すブロック図である。本実施形態に係る自動運転支援システム１は、ナビゲーションシステム２０により生成された目的地への誘導経路にしたがって車両の自動運転制御を実行するものである。本実施形態の車両の自動運転は、運転者の入力にしたがって制御が開始され、運転者がアクセル操作、ブレーキ操作及びハンドル操作をしなくても誘導経路にしたがって車両を走行させるものである。ただし、運転者がアクセル操作、ブレーキ操作又はハンドル操作をすると、当該自動運転制御が停止又は一時的に中断され、運転者による各種操作が優先される。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a vehicle equipped with an automatic driving support system 1 according to an embodiment of the present invention. The automatic driving support system 1 according to the present embodiment executes automatic driving control of a vehicle according to the guidance route to the destination generated by the navigation system 20. In the automatic driving of the vehicle according to the present embodiment, control is started in accordance with the driver's input, and the vehicle is driven according to the guidance route without the driver performing the accelerator operation, the brake operation, and the steering wheel operation. However, when the driver performs an accelerator operation, a brake operation or a steering wheel operation, the automatic driving control is stopped or temporarily interrupted, and various operations by the driver are given priority.
　本実施形態の車両は、自動運転支援システム１と、エンジン制御装置（ＥＣＭ：Ｅｎｇｉｎｅ　Ｃｏｎｔｒｏｌ　Ｍｏｄｕｌｅ）２と、ボディ制御装置（ＢＣＭ：Ｂｏｄｙ　Ｃｏｎｔｒｏｌ　Ｍｏｄｕｌｅ）３と、操舵制御装置４と、ブレーキ制御装置５と、トランスミッション制御装置（ＴＣＭ：Ｔｒａｎｓｍｉｓｓｉｏｎ　Ｃｏｎｔｒｏｌ　Ｍｏｄｕｌｅ）６と、横滑り防止装置（ＶＤＣ：Ｖｅｈｉｃｌｅ　Ｄｙｎａｍｉｃｓ　Ｃｏｎｔｒｏｌ）７等を備えている。自動運転支援システム１は、自動運転制御装置１０と、カメラ１１と、レーダ１２と、ナビゲーションシステム２０とを備えている。ナビゲーションシステム２０は、ナビゲーション制御装置２０１と、地図データベース２０２と、ロケータ２０３とを備えている。 The vehicle according to the present embodiment includes an automatic driving support system 1, an engine control device (ECM: Engine Control Module) 2, a body control device (BCM: Body Control Module) 3, a steering control device 4, and a brake control device 5. And a transmission control device (TCM: Transmission Control Module) 6, a skid prevention device (VDC: Vehicle Dynamics Control) 7, and the like. The automatic driving support system 1 includes an automatic driving control device 10, a camera 11, a radar 12, and a navigation system 20. The navigation system 20 includes a navigation control device 201, a map database 202, and a locator 203.
　ここで、自動運転制御装置１０と、ナビゲーション制御装置２０１と、エンジン制御装置２と、ボディ制御装置３と、操舵制御装置４と、ブレーキ制御装置５と、トランスミッション制御装置６と、横滑り防止装置７等は、車載ＬＡＮとしてのＣＡＮ（Ｃｏｎｔｒｏｌｌｅｒ　Ａｒｅａ　Ｎｅｔｗｏｒｋ）バス８を介して通信可能に接続されている。 Here, the automatic driving control device 10, the navigation control device 201, the engine control device 2, the body control device 3, the steering control device 4, the brake control device 5, the transmission control device 6, and the skid prevention device 7. Are connected to each other via a CAN (Controller Area Network) bus 8 as an in-vehicle LAN.
　エンジン制御装置２は、エンジン２１の運転制御を実行するコントローラである。このエンジン制御装置２は、自動運転制御装置１０や横滑り防止装置７等から出力される要求駆動力を実現するようにエンジン２１を制御する。なお、エンジン（内燃機関）のみを走行駆動源として備える車両を例に挙げたが、電動モータのみを走行駆動源として備える電気自動車（燃料電池車を含む）や、エンジンと電動モータとを組み合わせたものを走行駆動源として備えるハイブリッド車等に代えてもよい。 The engine control device 2 is a controller that executes operation control of the engine 21. The engine control device 2 controls the engine 21 so as to realize the required driving force output from the automatic operation control device 10, the skid prevention device 7, or the like. In addition, although the vehicle provided with only the engine (internal combustion engine) as a travel drive source is taken as an example, an electric vehicle (including a fuel cell vehicle) including only an electric motor as a travel drive source, or a combination of an engine and an electric motor You may replace with a hybrid vehicle etc. provided with a thing as a driving source.
　ボディ制御装置３は、ドアロック装置３１のドアロック・アンロック、パッシブキーレス、リモコンキーレス等のキーレス機能、プッシュエンジンスタート機能等のエンジン始動機能、イモビライザ等のセキュリティ機能、ルームランプ、バッテリーセーバ等のタイマー機能、タイヤ空気圧モニタリングシステム等の安全機能等の各種機能を制御する。 The body control device 3 includes door lock / unlock of the door lock device 31, keyless functions such as passive keyless and remote control keyless, engine start functions such as push engine start function, security functions such as immobilizer, room lamp, battery saver, etc. Controls various functions such as timer functions and safety functions such as tire pressure monitoring systems.
　操舵制御装置４は、電動パワーステアリングモータ４１の制御を実行するコントローラである。この操舵制御装置４は、自動運転制御装置１０等から出力される目標操舵角を実現するように、電動パワーステアリングモータ４１を制御する。この電動パワーステアリングモータ４１は、ステアリングのコラムシャフト（図示省略）に取り付けられたステアリングアクチュエータである。 The steering control device 4 is a controller that executes control of the electric power steering motor 41. The steering control device 4 controls the electric power steering motor 41 so as to realize the target steering angle output from the automatic driving control device 10 or the like. The electric power steering motor 41 is a steering actuator attached to a steering column shaft (not shown).
　ブレーキ制御装置５は、ブレーキユニット５１の制御を実行するコントローラである。このブレーキ制御装置５は、自動運転制御装置１０や横滑り防止装置７等から出力される要求制動力を実現するようにブレーキユニット５１を制御する。 The brake control device 5 is a controller that executes control of the brake unit 51. The brake control device 5 controls the brake unit 51 so as to realize the required braking force output from the automatic driving control device 10, the skid prevention device 7, or the like.
　トランスミッション制御装置６は、オートマッチックトランスミッション（ＡＴ）６１を制御するコントローラである。このトランスミッション制御装置６は、自動運転制御装置１０や横滑り防止装置７等から出力される要求駆動力を実現するように、車速、アクセル開度、シフトポジション等から最適なギヤを演算してＡＴ６１の変速制御を実行する。 The transmission control device 6 is a controller that controls an automatic match transmission (AT) 61. The transmission control device 6 calculates the optimum gear from the vehicle speed, the accelerator opening, the shift position, etc. so as to realize the required driving force output from the automatic operation control device 10, the skid prevention device 7, etc. Shift control is executed.
　横滑り防止装置７は、車両の横滑りの防止を目的として、各種センサを使用して運転者の運転操作と車両の動きを監視し車両の走行状態に応じてエンジン制御装置２に要求駆動力を出力し、ブレーキ制御装置５に要求制動力を出力する。 The skid prevention device 7 uses various sensors to monitor the driving operation of the driver and the movement of the vehicle for the purpose of preventing the skid of the vehicle, and outputs the required driving force to the engine control device 2 according to the running state of the vehicle. The required braking force is output to the brake control device 5.
　カメラ１１は、車両前部、車両側部、及び車両後部等に設置され、車両前方、車両側方、及び車両後方等を撮影した画像データを自動運転制御装置１０に出力する。また、レーダ１２は、車両前部、車両側部、及び車両後部等に設置され、車両前方、車両側方、及び車両後方等に存在する物体の反射点の極座標（距離及び位置）を、自動運転制御装置１０に出力する。 The camera 11 is installed at the front of the vehicle, the side of the vehicle, the rear of the vehicle, and the like, and outputs image data obtained by photographing the front of the vehicle, the side of the vehicle, the rear of the vehicle, and the like to the automatic driving control device 10. The radar 12 is installed in the front part of the vehicle, the side part of the vehicle, the rear part of the vehicle, etc., and automatically converts the polar coordinates (distance and position) of the reflection points of the objects existing in the front of the vehicle, the side of the vehicle, and the rear of the vehicle. Output to the operation control device 10.
　地図データベース２０２は、地図情報を格納している。この地図情報には、高速道路と一般道路との種別等の道路種別、高速道路の本線リンクと支線リンクとの種別等のリンク種別、高速道路の本線と支線との分岐点の位置、支線同士の分岐点の位置、本線と支線との分岐点から支線同士の分岐点までの距離、及び制限速度等の情報が含まれている。 The map database 202 stores map information. This map information includes road types such as types of highways and general roads, link types such as types of highway main links and branch links, positions of branch points between main roads and branch lines of highways, and branch lines The information includes the position of the branch point, the distance from the branch point between the main line and the branch line to the branch point between the branch lines, the speed limit, and the like.
　ロケータ２０３は、車速センサ、方位センサ、ＧＰＳ受信機等からの信号に基づいて所定時間の間隔で自車両の位置を算出する。そして、ロケータ２０３は、算出した自車両の位置を地図データベース２０２に格納された地図情報を用いて補正するマップマッチング処理を実行し、補正した自車両の位置をナビゲーション制御装置２０１に出力する。ナビゲーション制御装置２０１は、ロケータ２２から出力された自車両の位置から、運転者により入力された目的地までの経路を探索し、探索結果を表示装置に表示させると共に、ＣＡＮバス８を通して自動運転制御装置１０に出力する。 Locator 203 calculates the position of the host vehicle at predetermined time intervals based on signals from a vehicle speed sensor, a direction sensor, a GPS receiver, and the like. Then, the locator 203 executes map matching processing for correcting the calculated position of the own vehicle using map information stored in the map database 202, and outputs the corrected position of the own vehicle to the navigation control device 201. The navigation control device 201 searches for a route from the position of the host vehicle output from the locator 22 to the destination input by the driver, displays the search result on the display device, and controls automatic driving through the CAN bus 8. Output to the device 10.
　自動運転制御装置１０は、マイクロプロセッサ等の集積回路であり、Ａ／Ｄ変換回路、Ｄ／Ａ変換回路、中央演算処理装置（ＣＰＵ、Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、ＲＯＭ（Ｒｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ）及びＲＡＭ（Ｒｅａｄ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ）等を備える。この自動運転制御装置１０は、カメラ１１から出力された画像データやレーダ１２から出力された反射点の情報を処理し、自車両の周囲の他車両等の物体を認識すると共に、道路の白線や縁石や分岐点等を認識する。また、自動運転制御装置１０は、認識した物体を回避しながら、ナビゲーション制御装置２０１から出力された経路に沿って走行するように、要求駆動力、要求制動力、目標操舵角を算出する。自動運転制御装置１０は、算出した要求駆動力をＣＡＮバス８を通してエンジン制御装置２及びトランスミッション制御装置６に出力し、算出した要求制動力をＣＡＮバス８を通してブレーキ制御装置５に出力し、算出した目標操舵角をＣＡＮバス８を通して操舵制御装置４に出力する。 The automatic operation control device 10 is an integrated circuit such as a microprocessor, and includes an A / D conversion circuit, a D / A conversion circuit, a central processing unit (CPU, Central Processing Unit), a ROM (Read Only Memory), and a RAM (Read). Access Memory). The automatic operation control device 10 processes image data output from the camera 11 and information on reflection points output from the radar 12, recognizes objects such as other vehicles around the own vehicle, Recognize curbs and branch points. Further, the automatic driving control device 10 calculates the required driving force, the required braking force, and the target steering angle so as to travel along the route output from the navigation control device 201 while avoiding the recognized object. The automatic driving control device 10 outputs the calculated required driving force to the engine control device 2 and the transmission control device 6 through the CAN bus 8, and outputs the calculated required braking force to the brake control device 5 through the CAN bus 8. The target steering angle is output to the steering control device 4 through the CAN bus 8.
　本実施形態の自動運転支援システム１では、自動運転制御の実行中に自車両が誘導経路を外れて非誘導経路に進入した場合には、後述の高速道路の分岐点の位置等を除いて、以下のような処理が実行される。図２は、当該処理を説明するためのフローチャートである。 In the automatic driving support system 1 of the present embodiment, when the host vehicle is out of the guidance route and enters the non-guidance route during execution of the automatic driving control, except for the position of a branch point on the expressway described later, The following processing is executed. FIG. 2 is a flowchart for explaining the processing.
　まず、ステップＳ１において、ナビゲーション制御装置２０１が、目的地までの誘導経路を再探索する。次に、ステップＳ２において、ナビゲーション制御装置２０１が、再探索した誘導経路をＣＡＮバス８を通して自動運転制御装置１０に出力する。次に、ステップＳ３において、自動運転制御装置１０が、ナビゲーション制御装置２０１から出力された誘導経路の情報を処理する。 First, in step S1, the navigation control device 201 re-searches the guidance route to the destination. Next, in step S <b> 2, the navigation control apparatus 201 outputs the re-searched guidance route to the automatic driving control apparatus 10 through the CAN bus 8. Next, in step S <b> 3, the automatic driving control device 10 processes the guidance route information output from the navigation control device 201.
　次に、ステップＳ４において、自動運転制御装置１０が、誘導経路の変更の許否を選択することを運転者に通知する音声案内を出力する指令を、ＣＡＮバス８を通してナビゲーション制御装置２０１に出力する。次に、ステップＳ５において、ナビゲーション制御装置２０１が、上記音声案内を出力する。次に、ステップＳ６において、自動運転制御装置１０が、運転者が音声やスイッチ操作等により誘導経路の変更を許可したか否かを判定する。誘導経路の変更が許可された場合には、ステップＳ７に進み、誘導経路の変更が不許可とされた場合には、ステップＳ８に進む。 Next, in step S 4, the automatic driving control device 10 outputs a command to output a voice guidance notifying the driver that selection of whether to change the guidance route is selected or not to the navigation control device 201 through the CAN bus 8. Next, in step S5, the navigation control device 201 outputs the voice guidance. Next, in step S6, the automatic driving control device 10 determines whether or not the driver has permitted the change of the guidance route by voice or switch operation. When the change of the guide route is permitted, the process proceeds to step S7, and when the change of the guide route is not permitted, the process proceeds to step S8.
　ステップＳ８では、自動運転制御装置１０が、自動運転制御を停止する。一方、ステップＳ７では、自動運転制御装置１０が、カメラ１１の画像データ等から認識した物体を回避しながら、ナビゲーション制御装置２０１から出力された再探索経路に沿って走行するように、要求駆動力、要求制動力、目標操舵角を算出し、ＣＡＮバス８を通してエンジン制御装置２、トランスミッション制御装置６、ブレーキ制御装置５、及び操舵制御装置４に出力する。 In step S8, the automatic driving control device 10 stops the automatic driving control. On the other hand, in step S <b> 7, the requested driving force is such that the automatic driving control device 10 travels along the re-search route output from the navigation control device 201 while avoiding the object recognized from the image data of the camera 11. The required braking force and the target steering angle are calculated and output to the engine control device 2, the transmission control device 6, the brake control device 5, and the steering control device 4 through the CAN bus 8.
　ここで、自動運転制御装置１０及びナビゲーション制御装置２０１の処理時間と、ステップＳ５において運転者が音声案内を認識してから誘導経路の変更の許否を決定するまでの時間とを合算した時間、即ち、ナビゲーション制御装置２０１の誘導経路の再探索が開始されてから再探索された誘導経路に従った自動運転制御が完了するまでの所要時間Ｔｐは、一般的に１０秒以上となることが想定される。 Here, the sum of the processing time of the automatic driving control device 10 and the navigation control device 201 and the time from when the driver recognizes voice guidance until the driver decides whether or not to change the guidance route in step S5, that is, The time Tp required from the start of re-search for the guidance route of the navigation control device 201 to the completion of the automatic driving control according to the re-searched guidance route is generally assumed to be 10 seconds or more. The
　ところで、図３に示すように、高速道路の本線１０１と第１の支線１０２との分岐点（以下、第１の分岐点という）１０５が存在し、且つ、第１の支線１０２には第２の支線１０３と第３の支線１０４との分岐点（以下、第２の分岐点という）１０６が存在し、自動運転制御を実行中の自車両Ｖが、第１の誘導経路ＩＣ１である本線１０１を進行できずに非誘導経路である第１の支線１０２に進入してしまう状況が想定される。かかる状況において、第１の分岐点１０５から第２の分岐点１０６までの距離Ｄ２が短く、第１の分岐点１０５から第２の分岐点１０６までの自車両Ｖの走行時間Ｔ２が、上記所要時間Ｔｐより短い場合には、第１の分岐点１０５を通過してから上述のステップＳ１~Ｓ６の処理を実行していたのでは、自動運転制御により自車両Ｖを適切な経路を進行させることができないことになる。 By the way, as shown in FIG. 3, there is a branch point (hereinafter referred to as a first branch point) 105 between the main road 101 and the first branch line 102 of the expressway, and the first branch line 102 has a second branch point. The main line 101 in which the own vehicle V that is performing the automatic driving control is the first guide route IC1 is present, and a branch point (hereinafter referred to as a second branch point) 106 between the branch line 103 and the third branch line 104 exists. It is assumed that the vehicle enters the first branch line 102 that is a non-guide route without being able to travel. In such a situation, the distance D2 from the first branch point 105 to the second branch point 106 is short, and the traveling time T2 of the host vehicle V from the first branch point 105 to the second branch point 106 is the above required value. If it is shorter than the time Tp, the process of steps S1 to S6 described above has been executed after passing through the first branch point 105. Will not be able to.
　そこで、本実施形態の自動運転支援システム１では、第１の分岐点１０５が存在し、第１の支線１０２に第２の分岐点１０６が存在し、且つ、第１の分岐点１０５から第２の分岐点１０６までの自車両Ｖの走行時間Ｔ２が、上記所要時間Ｔｐより短い場合には、自車両Ｖが第１の分岐点１０５よりも進行方向手前側の所定位置１０７に到達する前に、ナビゲーション制御装置２０１が、第２の誘導経路ＩＣ２を探索し、自車両Ｖが所定位置１０７に到達した時点で、ナビゲーション制御装置２０１が、第２の誘導経路ＩＣ２をＣＡＮバス８を通して自動運転制御装置１０に出力する。 Therefore, in the automatic driving support system 1 of the present embodiment, the first branch point 105 exists, the second branch point 106 exists in the first branch line 102, and the second branch point 105 extends from the first branch point 105 to the second branch point 105. If the traveling time T2 of the host vehicle V to the first branch point 106 is shorter than the required time Tp, before the host vehicle V reaches the predetermined position 107 on the nearer side in the traveling direction than the first branch point 105. When the navigation control device 201 searches for the second guidance route IC2 and the host vehicle V reaches the predetermined position 107, the navigation control device 201 automatically controls the second guidance route IC2 through the CAN bus 8. Output to the device 10.
　具体的には、自車両Ｖが、第１の分岐点１０５から距離Ｄ１だけ進行方向手前側の所定位置１０７に到達する前の時点で、ナビゲーション制御装置２０１は、第２の誘導経路ＩＣ２の探索処理を開始し、上記所定位置１０７に到達した時点で、探索した第２の誘導経路ＩＣ２をＣＡＮバス８を通して自動運転制御装置１０に出力する。自動運転制御装置１０は、探索された第２の誘導経路ＩＣ２が入力されると、上述のステップＳ３~Ｓ６の処理を実行する。 Specifically, the navigation control device 201 searches for the second guidance route IC2 before the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1. The processing is started, and when the predetermined position 107 is reached, the searched second guidance route IC2 is output to the automatic operation control device 10 through the CAN bus 8. When the searched second guidance route IC2 is input, the automatic operation control device 10 executes the processes of steps S3 to S6 described above.
　上述の距離Ｄ１は、下記（１）式で表される。
Figure JPOXMLDOC01-appb-M000002
 但し、Ｄ２は、第１の分岐点１０５から第２の分岐点１０６までの距離であり、Ｖ２は、第１の支線１０２の第１の分岐点１０５から第２の分岐点１０６までの区間での制限速度であり、Ｖ１は、所定位置１０７から第１の分岐点１０５までの区間での制限速度である。ここで、距離Ｄ２、制限速度Ｖ１、Ｖ２は、地図データベース２０２に格納された地図情報に含まれており、ナビゲーション制御装置２０１は、地図データベース２０２に格納された地図情報から距離Ｄ２、制限速度Ｖ１、Ｖ２を読み出す。 The above-described distance D1 is expressed by the following equation (1).
Figure JPOXMLDOC01-appb-M000002
 However, D2 is the distance from the 1st branch point 105 to the 2nd branch point 106, and V2 is the area from the 1st branch point 105 of the 1st branch line 102 to the 2nd branch point 106. V1 is a speed limit in a section from the predetermined position 107 to the first branch point 105. Here, the distance D2 and the speed limits V1 and V2 are included in the map information stored in the map database 202, and the navigation control apparatus 201 calculates the distance D2 and the speed limit V1 from the map information stored in the map database 202. , V2 is read.
　図４Ａ及び図４Ｂは、第１の支線１０２と第１の分岐点１０５とが存在し、且つ、第１の支線１０２に第２の支線１０３と第３の支線１０４と第２の分岐点１０６とが存在する状況での自動運転制御の手順を説明するためのフローチャートである。本実施形態では、自動運転制御が実行され、且つ、自車両Ｖが高速道路を進行している場合に、処理が開始され、ステップＳ１０１に進む。 4A and 4B, the first branch line 102 and the first branch point 105 exist, and the first branch line 102 includes the second branch line 103, the third branch line 104, and the second branch point 106. It is a flowchart for demonstrating the procedure of automatic driving | operation control in the condition where and exist. In the present embodiment, when the automatic driving control is executed and the host vehicle V is traveling on the highway, the process is started, and the process proceeds to step S101.
　ステップＳ１０１では、ナビゲーション制御装置２０１が、地図データベース２０２に格納された地図情報を参照し、自車両Ｖから第１の誘導経路ＩＣ１に沿った所定距離（例えば、２~１０ｋｍ、好ましくは４~６ｋｍ、本実施形態では５ｋｍ）の区間に第１の分岐点１０５が存在するか否かを判定する。否定判定の場合にはステップＳ１０１が実行され、肯定判定の場合にはステップＳ１０２に進む。ステップＳ１０２では、ナビゲーション制御装置２０１が、地図データベース２０２に格納された地図情報を参照し、第１の分岐点１０５において本線１０１から分岐した第１の支線１０２に、第２の分岐点１０６が存在するか否かを判定する。否定判定の場合にはステップＳ１０１に戻り、肯定判定の場合にはステップＳ１０３に進む。 In step S101, the navigation control apparatus 201 refers to the map information stored in the map database 202, and determines a predetermined distance (for example, 2 to 10 km, preferably 4 to 6 km) from the vehicle V along the first guidance route IC1. In this embodiment, it is determined whether or not the first branch point 105 exists in the section of 5 km). If the determination is negative, step S101 is executed, and if the determination is affirmative, the process proceeds to step S102. In step S102, the navigation control apparatus 201 refers to the map information stored in the map database 202, and the second branch point 106 exists in the first branch line 102 branched from the main line 101 at the first branch point 105. It is determined whether or not to do. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S103.
　ステップＳ１０３では、ナビゲーション制御装置２０１が、自車両Ｖの第１の分岐点１０５から第２の分岐点１０６までの走行時間Ｔ２（＝Ｄ２／Ｖ２）が、上記所要時間Ｔｐよりも短いか否かを判定する。否定判定の場合にはステップＳ１０１に戻り、肯定判定の場合にはステップＳ１０４に進む。ステップＳ１０４では、ナビゲーション制御装置２０１が、上記（１）式から距離Ｄ１を算出する。 In step S103, the navigation control apparatus 201 determines whether or not the travel time T2 (= D2 / V2) from the first branch point 105 to the second branch point 106 of the host vehicle V is shorter than the required time Tp. Determine. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S104. In step S104, the navigation control apparatus 201 calculates the distance D1 from the above equation (1).
　次に、ステップＳ１０５では、ナビゲーション制御装置２０１が、自車両Ｖが第１の分岐点１０５から距離Ｄ１だけ進行方向手前側の所定位置１０７に到達する前の時点で、自車両Ｖが第１の分岐点１０５において第１の誘導経路ＩＣ１に設定された本線１０１を逸脱して非誘導経路である第１の支線１０２に進入した場合の第２の誘導経路ＩＣ２の探索処理を実行する。次に、ステップＳ１０６では、ナビゲーション制御装置２０１が、自車両Ｖが第１の分岐点１０５から距離Ｄ１だけ進行方向手前側の所定位置１０７に到達したか否かを判定する。否定判定の場合にはステップＳ１０６が実行され、肯定判定の場合にはステップＳ１０７に進む。 Next, in step S105, the navigation control apparatus 201 determines that the host vehicle V is the first before the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1. The search process of the second guidance route IC2 is executed when the branch point 105 departs from the main line 101 set in the first guidance route IC1 and enters the first branch line 102 which is a non-guidance route. Next, in step S106, the navigation control apparatus 201 determines whether or not the host vehicle V has reached the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by a distance D1. If the determination is negative, step S106 is executed, and if the determination is affirmative, the process proceeds to step S107.
　ステップＳ１０７では、ナビゲーション制御装置２０１が、自車両Ｖが非誘導経路である第１の支線１０２に逸脱した場合の第２の誘導経路ＩＣ２を、地図情報と共にＣＡＮバス８を通して自動運転制御装置１０に出力する。即ち、自車両Ｖが第１の分岐点１０５から距離Ｄ１だけ進行方向手前側の所定位置１０７に到達した時点で、第１の支線１０２を通って第２の支線１０３及び第３の支線１０４の何れかに進入する再探索経路を、ＣＡＮバス８を通して自動運転制御装置１０に出力する。 In step S107, the navigation control device 201 passes the second guidance route IC2 when the host vehicle V deviates to the first branch line 102, which is a non-guidance route, to the automatic driving control device 10 through the CAN bus 8 together with the map information. Output. That is, when the host vehicle V reaches the predetermined position 107 on the near side in the traveling direction from the first branch point 105 by the distance D1, the second branch line 103 and the third branch line 104 pass through the first branch line 102. The re-search route that enters either one is output to the automatic operation control device 10 through the CAN bus 8.
　次に、ステップＳ１０８において、ナビゲーション制御装置２０１が、ロケータ２０３から出力された自車両Ｖの位置が第１の誘導経路ＩＣ１を逸脱したか否かを判定する。否定判定の場合にはステップＳ１０１に戻り、肯定判定の場合にはステップＳ１０９に進む。ステップＳ１０９では、自動運転制御装置１０が、ナビゲーション制御装置２０１から出力された第２の誘導経路ＩＣ２の情報を処理する。 Next, in step S108, the navigation control device 201 determines whether or not the position of the host vehicle V output from the locator 203 has deviated from the first guidance route IC1. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S109. In step S109, the automatic driving control device 10 processes the information on the second guidance route IC2 output from the navigation control device 201.
　次に、ステップＳ１１０において、自動運転制御装置１０が、誘導経路の変更の拒否を選択することを運転者に通知する音声案内の出力指令を、ＣＡＮバス８を通してナビゲーション制御装置２０１に出力する。次に、ステップＳ１１１において、ナビゲーション制御装置２０１が、上記音声案内を出力する。次に、ステップＳ１１２において、自動運転制御装置１０が、運転者が音声やスイッチ操作等により誘導経路の変更を許可したか否かを判定する。誘導経路の変更が許可された場合には、ステップＳ１１３に進む。一方、誘導経路の変更が不許可とされた場合には、ステップＳ１１５において自動運転制御が停止されることにより、図４Ａ及び図４Ｂのフローチャートで示す処理が終了する。 Next, in step S110, the automatic driving control device 10 outputs a voice guidance output command for notifying the driver to select the rejection of the guidance route change to the navigation control device 201 through the CAN bus 8. Next, in step S111, the navigation control device 201 outputs the voice guidance. Next, in step S112, the automatic driving control apparatus 10 determines whether or not the driver has permitted the change of the guidance route by voice or switch operation. If the change of the guide route is permitted, the process proceeds to step S113. On the other hand, when the change of the guidance route is not permitted, the automatic operation control is stopped in step S115, and the processing shown in the flowcharts of FIGS. 4A and 4B is ended.
　一方、ステップＳ１１３では、自動運転制御装置１０が、カメラ１１の画像データ等から認識した物体を回避しながら、ナビゲーション制御装置２０１から出力された第２の誘導経路ＩＣ２に沿って第２の支線１０３又は第３の支線１０４を進行するように、要求駆動力、要求制動力、目標操舵角を算出し、ＣＡＮバス８を通してエンジン制御装置２、トランスミッション制御装置６、ブレーキ制御装置５、及び操舵制御装置４に出力する。 On the other hand, in step S113, the automatic driving control device 10 avoids the object recognized from the image data of the camera 11, and the second branch line 103 along the second guidance route IC2 output from the navigation control device 201. Alternatively, the required driving force, the required braking force, and the target steering angle are calculated so as to travel through the third branch line 104, and the engine control device 2, the transmission control device 6, the brake control device 5, and the steering control device are transmitted through the CAN bus 8. 4 is output.
　次に、ステップＳ１１４では、自動運転制御装置１０が、自動運転制御が継続され、且つ、自車両Ｖが高速道路を進行しているか否かを判定する。肯定判定がされた場合には、ステップＳ１０１に戻り、否定判定がされた場合に、図４Ａ及び図４Ｂのフローチャートで示す処理が終了する。 Next, in step S114, the automatic driving control apparatus 10 determines whether or not the automatic driving control is continued and the own vehicle V is traveling on the highway. When an affirmative determination is made, the process returns to step S101, and when a negative determination is made, the processing illustrated in the flowcharts of FIGS. 4A and 4B ends.
　以上説明したように、本実施形態に係る自動運転支援方法及びシステム１では、下記第１の条件及び下記第２の条件が揃った場合に限って、自車両Ｖが第１の分岐点１０５よりも進行方向手前側の所定位置１０７に到達する前に、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理を実行し、自車両Ｖが所定位置１０７に到達した時点で、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の自動運転制御装置１０への出力処理を実行する。 As described above, in the automatic driving support method and system 1 according to the present embodiment, the host vehicle V is determined from the first branch point 105 only when the following first condition and the following second condition are met. Also, the search process of the second guidance route IC2 by the navigation system 20 is executed before reaching the predetermined position 107 on the near side in the traveling direction, and when the host vehicle V reaches the predetermined position 107, the navigation system 20 The output process to the automatic operation control device 10 of the second guidance route IC2 is executed.
　ここで、本実施形態に係る自動運転支援システム１を搭載する車両では、ＣＡＮバス８を通して、自動運転制御装置１０とナビゲーション制御装置２０１との間のみならず、エンジン制御装置２やボディ制御装置３等の他の制御装置やその他の装置の間での通信が行われている。自動運転制御装置１０とナビゲーション制御装置２０１との間の通信量の増加は、ＣＡＮバス８における通信データの衝突を増加させたり、データの伝達遅延を増加させたりする等、ＣＡＮバス８を介して構築されたシステム全体に影響を与える可能性がある。 Here, in a vehicle equipped with the automatic driving support system 1 according to the present embodiment, not only between the automatic driving control device 10 and the navigation control device 201 through the CAN bus 8, but also the engine control device 2 and the body control device 3. Communication is performed between other control devices such as the above and other devices. An increase in the amount of communication between the automatic driving control device 10 and the navigation control device 201 increases the collision of communication data on the CAN bus 8 or increases the transmission delay of data via the CAN bus 8. It may affect the entire built system.
　そこで、本実施形態に係る自動運転支援方法及びシステム１では、上記第１の条件を、第１の誘導経路ＩＣ１に設定した本線１０１と、本線１０１から分岐する第１の支線１０２と、本線１０１と第１の支線１０２との分岐点である第１の分岐点１０５と、第１の支線１０２に設けられた第２の分岐点１０６と、第２の分岐点１０６から分岐する第２の支線１０３及び第３の支線１０４とが存在するという条件とする。また、第２の条件を、第１の分岐点１０５から第２の分岐点１０６までの自車両Ｖの走行時間が、自車両Ｖが第１の支線１０２に進入した後にナビゲーション制御装置２０１による第２の誘導経路ＩＣ２の探索処理を実行した場合における第２の誘導経路ＩＣ２の探索処理の開始から自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転の実行までの所要時間Ｔｐよりも短いという条件とする。 Therefore, in the automatic driving support method and system 1 according to the present embodiment, the main line 101 having the first condition set in the first guide route IC1, the first branch line 102 branched from the main line 101, and the main line 101 A first branch point 105 that is a branch point between the first branch line 102, a second branch point 106 provided on the first branch line 102, and a second branch line that branches from the second branch point 106. 103 and the third branch line 104 exist. The second condition is that the travel time of the host vehicle V from the first branch point 105 to the second branch point 106 is determined by the navigation control device 201 after the host vehicle V enters the first branch line 102. From the start of the search process of the second guide route IC2 when the search process of the second guide route IC2 is executed to the execution of the automatic driving of the host vehicle V along the second guide route IC2 by the automatic driving control device 10 The condition is that it is shorter than the required time Tp.
　これによって、自車両Ｖが第１の誘導経路ＩＣ１である本線１０１ではなく非誘導経路である第１の支線１０２に進入し、本線１０１と第１の支線１０２との分岐点（第１の分岐点１０５）から近距離の位置に第２の支線１０３と第３の支線１０４との分岐点（第２の分岐点１０６）が存在する状況において、ＣＡＮバス８の通信負荷の増大を抑制しつつ、自動運転を継続可能にすることができる。 As a result, the host vehicle V enters the first branch line 102 which is a non-guide route instead of the main line 101 which is the first guide route IC1, and the branch point (first branch point) between the main line 101 and the first branch line 102 is reached. In a situation where a branch point (second branch point 106) between the second branch line 103 and the third branch line 104 exists at a position at a short distance from the point 105), an increase in communication load of the CAN bus 8 is suppressed. Automatic operation can be continued.
　また、本実施形態に係る自動運転支援方法及びシステム１では、上記所定位置１０７が、後記条件に設定される。当該条件は、所定位置１０７から第２の分岐点１０６までの自車両Ｖの走行時間が、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理の開始から自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転の実行までの所要時間Ｔｐ以上になるという条件である。これによって、第１の支線１０２に進入した自車両Ｖが第２の分岐点１０６に到達するまでに、自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転を実行することが可能になる。 Further, in the automatic driving support method and system 1 according to the present embodiment, the predetermined position 107 is set as a postscript condition. The condition is that the travel time of the host vehicle V from the predetermined position 107 to the second branch point 106 is the second guidance by the automatic driving control device 10 from the start of the search process of the second guidance route IC2 by the navigation system 20. This is a condition that the time required for executing the automatic driving of the host vehicle V along the route IC2 is equal to or longer than the required time Tp. Thus, the automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed until the host vehicle V that has entered the first branch line 102 reaches the second branch point 106. It becomes possible to do.
　さらに、本実施形態に係る自動運転支援方法及びシステム１では、所定位置１０７から第１の分岐点１０５までの距離Ｄ１を、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理が開始されてから自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転の実行までの所要時間Ｔｐ、本線１０１における制限速度Ｖ１、第１の支線１０２における制限速度Ｖ２、第１の分岐点１０５から第２の分岐点１０６までの距離Ｄ２との関係で、上記（１）式を満足するように設定する。これによって、第１の支線１０２に進入して制限速度以下で走行する自車両Ｖが第２の分岐点１０６に到達するまでの間に、自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転を実行することが可能になる。 Furthermore, in the automatic driving support method and system 1 according to the present embodiment, the navigation system 20 searches for the distance D1 from the predetermined position 107 to the first branch point 105 and the navigation system 20 starts the search process for the second guidance route IC2. Time required for execution of automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10, the speed limit V1 on the main line 101, the speed limit V2 on the first branch line 102, the first branch It sets so that the said (1) Formula may be satisfied by the relationship with the distance D2 from the point 105 to the 2nd branch point 106. FIG. As a result, the host vehicle V that enters the first branch line 102 and travels below the speed limit reaches the second branch point 106 along the second guidance route IC2 by the automatic driving control device 10. In addition, it is possible to execute automatic driving of the host vehicle V.
　図５は、他の実施形態に係る自動運転制御の手順を説明するためのフローチャートである。本実施形態に係る自動運転制御も、自動運転制御が実行され、且つ、自車両Ｖが高速道路を進行している場合に、処理が開始され、ステップＳ１０１に進む。 FIG. 5 is a flowchart for explaining the procedure of the automatic operation control according to another embodiment. In the automatic driving control according to the present embodiment, when the automatic driving control is executed and the host vehicle V is traveling on the highway, the process is started and the process proceeds to step S101.
　ここで、高速道路の本線１０１から分岐した第１の支線１０２に第２の分岐点１０６が存在するケースとして、図３に示すように、第２の支線１０３及び第３の支線１０４が、共に、第１の支線１０２から大きな曲率で曲がるケースと、図６に示すように、第２の支線１０３は、第１の支線１０２から直線的に延び、第３の支線１０４は、第１の支線１０２から大きな曲率で曲がるケースとが想定される。本実施形態では、図３に示すケースでは、上述の実施形態と同様の処理を実行するのに対して、図６に示すケースでは、上述の実施形態とは異なる処理を実行する。 Here, as a case where the second branch point 106 exists in the first branch line 102 branched from the main line 101 of the expressway, as shown in FIG. 3, the second branch line 103 and the third branch line 104 are both As shown in FIG. 6, the second branch line 103 linearly extends from the first branch line 102, and the third branch line 104 is the first branch line. It is assumed that the car bends with a large curvature from 102. In the present embodiment, in the case shown in FIG. 3, processing similar to that in the above-described embodiment is executed, whereas in the case shown in FIG. 6, processing different from that in the above-described embodiment is executed.
　まず、上述の実施形態のステップＳ１０１、Ｓ１０２と同様の処理が実行される。次に、ステップＳ２０３では、ナビシステム２１が、地図データベース２０２に格納された地図情報を参照し、第２の支線１０３及び第３の支線１０４の第１の支線１０２に対する傾斜角度αを算出し、第２の支線１０３及び第３の支線１０４の少なくとも一方の傾斜角度αが所定値（例えば、１０°）α０未満であるか否かを判定する。肯定判定された場合にはステップＳ２０４に進む。一方、否定判定された場合には、ステップＳ１０３に進み、上述の実施形態のステップＳ１０３~Ｓ１１３が実行される。なお、第２の支線１０３の第１の支線１０２に対する傾斜角度αが所定値α０未満であるとして以下説明する。 First, processing similar to steps S101 and S102 of the above-described embodiment is executed. Next, in step S203, the navigation system 21 refers to the map information stored in the map database 202, calculates an inclination angle α of the second branch line 103 and the third branch line 104 with respect to the first branch line 102, It is determined whether the inclination angle α of at least one of the second branch line 103 and the third branch line 104 is less than a predetermined value (for example, 10 °) α 0 . If a positive determination is made, the process proceeds to step S204. On the other hand, if a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed. The inclination angle alpha with respect to the first branch 102 of the second branch 103 is described below as being less than the predetermined value alpha 0.
　ステップＳ２０４では、ナビゲーション制御装置２０１が、傾斜角度αが所定値α０未満の第２の支線１０３を進行した場合の目的地までの距離Ｌ１と、第３の支線１０４を進行した場合の目的地までの距離Ｌ２とを算出し、距離Ｌ１が距離Ｌ２よりも短いか否かを判定する。肯定判定された場合には、ステップＳ２０５に進む。一方、否定判定された場合には、ステップＳ１０３に進み、上述の実施形態のステップＳ１０３~Ｓ１１３が実行される。なお、上述の距離Ｌ１、Ｌ２は、目的地までの時間に代えてもよい。 In step S204, the navigation controller 201, the distance L1 to the destination when the inclination angle alpha has advanced the second branch 103 of less than the predetermined value alpha 0, the destination of a case it proceeded to the third branch 104 To determine whether or not the distance L1 is shorter than the distance L2. If a positive determination is made, the process proceeds to step S205. On the other hand, if a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed. The distances L1 and L2 described above may be replaced with the time to the destination.
　ステップＳ２０５では、ナビゲーション制御装置２０１が、ロケータ２０３から出力された自車両Ｖの位置が第１の誘導経路ＩＣ１から逸脱したか否かを判定する。否定判定の場合にはステップＳ１０１に戻り、肯定判定の場合にはステップＳ２０６に進む。ステップＳ２０６では、ナビゲーション制御装置２０１が、自車両Ｖが第２の支線１０３に進行した場合の第２の誘導経路ＩＣ２の探索処理を実行し、探索した第２の誘導経路ＩＣ２を自動運転制御装置１０に出力する。次に、ステップＳ２０７では、自動運転制御装置１０が、ナビゲーション制御装置２０１から出力された第２の誘導経路ＩＣ２の情報を処理する。そして、上述の実施形態のステップＳ１１２、Ｓ１１３が実行される。 In step S205, the navigation control device 201 determines whether or not the position of the host vehicle V output from the locator 203 has deviated from the first guidance route IC1. If the determination is negative, the process returns to step S101. If the determination is affirmative, the process proceeds to step S206. In step S206, the navigation control device 201 executes a search process for the second guidance route IC2 when the host vehicle V has traveled to the second branch line 103, and uses the searched second guidance route IC2 for the automatic driving control device. 10 is output. Next, in step S207, the automatic driving control device 10 processes the information on the second guidance route IC2 output from the navigation control device 201. Then, steps S112 and S113 of the above-described embodiment are executed.
　ここで、運転者が、第２の誘導経路ＩＣ２として探索された支線を進行することを望まない状況が想定される。例えば、図３に示すように、第１の支線１０２から分岐する第２の支線１０３及び第３の支線１０４の双方が、第１の支線１０２から大きな曲率で曲がっており、第２の誘導経路ＩＣ２として探索された支線に渋滞が発生している状況等である。かかる状況では、運転者に自動運転を継続するか否かを選択させるための音声案内の出力指令を、自動運転制御装置１０からナビゲーション制御装置２０１に出力し、当該音声案内をナビゲーションシステム２０から出力し、運転者による選択をナビゲーション制御装置２０１が受け付け、運転者による選択に応じた処理を自動運転制御装置１０が実行するという一連の処理が必要となる。従って、かかる状況では、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理が開始されてから、自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転が実行されるまでの所要時間Ｔｐが、後述の所要時間Ｔｐ´と比較して長くなる。 Here, it is assumed that the driver does not want to travel the branch line searched for as the second guidance route IC2. For example, as shown in FIG. 3, both the second branch line 103 and the third branch line 104 branched from the first branch line 102 are bent with a large curvature from the first branch line 102, and the second guide path For example, there is a traffic jam on the branch line searched for as IC2. In such a situation, a voice guidance output command for allowing the driver to select whether or not to continue the automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation system 20. Then, a series of processing is required in which the navigation control device 201 accepts the selection by the driver and the automatic driving control device 10 executes processing according to the selection by the driver. Therefore, in such a situation, after the search process of the second guidance route IC2 by the navigation system 20 is started, the automatic driving of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed. The required time Tp until is longer than a required time Tp ′ described later.
　そこで、本実施形態では、上記第１の条件及び上記第２の条件が成立した場合には、下記第３の条件が成立した場合を除いて、自車両Ｖが第１の分岐点１０５よりも進行方向手前側の所定位置１０７に到達する前に、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理を実行し、自車両Ｖが所定位置１０７に到達した時点で、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の自動運転制御装置１０への出力処理を実行する。 Therefore, in the present embodiment, when the first condition and the second condition are satisfied, the host vehicle V is more than the first branch point 105 except when the following third condition is satisfied. The search process for the second guidance route IC2 by the navigation system 20 is executed before reaching the predetermined position 107 on the front side in the traveling direction, and when the host vehicle V reaches the predetermined position 107, the second navigation system 20 performs the second search. The output process to the automatic operation control device 10 of the guidance route IC2 is executed.
　それに対して、運転者が、第２の誘導経路ＩＣ２として探索された支線を進行することを望む可能性が高い状況が想定される。例えば、図６に示すように、第１の支線１０２から分岐する第２の支線１０３及び第３の支線１０４の一方（第２の支線１０３）が、第１の支線１０２から直線的に延びているのに対して、第２の支線１０３及び第３の支線１０４の他方（第３の支線１０４）が、第１の支線１０２から大きな曲率で曲がっており、第２の支線１０３が第２の誘導経路ＩＣ２として探索され、且つ、第２の支線１０３を進行した場合の目的地までの距離（又は時間）が、第３の支線１０４を進行した場合の目的地までの距離（又は時間）よりも短い状況等である。かかる状況では、運転者に自動運転を継続するか否かを選択させるための音声案内の出力指令を、自動運転制御装置１０からナビゲーション制御装置２０１に出力し、当該音声案内をナビゲーション制御装置２０１から出力し、運転者による選択をナビゲーション制御装置２０１が受け付け、運転者による選択に応じた処理を自動運転制御装置１０が実行するという一連の処理が不要になる。従って、かかる状況では、ナビゲーション制御装置２０１による第２の誘導経路ＩＣ２の探索処理が開始されてから、自動運転制御装置１０による第２の誘導経路ＩＣ２に沿った自車両Ｖの自動運転が実行されるまでの所要時間Ｔｐ´が、上述の所要時間Ｔｐと比較して短くなる。 On the other hand, it is assumed that there is a high possibility that the driver desires to travel on the branch line searched for as the second guidance route IC2. For example, as shown in FIG. 6, one of the second branch line 103 and the third branch line 104 (second branch line 103) branched from the first branch line 102 extends linearly from the first branch line 102. On the other hand, the other of the second branch line 103 and the third branch line 104 (third branch line 104) is bent with a large curvature from the first branch line 102, and the second branch line 103 is the second branch line 103. The distance (or time) to the destination when searched as the guidance route IC2 and traveled on the second branch line 103 is more than the distance (or time) to the destination when traveled on the third branch line 104. Is a short situation. In such a situation, a voice guidance output command for allowing the driver to select whether or not to continue automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation control device 201. A series of processes in which the navigation control apparatus 201 receives the selection by the driver and receives the selection by the driver and the automatic driving control apparatus 10 executes the process according to the selection by the driver is not necessary. Therefore, in this situation, after the search processing of the second guidance route IC2 by the navigation control device 201 is started, the automatic operation of the host vehicle V along the second guidance route IC2 by the automatic driving control device 10 is executed. The required time Tp ′ until the time is shorter than the required time Tp described above.
　そこで、本実施形態では、上記第１の条件、及び上記第２の条件が成立した場合であっても、下記第３の条件が成立した場合には、自車両Ｖが第１の支線１０２に進行した後に、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の探索処理を実行し、ナビゲーションシステム２０による第２の誘導経路ＩＣ２の自動運転制御装置１０への出力処理を実行する。ここで、第３の条件を、第２の支線１０３及び第３の支線１０４の一方の第１の支線１０２に対する直線度が高く、且つ、当該一方の支線を進行した場合の目的地までの距離（又は時間）が、他方の支線を進行した場合の目的地までの距離（又は時間）よりも短いという条件とする。 Therefore, in the present embodiment, even when the first condition and the second condition are satisfied, if the following third condition is satisfied, the host vehicle V is placed on the first branch line 102. After the progress, the search process of the second guide route IC2 by the navigation system 20 is executed, and the output process of the second guide route IC2 to the automatic driving control device 10 by the navigation system 20 is executed. Here, the third condition is that the second branch line 103 and the third branch line 104 have a high degree of linearity with respect to the first branch line 102 and the distance to the destination when the one branch line travels. The condition is that (or time) is shorter than the distance (or time) to the destination when traveling on the other branch line.
　これによって、自車両Ｖが第１の誘導経路ＩＣ１である本線１０１ではなく非誘導経路である第１の支線１０２に進入し、本線１０１と第１の支線１０２との分岐点（第１の分岐点１０５）から近距離の位置に第２の支線１０３と第３の支線１０３との分岐点（第２の分岐点１０６）が存在する状況において、ＣＡＮバス８の通信負荷の増大をより一層効果的に抑制しつつ、自動運転を継続可能にすることができる。 As a result, the host vehicle V enters the first branch line 102 which is a non-guide route instead of the main line 101 which is the first guide route IC1, and the branch point (first branch point) between the main line 101 and the first branch line 102 is reached. In the situation where the branch point (second branch point 106) between the second branch line 103 and the third branch line 103 exists at a position at a short distance from the point 105), the communication load of the CAN bus 8 is further increased. Thus, it is possible to continue the automatic driving while suppressing the operation.
　なお、以上説明した実施形態は、本発明の理解を容易にするために記載されたものであって、本発明を限定するために記載されたものではない。したがって、上記の実施形態において開示された各要素は、本発明の技術的範囲に属する全ての設計変更や均等物をも含む趣旨である。 The embodiment described above is described for easy understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.
　例えば、上述の実施形態では、自車両Ｖが高速道路を走行している状況を例に挙げて説明したが、本線と支線とが区別される他の道路に本発明を適用してもよい。また、上述の実施形態では、自車両Ｖが第１の分岐点１０５より距離Ｄ１だけ後方の所定位置１０７に到達した時点で、ナビゲーション制御装置２０１が第２の誘導経路ＩＣ２を自動運転制御装置１０に出力する例を挙げて説明したが、ナビゲーション制御装置２０１による第２の誘導経路ＩＣ２の出力処理は、自車両Ｖが第１の分岐点１０５よりも距離Ｄ１以上後方を走行している時に実行してもよい。 For example, in the above-described embodiment, the situation in which the host vehicle V is traveling on a highway has been described as an example. However, the present invention may be applied to other roads where main lines and branch lines are distinguished. In the above-described embodiment, when the host vehicle V reaches the predetermined position 107 behind the first branch point 105 by the distance D1, the navigation control device 201 moves along the second guidance route IC2 in the automatic driving control device 10. As described above, the output processing of the second guidance route IC2 by the navigation control device 201 is executed when the host vehicle V travels a distance D1 or more behind the first branch point 105. May be.
１　自動運転支援システム
１０　自動運転制御装置
２０　ナビゲーションシステム
１０１　本線
１０２　第１の支線
１０３　第２の支線
１０４　第３の支線
１０５　第１の分岐点
１０６　第２の分岐点
１０７　所定位置
ＩＣ１　第１の誘導経路
ＩＣ２　第２の誘導経路 1 automatic driving support system 10 automatic driving control device 20 navigation system 101 main line 102 first branch line 103 second branch line 104 third branch line 105 first branch point 106 second branch point 107 predetermined position IC1 first guidance Route IC2 Second guidance route

Claims (5)

  1. 　ナビゲーションシステムと、前記ナビゲーションシステムから出力される誘導経路に沿った自車両の自動運転を実行させる自動運転制御装置とを用いて実行する自動運転支援方法であって、
    　第１の誘導経路に設定した本線と、前記本線から分岐する第１の支線と、前記本線と前記第１の支線との分岐点である第１の分岐点と、前記第１の支線に設けられた第２の分岐点と、前記第２の分岐点から分岐する第２の支線及び第３の支線とが存在し、且つ、前記第１の分岐点から前記第２の分岐点までの前記自車両の走行時間が、前記自車両が前記第１の支線に進入した後に前記ナビゲーションシステムによる第２の誘導経路の探索処理を実行した場合における前記第２の誘導経路の探索処理の開始から前記自動運転制御装置による前記第２の誘導経路に沿った前記自車両の自動運転の実行までの所要時間よりも短い場合には、
    　前記自車両が前記第１の分岐点よりも進行方向手前側の所定位置に到達する前に、前記ナビゲーションシステムによる前記第２の誘導経路の探索処理を実行し、
    　前記自車両が前記所定位置に到達した時点で、前記ナビゲーションシステムによる前記第２の誘導経路の前記自動運転制御装置への出力処理を実行する自動運転支援方法。     An automatic driving support method that is executed using a navigation system and an automatic driving control device that executes automatic driving of the host vehicle along a guidance route output from the navigation system,
    A main line set as a first guide route, a first branch line branching from the main line, a first branch point that is a branch point of the main line and the first branch line, and a first branch line And a second branch line and a third branch line that branch from the second branch point, and the first branch point to the second branch point. The travel time of the host vehicle is determined from the start of the search process of the second guide route when the search process of the second guide route by the navigation system is executed after the host vehicle enters the first branch line. If it is shorter than the time required until the automatic driving of the host vehicle along the second guidance route by the automatic driving control device,
    Before the host vehicle reaches a predetermined position on the nearer side of the traveling direction than the first branch point, the navigation system searches for the second guidance route,
    An automatic driving support method for executing output processing of the second guidance route to the automatic driving control device by the navigation system when the host vehicle reaches the predetermined position.
  2. 　前記所定位置は、前記所定位置から前記第２の分岐点までの前記自車両の走行時間が、前記ナビゲーションシステムによる前記第２の誘導経路の探索処理の開始から前記自動運転制御装置による前記第２の誘導経路に沿った前記自車両の自動運転の実行までの所要時間以上になるように設定される請求項１に記載の自動運転支援方法。 The predetermined position is determined based on the traveling time of the host vehicle from the predetermined position to the second branch point from the start of search processing of the second guidance route by the navigation system to the second by the automatic operation control device. The automatic driving support method according to claim 1, wherein the automatic driving support method is set to be equal to or longer than a time required until execution of automatic driving of the host vehicle along the guidance route.
  3. 　前記所定位置から前記第１の分岐点までの距離Ｄ１は、下記（１）式を満足する請求項１又は請求項２に記載の自動運転支援方法。
    Figure JPOXMLDOC01-appb-M000001
     但し、Ｔｐは、前記ナビゲーションシステムによる前記第２の誘導経路の探索処理が開始されてから前記自動運転制御装置による前記第２の誘導経路に従った前記自車両の自動運転の実行までの所要時間であり、Ｖ１は、前記本線における制限速度であり、Ｖ２は、前記第１の支線における制限速度であり、Ｄ２は、前記第１の分岐点から前記第２の分岐点までの距離である。     The automatic driving support method according to claim 1 or 2, wherein a distance D1 from the predetermined position to the first branch point satisfies the following expression (1).
    Figure JPOXMLDOC01-appb-M000001
     However, Tp is the time required from the start of the search process for the second guidance route by the navigation system to the execution of the automatic driving of the host vehicle according to the second guidance route by the automatic driving control device. V1 is a speed limit on the main line, V2 is a speed limit on the first branch line, and D2 is a distance from the first branch point to the second branch point.
  4. 　前記第２の支線及び前記第３の支線の一方の前記第１の支線に対する傾斜角度が所定値未満であり、且つ、前記第２の支線及び前記第３の支線の前記一方を進行した場合の目的地までの距離が、前記第２の支線及び前記第３の支線の他方を進行した場合の目的地までの距離よりも短く、又は、前記第２の支線及び前記第３の支線の前記一方を進行した場合の目的地までの時間が、前記第２の支線及び前記第３の支線の他方を進行した場合の目的地までの時間よりも短い場合には、
    　前記自車両が前記第１の支線に進行した後に、前記ナビゲーションシステムによる前記第２の誘導経路の探索処理を実行し、前記ナビゲーションシステムによる前記第２の誘導経路の前記自動運転制御装置への出力処理を実行する請求項１~３の何れか１項に記載の自動運転支援方法。     An inclination angle of one of the second branch line and the third branch line with respect to the first branch line is less than a predetermined value, and the one of the second branch line and the third branch line is advanced. The distance to the destination is shorter than the distance to the destination when traveling the other of the second branch line and the third branch line, or the one of the second branch line and the third branch line If the time to the destination when traveling is shorter than the time to the destination when traveling the other of the second branch line and the third branch line,
    After the host vehicle has traveled to the first branch line, the navigation system searches for the second guidance route, and the navigation system outputs the second guidance route to the automatic driving control device. The automatic driving support method according to any one of claims 1 to 3, wherein the process is executed.
  5. 　ナビゲーションシステムと、前記ナビゲーションシステムから出力される誘導経路に沿った自車両の自動運転を実行させる自動運転制御装置とを備える自動運転支援装置であって、
    　前記ナビゲーションシステムは、
    　第１の誘導経路に設定した本線と、前記本線から分岐する第１の支線と、前記本線と前記第１の支線との分岐点である第１の分岐点と、前記第１の支線に設けられた第２の分岐点と、前記第２の分岐点から分岐する第２の支線及び第３の支線とが存在し、且つ、前記第１の分岐点から前記第２の分岐点までの前記自車両の走行時間が、前記自車両が前記第１の支線に進入した後に前記ナビゲーションシステムによる第２の誘導経路の探索処理を実行した場合における前記第２の誘導経路の探索処理の開始から前記自動運転制御装置による前記第２の誘導経路に沿った前記自車両の自動運転の実行までの所要時間よりも短い場合には、
    　前記自車両が前記第１の分岐点よりも進行方向手前側の所定位置に到達する前に、前記第２の誘導経路の探索処理を実行し、
    　前記自車両が前記所定位置に到達した時点で、前記第２の誘導経路の前記自動運転制御装置への出力処理を実行する自動運転支援装置。     An automatic driving support device comprising a navigation system and an automatic driving control device for executing automatic driving of the host vehicle along a guidance route output from the navigation system,
    The navigation system includes:
    A main line set as a first guide route, a first branch line branching from the main line, a first branch point that is a branch point of the main line and the first branch line, and a first branch line And a second branch line and a third branch line that branch from the second branch point, and the first branch point to the second branch point. The travel time of the host vehicle is determined from the start of the search process of the second guide route when the search process of the second guide route by the navigation system is executed after the host vehicle enters the first branch line. If it is shorter than the time required until the automatic driving of the host vehicle along the second guidance route by the automatic driving control device,
    Before the host vehicle reaches a predetermined position on the nearer side of the traveling direction than the first branch point, the second guidance route search process is executed,
    An automatic driving support device that executes output processing of the second guidance route to the automatic driving control device when the host vehicle reaches the predetermined position.
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