WO2022123278A1

WO2022123278A1 - Travel assistance method and travel assistance device

Info

Publication number: WO2022123278A1
Application number: PCT/IB2020/001059
Authority: WO
Inventors: 田中祐輝; 福重孝志
Original assignee: 日産自動車株式会社; ルノーエス．ア．エス．
Priority date: 2020-12-07
Filing date: 2020-12-07
Publication date: 2022-06-16

Abstract

Provided is a travel assistance method for a vehicle, the method comprising: setting a first vehicle stop position (P1) for an own vehicle (V1) to stop in a boarding/exiting place (X) for an occupant to get aboard or exit; and autonomously controlling travel of the own vehicle (V1) to the first vehicle stop position (P1), wherein a first distance (D1) between the first vehicle stop position (P1) and a first end (E1) which is of ends of a first region (R1) and is forward in the travel direction of the own vehicle (V1), the first region (R1) being a part of the boarding/exiting place (X) and allowing the own vehicle (V1) to stop, is shorter than a second distance (D2) between a second vehicle stop position (P2) set when the own vehicle (V1) stops in a place other than the boarding/exiting place (X) and a second end (E1a) which is of ends of a second region (R2) and is forward in the travel direction, the second region (R2) being other than the boarding/exiting place (X) and allowing the own vehicle (V1) to stop.

Description

Driving support method and driving support device

The present invention relates to a vehicle traveling support method and a traveling support device.

When the start of the preceding vehicle is detected during the stop control and the driving operation requesting the start is detected within a predetermined time from the detection, the control state of the own vehicle is switched from the stop control to the follow-up control to the preceding vehicle. As a result, a travel control device that brings the own vehicle closer to the preceding vehicle is known (Patent Document 1).

Japanese Unexamined Patent Publication No. 2005-231490

Although the above-mentioned prior art discloses that in a driving scene in which a preceding vehicle and a preceding vehicle are detected, the stop control and the follow control are switched by a driver's driving operation to bring the own vehicle closer to the preceding vehicle. , Other driving scenes, for example, control of the inter-vehicle distance at the boarding / alighting place where the occupant gets on or off is not disclosed at all. Generally, the area of the boarding / alighting area is limited, and if the inter-vehicle distance to the preceding vehicle is set at the boarding / alighting area in the same way as the place other than the boarding / alighting area, the own vehicle may not be able to stop within the boarding / alighting area. In this case, in the above-mentioned conventional technique, the driver determines whether or not the own vehicle can be stopped in the boarding / alighting place and operates the vehicle, which increases the operation burden of the driver. In addition, if the driver does not perform appropriate operations, the vehicle body of the own vehicle may not be able to enter the boarding / alighting area, which may obstruct the traffic of other vehicles.

The problem to be solved by the present invention is to provide a traveling support method and a traveling support device capable of autonomously stopping the own vehicle within the boarding / alighting area.

In the present invention, at the boarding / alighting place where the occupant gets on or off, the first distance between the end of the first region where the own vehicle can stop at the getting on / off place and the first end in front of the traveling direction of the own vehicle. However, among the stop position set when the own vehicle stops at a place other than the boarding / alighting place and the end of the second region where the own vehicle can stop at a place other than the boarding / alighting place, the front in the traveling direction. The above problem is solved by setting a stop position smaller than the second distance from the second end portion of the above.

According to the present invention, the own vehicle can autonomously stop within the boarding / alighting area.

It is a block diagram which shows the running support system including the running support method and the running support device of this invention. It is a top view which shows an example of the driving scene which executes autonomous control by the driving support system shown in FIG. It is a top view which shows an example of the driving scene which executes autonomous control in the driving support system which concerns on the comparative example of this invention. It is a flowchart which shows an example of the information processing procedure in the driving support system of FIG.

Hereinafter, embodiments of the traveling support method and the traveling support device according to the present invention will be described with reference to the drawings.

[Configuration of driving support system]
FIG. 1 is a block diagram showing a traveling support system 10 according to the present invention. As shown in FIG. 1, the travel support system 10 includes a detection device 1, a map information 2, a vehicle information detection device 3, a navigation device 4, a vehicle control device 5, and a travel support device 6. The detection device 1 includes an image pickup device 11 and a distance measuring device 12. The own vehicle information detection device 3 includes a vehicle speed detection device 31, a steering angle detection device 32, and a own vehicle position detection device 33. The vehicle control device 5 includes a vehicle speed control device 51 and a steering control device 52. The devices included in the travel support system 10 are connected by a CAN (Control Area Network) or other in-vehicle LAN, and can exchange information with each other.

The detection device 1 is a sensor for detecting an object around the own vehicle. Objects are, for example, road lane boundaries, centerlines, road signs, central separation zones, guard rails, rim stones, highway side walls, road signs, traffic lights, crosswalks, construction sites, accident sites, and traffic restrictions. .. In addition, the objects include automobiles (other vehicles) other than the own vehicle, motorcycles, bicycles, and pedestrians. Objects also include obstacles that may affect the running of the vehicle.

The object is detected by, for example, the image pickup device 11 and the distance measuring device 12. The image pickup device 11 is a device that recognizes an object around the own vehicle by an image, and is, for example, a camera including an image pickup element such as a CCD, an ultrasonic camera, an infrared camera, or the like. A plurality of image pickup devices 11 can be provided in one vehicle, and can be arranged, for example, in the front grille portion of the vehicle, the lower part of the left and right door mirrors, and the vicinity of the rear bumper. This makes it possible to reduce the blind spot when recognizing an object around the vehicle. On the other hand, the range finder 12 is a device for calculating the relative distance and relative speed between the vehicle and the object, for example, a laser radar, a millimeter wave radar, etc. (LRF, etc.), a LiDAR (light detection and ranking) unit. , A radar device such as an ultrasonic radar or a sonar. A plurality of distance measuring devices 12 can also be provided in one vehicle, and can be arranged, for example, in front of, on the right side, on the left side, and behind the vehicle. This makes it possible to accurately calculate the relative distance and the relative speed with the object around the vehicle.

The detection results from the image pickup device 11 and the distance measuring device 12 are acquired by the traveling support device 6 at predetermined time intervals. The detection result of the image pickup device 11 and the detection result of the distance measuring device 12 can be integrated or combined by the traveling support device 6, thereby supplementing the information of the object lacking in the detection result. For example, the traveling support device 6 obtains the self-position information, which is the position where the own vehicle travels, acquired by the own vehicle position detection device 33, which will be described later, and the relative position (distance and direction) between the own vehicle and the object. The position information of can be calculated. Alternatively, the map information 2, the self-position information by odometry, and the relative position (distance and direction) of the own vehicle and the object may be associated with each other to calculate the position information of the object. The calculated position information of the object is integrated with a plurality of information such as the detection results of the image pickup device 11 and the distance measuring device 12 and the map information 2 in the traveling support device 6, and becomes environmental information around the own vehicle. .. In addition to this, the detection results of the image pickup device 11 and the distance measuring device 12 and the map information 2 can be used to recognize an object around the own vehicle and predict its movement.

Map information 2 is information used for generation and / or travel control of a travel route, and includes road information, facility information, and their attribute information. Road information and road attribute information include road width, radius of curvature, road shoulder structure, road traffic regulations (speed limit, whether or not lanes can be changed), road confluences, branch points, and positions where the number of lanes increases or decreases. Contains information. The travel support device 6 acquires the map information 2 via the in-vehicle LAN as needed.

Map information 2 is, for example, high-definition map information that can grasp the movement trajectory for each lane. High-definition map information includes 2D position information and / or 3D position information at each map coordinate, road / lane boundary information at each map coordinate, road attribute information, lane up / down information, lane identification information, and connection. Includes destination lane information. The map information 2 is stored in a state in which it can be read by a recording medium provided in the travel support device 6, the vehicle-mounted device, or the server device.

Further, the map information 2 includes information on the track boundary indicating the boundary between the track on which the own vehicle travels and the rest. The runway on which the own vehicle travels is a road on which the own vehicle travels, and the form of the runway is not particularly limited. The track boundary exists on each of the left and right sides with respect to the traveling direction of the own vehicle. The form of the track boundary is not particularly limited, and examples thereof include road markings and road structures. Examples of the track boundary of the road marking include a lane boundary line and a center line. Further, the runway boundary of the road structure includes, for example, a median strip, a guardrail, a curb, a tunnel, or a side wall of a highway. Note that the track boundary is set in advance in the map information 2 for a point (for example, inside an intersection) where the track boundary cannot be clearly specified. The preset track boundaries are fictitious track boundaries, not road markings or road structures that actually exist.

The own vehicle information detection device 3 is a device that detects information regarding the state of the own vehicle. The state of the own vehicle includes the traveling speed, acceleration, steering angle, current position, posture, vehicle performance, etc. of the own vehicle. The traveling speed and the acceleration are detected by using the vehicle speed detecting device 31. The steering angle is detected by using the steering angle detecting device 32. The current position is calculated based on the information acquired from the own vehicle position detection device 33. The posture is detected using an inertial measurement unit (IMU: Inertial Measurement Unit). The travel support device 6 acquires the detection results of these devices via the in-vehicle LAN as needed.

The vehicle speed detection device 31 is not particularly limited as long as it is a sensor that can detect the traveling speed of the vehicle, and a known one can be used. Similarly, the steering angle detecting device 32 is not particularly limited as long as it is a sensor capable of detecting the steering angle of the vehicle. Alternatively, the traveling speed and steering angle of the own vehicle may be acquired from the vehicle control device 5, or may be acquired from each device of the own vehicle. The own vehicle position detection device 33 is a positioning system including a GPS (Global Positioning System) unit, a gyro sensor, an odometry, and the like, and is not particularly limited, and a known one can be used.

The navigation device 4 refers to the map information 2 and calculates a travel route from the current position of the own vehicle detected by the own vehicle position detection device 33 of the own vehicle information detection device 3 to the destination set by the driver. It is a device to do. The calculated travel route is output to the travel support device 6. The travel route is a linear shape in which the road, direction (up / down) and lane on which the own vehicle travels are identified. The travel route includes information on the travel lane.

The vehicle control device 5 is an in-vehicle computer such as an electronic control unit (ECU: Electronic Control Unit), and electronically controls an in-vehicle device that controls the running of the vehicle. The vehicle control device 5 includes a vehicle speed control device 51 that controls the traveling speed of the own vehicle and a steering control device 52 that controls the steering operation of the own vehicle. The vehicle speed control device 51 and the steering control device 52 autonomously control the operations of these drive devices and steering devices in response to the control signals input from the travel support device 6. As a result, the own vehicle can travel autonomously according to the set travel route.

The drive device controlled by the vehicle speed control device 51 includes an electric motor and / or an internal combustion engine which is a travel drive source, and a power transmission device including a drive shaft and an automatic transmission for transmitting the output from these travel drive sources to the drive wheels. It includes a drive device that controls a power transmission device and the like. The braking device controlled by the vehicle speed control device 51 is, for example, a braking device that brakes the wheels. A control signal corresponding to the set traveling speed is input to the vehicle speed control device 51 from the traveling support device 6. The vehicle speed control device 51 generates a signal for controlling these drive devices based on the control signal input from the travel support device 6, and transmits the signal to the drive device to autonomously control the travel speed of the vehicle. To control.

On the other hand, the steering device controlled by the steering control device 52 includes a steering device that controls the total steering wheel according to the steering angle of the steering wheel (so-called steering wheel), for example, a steering actuator such as a motor attached to a column shaft of the steering wheel. Is done. The steering control device 52 obtains at least one of the detection result of the detection device 1, the map information 2, and the own vehicle information acquired by the own vehicle information detection device 3 based on the control signal input from the travel support device 6. It is used to autonomously control the operation of the steering device so that the own vehicle travels while maintaining a predetermined lateral position (position in the left-right direction of the vehicle) with respect to the set travel path.

The travel support device 6 is a device that controls the travel of the own vehicle by controlling and coordinating the devices included in the travel support system 10 to support the travel of the own vehicle, particularly the stop at the boarding / alighting place. The travel support device 6 realizes travel support by the processor 7. The processor 7 is a CPU (Central Processing Unit) 71, which is an operating circuit for functioning as a driving support device 6 by executing a ROM (Read Only Memory) 72 in which a program is stored and a program stored in the ROM 72. And a RAM (Random Access Memory) 73 that functions as an accessible storage device.

The travel support system 10 according to the present invention can be applied not only to a stop at a boarding / alighting place by autonomous travel control, but also to a navigation system that supports manual driving of a driver. When the driving support system 10 is applied to the autonomous driving control of a vehicle, both the speed control and the steering control are autonomously controlled, and one of the speed control and the steering control is autonomously controlled and the other is manually controlled. Can also be applied to.

[Autonomous driving support department]
The program used in the travel support device 6 of the present embodiment includes an autonomous travel support unit 100 which is a functional block for realizing support for stopping at the boarding / alighting place by the travel support device 6. The autonomous driving support unit 100 has a function of autonomously controlling the traveling operation for the own vehicle to stop at the boarding / alighting place where the occupant gets on or off. The traveling operation includes various traveling operations for stopping at the boarding / alighting place, such as acceleration, deceleration, and steering to the right or left. As shown in FIG. 1, the autonomous travel support unit 100 includes a landing detection unit 101, an obstacle detection unit 102, a stoptable area calculation unit 103, a stop position setting unit 104, a travel route generation unit 105, and a travel operation control unit. 106 is provided. FIG. 1 shows each part extracted for convenience.

The autonomous driving support unit 100 of the present embodiment supports autonomous driving for the own vehicle to stop in the boarding / alighting place in the traveling scene shown in FIG. 2A, for example. The road shown in FIG. 2A has two lanes, a left lane L1 and a right lane L2, and the traveling direction of the vehicle is the direction indicated by the arrow A (that is, the direction from the bottom to the top of the drawing). On the left side of the left lane L1, there is a boarding / alighting place X for passengers to get on or off, and another vehicle V2 is stopped at the boarding / alighting place X. Further, the own vehicle V1 is traveling in the current position Pc of the left lane L1. In the present embodiment, it is assumed that the own vehicle V1 stops behind the other vehicle V2 in the traveling scene. In this case, the own vehicle V1 needs to stop in a limited area behind the other vehicle V2 at the boarding / alighting place X. Hereinafter, the functions performed by each functional block of the autonomous driving support unit 100 in the driving support in which the own vehicle V1 stops behind the other vehicle V2 will be described.

The boarding / alighting point detection unit 101 has a function of detecting a boarding / alighting place. The boarding / alighting place of the present embodiment means an area where a occupant can get on and / or get off, and can park or stop at a boundary. Examples of boarding / alighting points include bus and taxi stands, train stations and airports, parking spaces on the right or left side of roads, and parking lots. The boundary that separates the boarding / alighting area and the area other than the boarding / alighting area includes an object that separates the travelable area and the non-travelable area such as a guardrail and a curb, and a boundary line that separates lanes such as a white line. The area surrounded by these boundaries is the range of boarding / alighting points. Further, the boarding / alighting place detection unit 101 may detect the boarding / alighting place by using the sign of the road on which the own vehicle travels. For example, a road sign or a road marking indicating that there is a landing place may be detected to recognize the existence and position of the landing place.

The boarding / alighting place detection unit 101 detects the boundary of the boarding / alighting place and the road sign by using the detection device 1. For example, in FIG. 2A, the boarding / alighting area detection unit 101 detects the white line Y of the road and the curbs Z1 to Z3 from the image information around the own vehicle V1 acquired by the image pickup device 11, and detects them using the distance measuring device 12. The position and shape of the curbs Z1 to Z3 are calculated from the distance between the own vehicle V1 and the curbs Z1 to Z3. In addition to this, the boarding / alighting area detection unit 101 recognizes the road sign RS indicating that there is a boarding / alighting place from the image information acquired by the image pickup apparatus 11. Then, the area surrounded by the white line Y and the curbs Z1 to Z3 is specified, and since there is a road sign RS indicating that there is a boarding / alighting place in the vicinity of the area, the range surrounded by the white line Y and the curbs Z1 to Z3. Is determined to be the boarding / alighting place X.

Instead of or in addition to this, the boarding / alighting place detection unit 101 detects the boarding / alighting place by using the map information 2, the information of the current position of the own vehicle acquired by the own vehicle position detection device 33, and the like. You may. For example, the current position Pc of the own vehicle V1 is acquired by using the own vehicle position detection device 33 such as GPS, and the road information and the attribute information of the road around the current position Pc are acquired from the map information 2, and the map information 2 is obtained. Based on the information obtained from, it is determined whether or not there is a boarding / alighting place around the current position Pc. If there is a boarding / alighting place that is frequently used, or if there is a boarding / alighting place near the set destination, the position of the boarding / alighting place may be set in the map information 2 in advance.

The obstacle detection unit 102 has a function of detecting obstacles existing in the range of the boarding / alighting place and in the vicinity of the boarding / alighting place. Obstacles include all obstacles that may affect the running of the own vehicle, such as automobiles (other vehicles) other than the own vehicle, motorcycles, bicycles, pedestrians, and the like. The obstacle is detected by using the image pickup device 11 and the distance measuring device 12, and the position, size, shape, speed, etc. of the obstacle are calculated. For example, in FIG. 2A, the obstacle detection unit 102 detects the other vehicle V2 from the image information around the own vehicle V1 acquired by the image pickup device 11, and the own vehicle V1 and the other vehicle V2 from the detection result of the distance measuring device 12. Calculate the distance to.

When the obstacle detection unit 102 of the present embodiment detects an obstacle in the boarding / alighting area, does the obstacle detected before the stop exist when the own vehicle starts from the stop position after the stop? It can be estimated whether or not. For example, obstacles are classified according to the time from the detection to the start of movement, and the movement is started for each classified obstacle between the time when the own vehicle stops and the time when the vehicle starts moving. By determining whether or not the obstacle is present, it is estimated whether or not the detected obstacle exists at the boarding / alighting place even when the own vehicle starts. As an example of classification, if the detected obstacle is a pedestrian moving in the boarding / alighting area, the pedestrian will continue to move, so the obstacle is classified as an obstacle that starts moving immediately after detection. On the other hand, if the detected obstacle is a bus that is stopped within the boarding / alighting area, the bus will not start moving until the departure time, so it will take a relatively long time to start moving after it is detected. Classify into things. In addition, the time from the stop position to the start after the own vehicle has stopped can be set to an appropriate value by using the facility information around the boarding / alighting place. For example, if the boarding / alighting place is inside the terminal station, there are many users and it is necessary for the occupants to start immediately after getting on or off, so the time from the stop to the start is set to a relatively short time.

The stoptable area calculation unit 103 has a function of calculating an area where the own vehicle can stop without touching an obstacle, particularly an area where the own vehicle does not come into contact with an obstacle and a predetermined distance can be secured from the obstacle. .. For the predetermined distance, an appropriate distance that can avoid contact with the obstacle can be set in consideration of the detection error in the detection device 1, the behavior of the obstacle, and the like. In the present embodiment, the stoptable area set within the range of the boarding / alighting place is referred to as the first area, and the stoptable area set outside the range of the boarding / alighting place is referred to as the second area. The first region is set as shown in FIG. 2A, for example. In the scene of FIG. 2A, the boarding / alighting area X surrounded by the white line Y and the curbs Z1 to Z3 is detected by the boarding / alighting area detection unit 101, and the position of the other vehicle V2 stopped within the range of the boarding / alighting area X is an obstacle detection. It has been detected by unit 102. The stoptable area calculation unit 103 uses the range of the boarding / alighting area X and the position of the other vehicle V2 so that the own vehicle V1 does not come into contact with the curbs Z1 to Z3 and the rear end of the other vehicle V2, and the curb Z1 A first region R1 that can stop in the boarding / alighting place X is set by securing a predetermined distance from the rear ends of the Z3 and the other vehicle V2. The first region R1 has four ends E1 to E4, and the front end E1 in the traveling direction indicated by the arrow A is particularly referred to as the first end.

On the other hand, the second area is set as shown in, for example, the right lane L2 in FIG. 2B. The road shown in FIG. 2B is the same as that shown in FIG. 2A, and the second region R2 is set so that the own vehicle V1 stops behind the other vehicle V3 shown in FIG. 2B. In this case, the stoptable area calculation unit 103 uses the position of the rear end portion of the other vehicle V3 and the white line defining the lanes L1 and L2 so that the own vehicle V1 does not come into contact with the other vehicle V3. A second region R2 that can be stopped while securing a predetermined distance from the vehicle V3 is set. The second region R2 has four ends E1a to E4a, and the front end E1a in the traveling direction indicated by the arrow A is particularly referred to as a second end.

In addition, in FIGS. 2A and 2B, the parkable area is set assuming that the other vehicles V2 and V3 exist, but the parkable area can be set even if there is no obstacle such as the other vehicles V2 and V3. For example, when another vehicle V2 is not stopped at the boarding / alighting place X in FIG. 2A, the entire range of the boarding / alighting place X becomes the first area where parking is possible, and the curbs Z1 to Z3 and the white line Y are the end portions E1, respectively. Corresponds to ~ E4. Then, the curb Z1 corresponds to the first end portion E1.

The stop position setting unit 104 has a function of setting a stop position for the own vehicle to stop within the stoptable area. In the present embodiment, the stop position set within the range of the boarding / alighting place is referred to as the first stop position, and the stop position set outside the range of the boarding / alighting place is referred to as the second stop position. In FIG. 2B, the own vehicle V1 that is stopped behind the other vehicle V3 that exists on the right lane L2 that is not the boarding / alighting place X is stopped at the second stop position P2. The second stop position P2 is set to a position where the distance between the second end portion E1a and the second stop position P2 is the second distance D2. Here, in the traveling support device according to the comparative example of the present invention, the second distance D2 is not a variable value but a fixed value, and regardless of the traveling scene, the end portion of the vehicle stoptable region in the traveling direction and the second vehicle stop. It is assumed that the second stop position P2 is set at a position where the distance from the position P2 is the second distance D2.

When the own vehicle V1 stops at the boarding / alighting place X of FIG. 2B by using the traveling support device according to the comparative example of the present invention, the first area R1 where the own vehicle V1 can park is set at the boarding / alighting place X, and the first area is set. The second stop position P2a is set at a position where the distance of R1 from the first end portion E1 is the second distance D2. Then, a travel locus Ta that travels to the second stop position P2a is generated, and the vehicle travels from the current position Pc to the second stop position P2a along the travel locus Ta. When the own vehicle V1 stops at the second stop position P2, the entire vehicle body of the own vehicle V1 is not included in the range of the boarding / alighting place X, and a part of the vehicle body of the own vehicle V1 is included in the left lane L1 when viewed in a plan view. It will be. As a result, the own vehicle V1 and the following vehicle of the own vehicle V1 traveling in the left lane L1 may come into contact with each other.

In the stop position setting unit 104 of the present embodiment, when the stop position is set within the range of the boarding / alighting place X, the distance between the first end portion of the first region and the stop position is smaller than the second distance. Set the stop position. For example, as shown in FIG. 2A, the first stop position P1 is set at a position where the distance from the first end portion E1 of the first region R1 becomes the first distance D1 which is smaller than the second distance D2. In this way, by making the distance between the front end of the stoptable area in the traveling direction and the stopping position variable according to the traveling scene, the entire vehicle body of the own vehicle V1 is the boarding / alighting place X when viewed in a plan view. A position included in the range can be set as a stop position. As a result, the own vehicle V1 and the following vehicle of the own vehicle V1 traveling in the left lane L1 can avoid contact with each other.

Since the stop position setting unit 104 of the present embodiment fits the entire vehicle body of the own vehicle V1 within the range of the boarding / alighting place X, the position where the entire vehicle body of the own vehicle V1 is included in the boarding / alighting place X when viewed in a plan view. May be set to the first stop position P1. Further, the first stop position P1 may be set to a position where the own vehicle V1 can start while avoiding obstacles existing at the boarding / alighting place X. In particular, from the viewpoint of effectively using the space of the boarding / alighting place X, the first stop is the position where the distance between the stopped own vehicle V1 and the obstacle is the minimum among the positions where the vehicle can start while avoiding obstacles. It is preferable to set it at the position P1. For example, in the driving scene of FIG. 2A, the distance between the front end portion of the own vehicle V1 and the rear end portion of the other vehicle V2 is the smallest within the range in which the own vehicle V1 can avoid the other vehicle V2 and start. Is set as the first stop position P1. When determining whether or not the own vehicle V1 can avoid obstacles, the minimum turning radius of the own vehicle V1 and the overall length and width of the vehicle body of the own vehicle V1 can be used.

Further, when the obstacle detection unit 102 detects an obstacle located in the boarding / alighting place X, whether or not the obstacle exists even when the own vehicle V1 stops and then starts from the stop position. When the vehicle is estimated, the vehicle stop position setting unit 104 of the present embodiment can set the vehicle stop position using the estimation result. For example, even when the own vehicle V1 starts from the first stop position P1, if it is estimated that an obstacle detected before the stop exists, the first position is a position where the vehicle can avoid the obstacle and start. Set to the stop position P1. On the other hand, when the own vehicle V1 starts from the first stop position P1, if it is estimated that there is no obstacle detected before the stop, the first stop is at a position where the own vehicle V1 and the obstacle do not come into contact with each other. Set to position P1. In other words, although there are obstacles at present, if it is estimated that there are no obstacles at the time of starting, it is not necessary to avoid the obstacles at the time of starting, so the position where the obstacles cannot be avoided at the time of starting is the first stop position. It may be set to P1.

Further, the stop position setting unit 104 of the present embodiment may set the first distance smaller as the distance between the own vehicle V1 and the obstacle in the direction perpendicular to the traveling direction of the own vehicle V1 is larger. This is because obstacles that are farther away in the direction perpendicular to the traveling direction are easier to avoid. For example, in the driving scene of FIG. 2A, when the stop position of the other vehicle V2 is closer to the left lane L1, a distance smaller than the first distance shown in FIG. 2A is set as the first distance, and the vehicle itself is set. The front end portion of the vehicle V1 and the rear end portion of the other vehicle V2 may be brought closer to each other.

If the own vehicle V1 stops in the boarding / alighting place X and the vehicle following the own vehicle V1 cannot enter the boarding / alighting place X, the distance to the first end is set to the same distance as the second distance D2. It may be set and the first stop position P1 may be set. As a result, it can be clearly shown that there is no space for the vehicle to stop at the rear of the own vehicle V1, and the entry of the following vehicle into the boarding / alighting place X can be suppressed. Further, when the range of the boarding / alighting place X is relatively large and the own vehicle V1 stops in the boarding / alighting place X and a space where a plurality of vehicles can stop behind the own vehicle V1 is detected, the first The first stop position P1 may be set by setting the distance to the end portion to the same distance as the second distance D2. This is because it is not necessary to reduce the distance between the obstacle and the own vehicle V1 even when the boarding / alighting area X has a sufficiently wide parking area.

The travel route generation unit 105 has a function of generating a travel locus for traveling from the current position Pc to the stop position P1 set by the stop position setting unit 104. In the travel scene shown in FIG. 2A, the travel route generation unit 105 acquires the current position Pc by the own vehicle position detection device 33, and based on the travel scene of the own vehicle V1 acquired by the detection device 1, the current position Pc. Generates a travel locus T that travels from to the first stop position P1.

The traveling motion control unit 106 has a function of controlling the traveling motion of the own vehicle so that the own vehicle V1 travels along the traveling locus generated by the traveling route generation unit 105. In the driving scene shown in FIG. 2A, the traveling motion control unit 106 uses the vehicle speed control device 51 and the steering control device 52 so that the own vehicle V1 autonomously travels along the travel locus T. The traveling speed and steering angle of V1 are controlled.

[Processing of driving support system]
With reference to FIG. 3, the process when the travel support device 6 assists the stop at the boarding / alighting place X will be described. FIG. 3 is an example of a flowchart showing information processing in the travel support system 10 of FIG. The process described below is executed by the processor 7 of the travel support device 6 at predetermined time intervals.

Each step of the flowchart is processed by the travel support device 6 and executed by using the device and the functional block included in the travel support system 10. Further, in the following description, the own vehicle V1 is autonomously traveling along the set route by the autonomous control of the traveling support device 6, the traveling speed is controlled by the vehicle speed control device 51, and the steering operation is steering control. It is assumed that it is controlled by the device 52.

The routine shown in FIG. 3 is executed when the destination is set to the boarding / alighting place, the own vehicle V1 approaches the boarding / alighting place, and the autonomous driving control for keeping the vehicle speed or the distance between the vehicle and the preceding vehicle constant is completed. It will be started. First, in step S1, the boarding / alighting place X is detected by the function of the boarding / alighting place detection unit 101 using the detection device 1, the map information 2, and the own vehicle information detection device 3. In the following step S2, by the function of the obstacle detection unit 102, the detection device 1 is used to detect obstacles existing in the range of the boarding / alighting place X and around the boarding / alighting place X.

In step S3, it is determined in step S2 whether or not an obstacle is detected in the boarding / alighting place X. If no obstacle is detected in the boarding / alighting area X, the process proceeds to step S11. On the other hand, if an obstacle is detected in the boarding / alighting area X, the process proceeds to step S4. In step S4, the first area is used by the function of the stoptable area calculation unit 103, using the information on the position of the obstacle acquired from the detection device 1 and the road information acquired from the map information 2 and the own vehicle information detection device 3. Calculate R1. In the following step S5, the function of the obstacle detection unit 102 estimates whether or not the obstacle detected before the stop exists when the own vehicle starts from the stop position after the stop.

In step S6, using the estimation result of step S5, it is determined whether or not there is an obstacle detected before the vehicle stops when the own vehicle V1 starts. When it is determined that there is an obstacle detected before the vehicle stops when the own vehicle V1 starts, the process proceeds to step S7, and the function of the stop position setting unit 104 allows the vehicle to avoid the obstacle and start the vehicle. Set the position P1. On the other hand, when it is determined that there is no obstacle detected before the vehicle stops when the vehicle V1 starts, the process proceeds to step S8, and the function of the vehicle stop position setting unit 104 causes the vehicle V1 and the detected obstacle to move. The first stop position P1 that does not come into contact is set.

When the first stop position P1 is set in step S7 or S8, the process proceeds to step S9, and the travel for moving from the current position Pc of the own vehicle V1 to the first stop position P1 by the function of the travel route generation unit 105. Generate a locus T. Then, in step S10, by the function of the traveling motion control unit 106, the vehicle speed control device 51 and the steering control device 52 are used to autonomously drive the traveling motion of the own vehicle V1 so as to travel along the generated traveling locus T. Control.

When the process proceeds from step S3 to step S11, the detection result of the detection device 1 and the road information acquired from the map information 2 and the own vehicle information detection device 3 by the function of the stoptable area calculation unit 103 in step S11. The first area R1 is calculated using the above, and in the following step S12, the first stop position P1 is set by the function of the stop position setting unit 104. When the first stop position P1 is set in step S12, the process proceeds to step S9. The processing of step S9 or higher is as described above.

[Embodiments of the present invention]
As described above, according to the vehicle traveling support method and the traveling support device of the present embodiment, the first stop position P1 for the own vehicle V1 to stop is set at the boarding / alighting place X where the occupant gets on or off, and the above-mentioned In the vehicle travel support method for autonomously controlling the travel of the own vehicle V1 to the first stop position P1, the first region R1 in which the own vehicle V1 can stop within the first stop position P1 and the boarding / alighting place X. The first distance D1 from the first end E1 in front of the traveling direction of the own vehicle is the second stop position set when the own vehicle V1 stops at a place other than the boarding / alighting place X. Of the ends of the second region R2 where the own vehicle V1 set at a place other than the boarding / alighting place X can stop, the second distance D2 between P2 and the second end E2 in front of the traveling direction. A small vehicle travel support method and travel support device 6 are provided. As a result, the own vehicle V1 can autonomously stop in the boarding / alighting place X. Further, since the first distance D1 is set regardless of the operation of the driver, the operation load of the driver is reduced. Further, by including a part or all of the vehicle body of the own vehicle V1 in the lane in which the following vehicle of the own vehicle V1 travels, it is possible to suppress the occurrence of a situation in which the following vehicle is hindered from traveling.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the first stop position P1 in which the entire vehicle body of the own vehicle V1 is included in the boarding / alighting place X is set when viewed in a plan view. As a result, it is possible to suppress the occurrence of a situation in which a part or all of the vehicle body of the own vehicle V1 is not included in the boarding / alighting place X.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the first stop position P1 capable of avoiding an obstacle existing at the boarding / alighting place X and starting is set. This makes it possible to avoid contact with obstacles when starting.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the distance between the stopped own vehicle V1 and the obstacle is minimized among the positions where the vehicle can start while avoiding the obstacle. The position is set to the first stop position P1. As a result, the own vehicle V1 can be stopped more reliably in the boarding / alighting place X.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the first stop position P1 capable of avoiding the obstacle and starting is set based on the minimum turning radius of the own vehicle V1. .. This makes it possible to more reliably avoid contact with obstacles when starting.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the larger the distance between the own vehicle V1 and the obstacle in the direction perpendicular to the traveling direction, the smaller the first distance D1. As a result, the own vehicle V1 can be more reliably stopped in the boarding / alighting place X while avoiding contact with obstacles.

Further, according to the vehicle traveling support method and the support device of the present embodiment, when the obstacle is detected, the obstacle detected before the vehicle stops and the own vehicle V1 stops after the vehicle stops. If it is estimated whether or not the vehicle exists when starting from the position P1 and it is estimated that the obstacle exists even when the own vehicle V1 starts from the first stop position P1, the vehicle avoids the obstacle and starts. When the first stop position P1 that can be set is set and it is estimated that the obstacle does not exist when the own vehicle V1 starts from the first stop position P1, the own vehicle V1 and the obstacle The first stop position P1 that does not come into contact is set. This makes it possible to avoid contact with obstacles when starting.

Further, according to the vehicle traveling support method and the support device of the present embodiment, when the own vehicle stops at the boarding / alighting place X, the vehicle following the own vehicle V1 cannot enter the boarding / alighting place X, or the boarding / alighting place. In X, when a plurality of vehicles can stop behind the own vehicle V1, the first distance D1 and the second distance D2 are set to the same value. This prevents them from unnecessarily approaching obstacles.

Further, according to the vehicle traveling support method and the support device of the present embodiment, on the road on which the own vehicle V1 travels, the boundary separating the travelable area and the non-travelable area and / or the road sign is used. The boarding / alighting place X is detected. As a result, the area where the own vehicle V1 can stop at the boarding / alighting place X can be calculated more reliably.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the boarding / alighting place X is detected using the map information 2. As a result, when the detection of the detection device 1 is obstructed by an obstacle and the boarding / alighting place X cannot be accurately detected, the area where the own vehicle V1 can stop at the boarding / alighting place X can be calculated more reliably.

Further, according to the vehicle traveling support method and the support device of the present embodiment, the position of the boarding / alighting place X is set in the map information 2 in advance. Thereby, the boarding / alighting place X can be detected easily and accurately.

10 ... Driving support system 1 ... Detection device 11 ... Imaging device 12 ... Distance measuring device 2 ... Map information 3 ... Own vehicle information detection device 31 ... Vehicle speed detection device 32 ... Steering angle detection device 33 ... Own vehicle position detection device 4 ... Navigation Device 5 ... Vehicle control device 51 ... Vehicle speed control device 52 ... Steering control device 6 ... Driving support device 7 ... Processor 71 ... CPU
72 ... ROM
73 ... RAM
100 ... Autonomous driving support unit 101 ... Boarding / alighting area detection unit 102 ... Obstacle detection unit 103 ... Stoppable area calculation unit 104 ... Stop position setting unit 105 ... Travel route generation unit 106 ... Traveling motion control unit A ... Driving direction D1 ... 1 distance D2 ... 2nd distance E1, E1a, E2, E2a, E3, E3a, E4, E4a ... end L1 ... left lane L2 ... right lane Pc ... current position P1 ... first stop position P2, P2a ... second stop Position R1 ... 1st area R2 ... 2nd area RS ... Road sign T, Ta ... Traveling locus V1 ... Own vehicle V2, V3 ... Other vehicle X ... Boarding point Y ... White line Z1, Z2, Z3 ... Curb

Claims

Set the first stop position for the own vehicle to stop at the boarding / alighting place where the occupants get on or off,
In the vehicle running support method for autonomously controlling the running of the own vehicle to the first stop position.
The first distance between the first stop position and the first end of the first area where the own vehicle can stop in the boarding / alighting place, which is the front end in the traveling direction of the own vehicle, is the boarding / alighting place. Of the second stop position set when the own vehicle stops at a place other than the above and the end of the second area where the own vehicle can stop set at a place other than the boarding / alighting place, the front in the traveling direction. A method of supporting the running of a vehicle, which is smaller than the second distance from the second end of the vehicle.
The method according to claim 1, wherein the first stop position in which the entire vehicle body of the own vehicle is included in the boarding / alighting place is set when viewed in a plan view.
The method according to claim 1 or 2, wherein the first stop position is set so that the vehicle can start while avoiding obstacles existing at the boarding / alighting place.
The method according to claim 3, wherein the position where the distance between the stopped own vehicle and the obstacle is minimized is set as the first stop position among the positions where the vehicle can start while avoiding the obstacle.
The method according to claim 3 or 4, wherein the first stop position is set so that the vehicle can start while avoiding the obstacle based on the minimum turning radius of the own vehicle.
The method according to any one of claims 3 to 5, wherein the greater the distance between the own vehicle and the obstacle in the direction perpendicular to the traveling direction, the smaller the first distance.
When the obstacle is detected, it is estimated whether or not the obstacle detected before the stop exists when the own vehicle starts from the first stop position after the stop.
If it is estimated that the obstacle exists even when the own vehicle starts from the first stop position, the first stop position that can avoid the obstacle and start is set.
Claims 3 to 6, wherein when it is estimated that the obstacle does not exist when the own vehicle starts from the first stop position, the first stop position where the own vehicle and the obstacle do not come into contact with each other is set. The method described in any one of the items.
When the own vehicle stops at the boarding / alighting place, the vehicle following the own vehicle cannot enter the boarding / alighting place, or when a plurality of vehicles can stop behind the own vehicle at the boarding / alighting place, the first The method according to any one of claims 1 to 7, wherein the distance and the second distance are set to the same value.
4. the method of.
The method according to any one of claims 1 to 9, wherein the boarding / alighting place is detected using map information.
The method according to any one of claims 1 to 10, wherein the position of the boarding / alighting place is set in the map information in advance.
Set the first stop position for the own vehicle to stop at the boarding / alighting place where the occupants get on or off,
In the vehicle travel support device provided with a processor that autonomously controls the travel of the own vehicle to the first stop position.
The first distance between the first stop position and the first end of the first area where the own vehicle can stop at the boarding / alighting place is the first end in front of the traveling direction of the own vehicle at a place other than the boarding / alighting place. Of the second stop position set when the own vehicle stops and the end of the second region where the own vehicle can stop, which is set at a place other than the boarding / alighting place, the second end in front of the traveling direction. A vehicle running support device that is smaller than the second distance to the unit.