WO2019239747A1

WO2019239747A1 - Vehicle control device

Info

Publication number: WO2019239747A1
Application number: PCT/JP2019/018333
Authority: WO
Inventors: 和貴春元
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2018-06-13
Filing date: 2019-05-08
Publication date: 2019-12-19
Also published as: JPWO2019239747A1; CN112262065A

Abstract

In the past, for oncoming vehicles that are long objects such as trailers, the problem existed of making it possible to pass each other in a condition in which passing was originally not possible. The present invention comprises a figure showing a specific example of the generation of a passing area by a passing control unit 12. The passing control unit 12 generates a host vehicle passing area 144 and an oncoming vehicle passing area 145 based on the vehicle width and vehicle length of the host vehicle 147 and the oncoming vehicle 148. A position is searched at which the generated passing areas do not overlap, and the position is set as a passing position. A candidate for the passing position may also be behind the host vehicle. Also, combinations in which the passing areas overlap, or passing areas overlapping with regions 152 in which travel is not possible, such as regions containing people, obstacles 151, grooves, etc., are set as a host vehicle non-passing area 149, and an oncoming vehicle non-passing area 150.

Description

Vehicle control device

The present invention relates to a vehicle control device.

In recent years, the importance of safe driving of vehicles has increased due to an increase in elderly drivers and the like, and vehicles having a driving support system such as emergency automatic braking have rapidly spread. And, the driving support system has been developed, and the movement toward the realization of the automatic driving system of the vehicle has become active.

Patent Document 1 describes that a road width, an obstacle, and the like are recognized when traveling on a narrow road, a road width that can be actually traveled is determined from the vehicle body width of the host vehicle, and passing assistance is executed. Yes.

JP 2005-326963 A

In the apparatus described in Patent Document 1 described above, it is determined whether the vehicle can pass through from the width of the host vehicle, and attempts to pass the oncoming vehicle. However, if the oncoming vehicle has a long vehicle length such as a trailer, it is essentially There were problems such as making it possible to pass in the same situation.

A vehicle control device according to the present invention is a vehicle control device including a control unit that controls a host vehicle based on external world information, wherein an oncoming vehicle exists in the same lane as the host vehicle, and a road width is equal to or less than a predetermined value. In the passing mode, in the passing mode, the own vehicle area generating means for generating the passing area for the own vehicle from the vehicle width and the vehicle length of the own vehicle, and in the passing mode, the vehicle of the oncoming vehicle An oncoming vehicle area generating means for generating a passing area for an oncoming vehicle from the width and the vehicle length, and a search for a position where the passing area for the own vehicle and the passing area for the oncoming vehicle do not contact from a road around the own vehicle. And a search means.

According to the present invention, the vehicle and the oncoming vehicle can be safely passed without being influenced by the vehicle length.

It is a system configuration figure of a vehicle control device. It is a figure which shows the example of a display of a navigation system. It is a figure which shows the specific example of passing area generation. It is a figure which shows the specific example of a passing with the large vehicle in a narrow place. It is a figure which shows the specific example of passing with the large vehicle on a curve road. It is a flowchart which shows operation | movement of a passing control part. It is a flowchart which shows the passing determination process of a passing control part. It is a flowchart which shows the passing position search process of a passing control part. It is a flowchart which shows the passing process of a passing control part.

An embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a system configuration diagram of the vehicle control device 10. A vehicle control device 10 mounted on a vehicle includes an external environment recognition sensor 11, a passing control unit 12, a vehicle control unit 13, and a navigation system 14.

The outside world recognition sensor 11 is configured by an in-vehicle camera, a sonar, and the like arranged around the vehicle, and outputs information on the travel route such as the recognized oncoming vehicle, person, and obstacle to the passing control unit 12.
The passing control unit 12 generates a transition determination to the “passing mode” based on information from the external world recognition sensor 11 and the navigation system 14 and generates information such as a passing area and a reaching route, and controls passing driving. That is, the passing control unit 12 outputs commands such as a steering angle, braking, and driving to the vehicle control unit 13 to control automatic passing operation. Also, information such as the transition to the “passing mode” and the position of the passing area is fed back to the navigation system 14.

The passing control unit 12 includes a memory and a CPU (not shown), stores programs and vehicle information shown in flowcharts of FIGS. 6 to 9 to be described later, and the CPU reads the programs and executes processing. Note that all or some of the processing may be realized by a hard logic circuit. Further, the program may be supplied as a computer readable computer program product in various forms such as a recording medium and a data signal (carrier wave).

The vehicle control unit 13 drives the engine and motor based on commands such as steering angle, braking, and driving, and transmits driving force to the wheels to advance and stop the vehicle. Further, the movement of the vehicle accompanying the advancement or stop of the vehicle is fed back to the passing control unit 12.

FIG. 2 is a display example of the navigation system 14 in the “passing mode”. The navigation system 14 includes a display that displays map information and an image 141 of the external recognition sensor 11. Then, when the passing control unit 12 transitions to the “passing mode”, information 143 indicating that the passing mode is being displayed is displayed. Further, during the passing mode, the own vehicle passing area 144 and the oncoming vehicle passing area 145 generated by the passing control unit 12 are added and displayed on the left portion of the display. In the right part of the display, an enlarged upper surface image 142 of the approaching part of the host vehicle 147 and the oncoming vehicle 148 is displayed during the passing mode. It should be noted that at least the own vehicle passing area 144 generated by the passing control unit 12 may be displayed on the display. Thereby, when the driver passes the oncoming vehicle, the driver can accurately recognize the position where the host vehicle 147 moves, and the anxiety at the time of passing can be resolved. Moreover, when the oncoming vehicle passing area 145 is displayed on the display, the movement of the oncoming vehicle can be predicted, and the anxiety at the time of passing can be eliminated. The own vehicle passing area 144 and the oncoming vehicle passing area 145 are identified and displayed on the display so that the driver can distinguish and visually recognize them.

FIG. 3 is a diagram illustrating a specific example of passing area generation by the passing control unit 12. The passing control unit 12 generates the own vehicle passing area 144 and the oncoming vehicle passing area 145 from the vehicle width and the vehicle length of the own vehicle 147 and the oncoming vehicle 148. A position where the generated passing areas do not overlap is searched and set as a passing position. Passing positions are also candidates for the back of the vehicle. Further, a combination in which the passing areas overlap each other, and a passing area that overlaps the non-traveling area 152 such as a person, an obstacle 151, and a groove are set as the own vehicle non-passing area 149 and the oncoming vehicle non-passing area 150.

FIG. 4 is a specific example of passing area generation when the passing control unit 12 passes a large vehicle such as a trailer in a narrow place. When there are a plurality of

evacuation centers

154 and 155 on a narrow road, the passing control unit 12 determines whether the own vehicle passing area 144 and the oncoming vehicle passing area 145 can actually retreat to the

evacuation centers

154 and 155 when searching for a passing position. Judge by giving an angle. In the example of FIG. 4, the passing area when the oncoming vehicle 148 enters the evacuation site 154 is an oncoming vehicle non-passing area 150. As shown in FIG. 4, when there is no passing in the front, a passing position such as a shelter 155 behind the own vehicle is searched, and the own vehicle passing area 144 is set.

FIG. 5 is a specific example of passing area generation when the passing control unit 12 passes a large vehicle on a curved road. In the case of a curve with good visibility that can pass through the vehicle, ordinary vehicles can pass each other as they are on the curve. However, as shown in FIG. In this case, a non-travelable area 153 is generated, and there is a case where the vehicle cannot pass by. In the example shown in FIG. 5, the passing control unit 12 sets the own vehicle passing impossible area 149 and the oncoming vehicle passing impossible area 150 for passing on the curve. Accordingly, the current position of the host vehicle before entering the curve is set to the passing position, and the own vehicle passing area 144 and the oncoming vehicle passing area 145 are set.

FIG. 6 is a flowchart showing the operation of the passing control unit 12.
In step S601, the host vehicle is automatically driven. In the next process S602, the passing control unit 12 determines whether to switch to the passing mode. If it is determined in step S602 that the road width is sufficient, such as a sufficient road width, the process proceeds to step S603 and normal automatic driving is continued. If it is determined in step S602 that it is difficult to pass, the process shifts to the “passing mode”, proceeds to a passing position search process in step S604, and starts an automatic passing operation. Details of the passing determination process in step S602 will be described later with reference to FIG.

The passing control unit 12 generates a passing area in the process S604 and proceeds to the passing process in the process S605 if the passing position can be set. If the passing position cannot be set, the process proceeds to step S606 to switch to manual operation. Further, the process including the process S604 and the process S605 is referred to as a “passing mode”. Details of the passing position search process in step S604 will be described later with reference to FIG.

In the process S605, the passing control unit 12 controls the host vehicle to the passing position set in the process S604, performs the passing with the oncoming vehicle, and returns to the automatic operation of the process S603. Details of the passing process in step S605 will be described later with reference to FIG.

(Passing judgment process)
FIG. 7 is a flowchart showing a passing determination process which is a detail of the process S602.
The passing control unit 12 acquires information on the oncoming vehicle recognized by the external recognition sensor 11 in step S701. Specifically, the position of the oncoming vehicle, the vehicle width, the vehicle length, the display of the direction indicator, and the license plate information are acquired.

In process S702, it is determined whether the oncoming vehicle exists in the same lane as the own vehicle from the information acquired in process S701. Specifically, it is determined whether there is a white line / center line between the own vehicle and the oncoming vehicle, or whether the left end coordinate of the recognized oncoming vehicle is within the white line coordinate range of the own vehicle traveling lane. If they do not exist in the same lane, it is determined that no passing is necessary, and the process proceeds to step S603 shown in FIG. 6 to continue the automatic operation. When the oncoming vehicle exists in the same lane, the process proceeds to step S703.

In step S703, the road width is acquired from the external recognition sensor 11, and it is determined whether the road width is narrow.
Specifically, the road width is determined to be narrow if “width in white line <own vehicle width + oncoming vehicle width + offset” is satisfied. If the white line cannot be recognized, it is determined that the road width is narrow. If the road is wide, it is determined that no passing is necessary, and the process proceeds to step S603 shown in FIG. 6 to continue the automatic driving. When the road width is narrow, the process proceeds to the process S604 shown in FIG. 6 to shift to the “passing mode”. After mode transition, slow down and speed limit are applied. In addition, when the outside world recognition sensor 11 fails, the mode is not changed and a safe state is entered.

(Passing position search process)
FIG. 8 is a flowchart showing the passing position search process which is the detail of the process S604.
The passing control unit 12 generates an own vehicle passing area for searching for a passing position in step S801. Specifically, the own vehicle width and the vehicle length are acquired from the own vehicle information stored in advance in the memory of the passing control unit 12, and a passing area is generated.

In step S802, the passing control unit 12 generates an oncoming vehicle passing area for searching for a passing position. Specifically, a passing area is generated from the oncoming vehicle width and the vehicle length acquired in step S701 of FIG. When the oncoming vehicle width and the vehicle length acquired in step S701 in FIG. 7 are inaccurate, for example, when the acquired oncoming vehicle length is equal to or smaller than the vehicle width, the passing control unit 12 is disposed as the external recognition sensor 11. Based on the oncoming vehicle image obtained from the in-vehicle camera, the vehicle image stored in advance is matched with the vehicle type. And the size information (vehicle width and vehicle length) of the vehicle with which the image | video corresponded is acquired from the database memorize | stored beforehand. Or the number plate of the oncoming vehicle imaged with the vehicle-mounted camera is recognized, and the vehicle size information corresponding to the recognized number plate is acquired from a database stored in advance. And the oncoming vehicle passing area of the magnitude | size based on the acquired size information is produced | generated.

In step S803, the passing control unit 12 searches for a position where the passing areas generated in steps S801 and S802 do not overlap with each other, and sets the position as a passing position. Specifically, a contact point with the oncoming vehicle is calculated from the relative speed with the oncoming vehicle and the inter-vehicle distance, and the passing position is sequentially searched from the contact point toward the own vehicle direction. If the vehicle passing area right end x-coordinate <oncoming vehicle passing area left end x-coordinate ”is satisfied, the passing position is obtained. Passing positions are also candidates for the back of the vehicle. Moreover, the thing which contacts an obstruction as a passing position is excluded.

In step S804, it is determined whether the passing position has been set. If it can be set, the process proceeds to the passing process in step S605 shown in FIG. If the passing position cannot be set in process S804, it is determined that automatic passing is impossible, and the process proceeds to manual operation in process S606 shown in FIG. Specifically, it is informed to the driver by display or voice via the navigation system 14 that automatic passing is impossible, and switching to manual operation is made based on the judgment of the driver.

(Passing process)
FIG. 9 is a flowchart showing the passing process, which is the details of the process S605.
In step S901, the passing control unit 12 determines whether the passing oncoming vehicle has stopped after the passing position. Specifically, it is determined whether the oncoming vehicle is stopped from the position of the oncoming vehicle acquired by the outside world recognition sensor 11. If stopped, the process proceeds to step S902. If the oncoming vehicle is traveling, the process proceeds to step S904.

In step S902, it is determined whether the side of the oncoming vehicle that is stopped can pass. Specifically, the oncoming vehicle position is set as the oncoming vehicle passing area, and it is determined whether the own vehicle passing area can be set on the side surface of the oncoming vehicle that is stopped.

If it can be set, the process proceeds to step S903, and the passing position is reset on the side of the oncoming vehicle that is stopped. If it cannot be set, the host vehicle is moved to the passing position set in step S803.

In step S904, it is determined whether the oncoming vehicle turns right or left. Specifically, it determines the left or right turn of the oncoming vehicle from the display of the direction indicator of the oncoming vehicle recognized in step S701. When the oncoming vehicle turns right or left, the process proceeds to step S905, and stops at the current location until the oncoming vehicle completes the right or left turn. When the oncoming vehicle goes straight, the process proceeds to step S906, and the host vehicle is moved to the passing position set in step S803.

In step S907, it is monitored whether the oncoming vehicle has reached the oncoming vehicle passing area. Specifically, it is determined whether the oncoming vehicle has reached the oncoming vehicle passing area before the own vehicle reaches the own vehicle passing area.

If not yet reached, the process proceeds to step S908 to stop the own vehicle in the own vehicle passing area and continue monitoring. If the oncoming vehicle reaches the passing area, the process proceeds to step S909.
In process S909, it is determined whether the distance between the host vehicle and the oncoming vehicle is more than a predetermined value and there is a margin. If there is a margin, the process proceeds to step S910, a passing by slow traveling is performed, and the process waits for the passing to be completed in step S911. If it is determined in step S909 that there is no room, the process proceeds to step S912 to determine whether the oncoming vehicle has stopped. When the oncoming vehicle is stopped, the process proceeds to step S910. When the oncoming vehicle is traveling, the process proceeds to step S913, and the own vehicle continues to stop until the oncoming vehicle completes passing, and waits for the passing to be completed in step S911.

In the process S911, the condition for completing the passing is that the own vehicle or the oncoming vehicle has passed the passing area in each direction of travel. In process S911, after passing is completed, the process proceeds to process S914.

In process S914, after passing each other, the vehicle moves to a position where it can normally operate automatically. Specifically, the host vehicle is moved to a position where it can leave the own vehicle passing area and automatically drive. In this case, for example, if there is an obstacle in front of the stop position in the own vehicle passing area, the vehicle returns to the passing process start position based on the movement path to the passing position stored in advance in order to avoid the obstacle. The process proceeds to the post-return process S603, and transitions to normal automatic operation.

In the description of the above-described embodiment, an example has been described in which the transition from the automatic operation to the automatic passing operation in the passing mode, or the transition from the automatic passing operation to the automatic driving. However, the present invention is not limited thereto. You may change to driving, or from automatic passing driving to manual driving.

According to the embodiment described above, the following operational effects can be obtained.
(1) The vehicle control device 10 includes a passing control unit 12 that controls the host vehicle based on external world information from the external world recognition sensor 11. The passing control unit 12 shifts to the passing mode when there is an oncoming vehicle in the same lane as the own vehicle (S702: YES) and the road width is equal to or smaller than the predetermined value (S703: YES), and in the passing mode. Then, a passing area for the own vehicle is generated from the vehicle width and the vehicle length of the own vehicle (S801), and the passing area for the oncoming vehicle is determined from the vehicle width and the length of the oncoming vehicle in the own vehicle area generating means and the passing mode. An oncoming vehicle area generating means for generating (S802) and a search means for searching a position where the passing area for the own vehicle and the passing area for the oncoming vehicle do not contact each other from a road around the own vehicle (S803). Thereby, it can pass safely, without being influenced by the vehicle length of the own vehicle and an oncoming vehicle.

The present invention is not limited to the above-described embodiment, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention as long as the characteristics of the present invention are not impaired. .

10 vehicle control device, 11 external recognition sensor, 12 passing control unit, 13 vehicle control unit, 14 navigation system

Claims

A vehicle control device including a control unit that controls the host vehicle based on external world information,
When an oncoming vehicle exists in the same lane as the host vehicle and the road width is equal to or smaller than a predetermined value, the mode shifts to the passing mode. In the passing mode, the passing area for the host vehicle is determined from the vehicle width and the vehicle length of the host vehicle. Vehicle area generating means for generating
In the passing mode, oncoming vehicle area generating means for generating a passing area for the oncoming vehicle from the vehicle width and length of the oncoming vehicle;
A vehicle control device comprising: search means for searching for a passing position where the passing area for the own vehicle and the passing area for the oncoming vehicle do not contact each other from a road around the own vehicle.
If the search means can search for the passing position, control the host vehicle to stop in the passing area for the host vehicle, and if the search means could not search the passing position, The vehicle control device according to claim 1, wherein the vehicle control device is switched to manual operation or notified to a driver.
2. The vehicle control device according to claim 1, wherein the own vehicle area generating unit generates a passing area for the own vehicle by acquiring a vehicle width and a vehicle length of the own vehicle from own vehicle information stored in advance. .
The vehicle control device according to claim 1, wherein the oncoming vehicle area generating means generates a passing area for the oncoming vehicle based on a vehicle width and a vehicle length of the oncoming vehicle acquired from an in-vehicle camera.
The vehicle control device according to claim 1, wherein the oncoming vehicle area generating means generates the oncoming vehicle passing area based on vehicle size information acquired based on a license plate imaged by an in-vehicle camera.
2. The vehicle control according to claim 1, wherein the oncoming vehicle area generating unit generates the oncoming vehicle passing area based on vehicle size information acquired by vehicle type matching based on an oncoming vehicle image captured by an in-vehicle camera. apparatus.
The control unit starts slow driving of the host vehicle when the oncoming vehicle and the host vehicle reach the passing area, respectively, and when there is a margin in the distance between the host vehicle and the oncoming vehicle. The vehicle control device described.
When the oncoming vehicle and the host vehicle have reached the passing area, the control unit has a margin in the distance between the host vehicle and the oncoming vehicle, and when the oncoming vehicle is running, The vehicle control apparatus according to claim 1, wherein the vehicle is stopped and waits for the oncoming vehicle to pass.
The vehicle control device according to claim 1, further comprising display means for displaying a passing area for the own vehicle generated by the own vehicle area generating means.
10. The vehicle control device according to claim 9, wherein the display means displays the passing area for the oncoming vehicle generated by the oncoming vehicle area generating means.
11. The vehicle control device according to claim 10, wherein the display means identifies and displays the passing area for the host vehicle and the passing area for the oncoming vehicle.