CN110536818A - Controller of vehicle and control method for vehicle - Google Patents
Controller of vehicle and control method for vehicle Download PDFInfo
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- CN110536818A CN110536818A CN201880026450.4A CN201880026450A CN110536818A CN 110536818 A CN110536818 A CN 110536818A CN 201880026450 A CN201880026450 A CN 201880026450A CN 110536818 A CN110536818 A CN 110536818A
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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
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
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Abstract
Controller of vehicle (10) has this vehicle stop control unit (11), its the automatic Pilot that execution makes this vehicle (1) follow leading vehicle (5) and travels when driving, vehicle semaphore (140) in the intersection (110) in this vehicle front is green display, in the case that pedestrian's semaphore (150) is green flashing display or red display, to whether cannot being determined during vehicle is become until yellow is shown with semaphore by intersection if this vehicle does not accelerate, and when intersection cannot be passed through during vehicle semaphore becomes until yellow is shown if not accelerating by being determined as, the front that this vehicle reduces speed now and this vehicle is made to stop at intersection is controlled such that this vehicle.
Description
Technical field
This disclosure relates to controller of vehicle and control method for vehicle, in detail, being related to executing makes this vehicle follow elder generation
Driving and travel automatic Pilot traveling controller of vehicle and control method for vehicle.
Background technique
In the past, it is known that execute so that this vehicle is followed leading vehicle and travel automatic Pilot traveling controller of vehicle
(for example, referring to patent document 1).Executing such automatic Pilot when driving, the vehicle in the intersection in the front of this vehicle
Become to follow leading vehicle and carrying out to stop in the front of intersection in the case that yellow shows with semaphore
Deceleration, this vehicle also carries out slowing down to stop at the front of intersection.
In addition, patent document 2 can be enumerated as other existing technical literatures relevant to the disclosure.In the patent document 2
In disclose a kind of drive assistance device, in this normal vehicle operation (not automatic Pilot travel, by driver carry out just
Often when driving), in the case where the pedestrian of the intersection in the front of this vehicle becomes green flashing display with semaphore to this
The driver of vehicle alerts, and being judged as this vehicle in the result of the brake operation for the driver for receiving the warning cannot
In the case where the front of intersection stops, forcibly stop this vehicle.
[existing technical literature]
[patent document]
Patent document 1: Japanese Unexamined Patent Publication 2011-175367 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2006-224754 bulletin
Summary of the invention
[subject to be solved by the invention]
In existing technology, executes automatic Pilot when driving, shown correspondingly becoming yellow with vehicle semaphore
When this vehicle being made to stop at the front of intersection, it is difficult for so that this vehicle is slowly slowed down to stop in front of intersection
's.
The disclosure is completed in view of the foregoing, and its purpose is to provide a kind of controller of vehicle, makes this in execution
Vehicle follow leading vehicle and the automatic Pilot that travels when driving, becoming yellow with vehicle semaphore and showing correspondingly to make
When this vehicle stops at the front of intersection, this vehicle can be made slowly to slow down to stop at the front of intersection.
[for solving the technical solution of technical task]
To reach above-mentioned purpose, the controller of vehicle of the 1st scheme of the disclosure has: vehicle semaphore determination unit,
Its execute so that this vehicle is followed leading vehicle and the automatic Pilot that travels when driving, friendship to the front in above-mentioned vehicle
Whether the vehicle of cross road mouth is that green display is determined with semaphore；Pedestrian's semaphore determination unit is used in above-mentioned vehicle
It whether is that green flashing display or red are aobvious to pedestrian's semaphore in the case that semaphore is determined to be above-mentioned green display
Show and determined, the pedestrian crosses above-mentioned intersection along the direction of travel of above-mentioned vehicle for pedestrian with semaphore；With
And this vehicle stop control unit, above-mentioned green flashing display is determined to be with semaphore in above-mentioned pedestrian or above-mentioned red is aobvious
In the case where showing, based on above-mentioned intersection at a distance from above-mentioned vehicle and the speed of above-mentioned vehicle, if to whether above-mentioned
This vehicle does not accelerate, cannot during above-mentioned vehicle semaphore becomes until yellow is shown by above-mentioned intersection into
Row determines, and be judged as cannot be during above-mentioned vehicle semaphore becomes until above-mentioned yellow is shown if not accelerating
When by above-mentioned intersection, above-mentioned vehicle, which reduces speed now and stop above-mentioned vehicle, to be controlled such that above-mentioned vehicle
Only in the front of above-mentioned intersection.
The control method for vehicle of 2nd scheme of the disclosure is the control method for vehicle for having the vehicle of control device, above-mentioned
Method makes above-mentioned control device execute following steps: executing the automatic Pilot traveling for making this vehicle follow leading vehicle and travelling
When, it with semaphore whether is the step that is determined of green display to the vehicle of the intersection in the front in above-mentioned vehicle
Suddenly；In the case where above-mentioned vehicle is determined to be above-mentioned green with semaphore and shows, to for pedestrian along above-mentioned vehicle
The pedestrian that direction of travel crosses above-mentioned intersection is judged with the whether green flashing display of semaphore or red display
Step；In the case where above-mentioned pedestrian is determined to be above-mentioned green flashing display or red display with semaphore, based on above-mentioned
Intersection at a distance from above-mentioned vehicle and the speed of above-mentioned vehicle, to whether cannot be if above-mentioned vehicle does not accelerate
The step of above-mentioned vehicle is judged during being become until yellow is shown with semaphore by above-mentioned intersection；And in quilt
Being determined as cannot be during above-mentioned vehicle semaphore becomes until above-mentioned yellow is shown through above-mentioned intersection if not accelerating
When crossing, above-mentioned vehicle, which reduces speed now and above-mentioned vehicle is made to stop at above-mentioned intersection, to be controlled such that above-mentioned vehicle
The step of front at crossing.
Invention effect
According to the disclosure, execute so that this vehicle is followed leading vehicle and the automatic Pilot that travels when driving, used in vehicle
In the case that semaphore is green display, when it is green flashing display or red display that pedestrian is with semaphore (that is, prediction vehicle
When will become the situation that yellow is shown with semaphore), it is shown if not accelerating yellow cannot be become in vehicle semaphore
Until during when passing through intersection, this vehicle can be made to reduce speed now to make this vehicle stop at intersection with
Before.As a result, with become yellow and show executing the automatic Pilot vehicle semaphore that follows up when driving, and leading vehicle starts to subtract
Speed, this vehicle such prior art that reduces speed now is compared later, can start the deceleration of this vehicle in the period of earlier.It is tied
Fruit can make this vehicle slowly slow down and stop at the front of intersection.
Detailed description of the invention
The A of Fig. 1 is the schematic diagram for indicating the schematic configuration of this vehicle of embodiment.
The B of Fig. 1 is the schematic diagram for illustrating the state of the automatic Pilot of this vehicle when driving.
Fig. 2 is the functional block diagram of this vehicle.
The A of Fig. 3 is the signal for the determination method for illustrating the signal condition of vehicle semaphore and pedestrian's semaphore
Figure, it is schematically indicated this vehicle at a distance from intersection relatively far away from the case where by camera shoot image.
The B of Fig. 3 is the signal for the determination method for illustrating the signal condition of vehicle semaphore and pedestrian's semaphore
Figure, it is schematically indicated the image shot in the case where this vehicle relative close at a distance from intersection by camera.
Fig. 4 is an example of automatic Pilot flow chart performed by controller of vehicle when driving.
Specific embodiment
Hereinafter, utilizing the controller of vehicle 10 of Detailed description of the invention embodiment of the present disclosure.The A of Fig. 1 is to indicate there is this
The schematic diagram of the schematic configuration of this vehicle 1 of the controller of vehicle 10 of embodiment.In addition, diagram has the right side in the A of Fig. 1
The X-Y-Z orthogonal coordinates of hand system are used as with reference to use.X-direction is equivalent to the front of this vehicle 1 in the orthogonal coordinates, and Z-direction is suitable
In top.One example of this vehicle 1 as present embodiment, for driver's cabin 2 and after being configured in the driver's cabin 2
The commerial vehicle (specifically lorry) of the railway carriage 3 of square side.But the specific type of this vehicle 1 is not limited to this
The commerial vehicle of sample.
The B of Fig. 1 is the schematic diagram for illustrating the state of the automatic Pilot of this vehicle 1 when driving.In the B of Fig. 1, as
One example of road, diagram have the 1st road 100 and the 2nd road 105.1st road 100 has traveling lane 101 and opposite vehicle
Road 102.1st road 100 and the 2nd road 105 intersect in intersection 110.In addition, the road of present embodiment is with intersection
The road at crossing 110 is not limited the illustrated such road of B in the Fig. 1.
This vehicle 1 travels on traveling lane 101.In the front of this vehicle 1, leading vehicle 5 is being travelled.In the B of Fig. 1
In, this vehicle 1 carries out automatic Pilot traveling in a manner of following leading vehicle 5.
In addition, being equipped with the people's row for crossing the 1st road 100 for pedestrian in the part of the intersection 110 of the 1st road 100
Lateral road 120a.Specifically, crossing 120a is being located proximate to this vehicle 1 with what the 2nd road 105 intersected than the 1st road 100
Direction of travel on front position, by with along and this vehicle 1 crosscutting 1st road 100 in direction of travel direction at right angle
Mode be arranged.It also is provided with crossing people's row of the 2nd road 105 for pedestrian in the part of the intersection 110 of the 2nd road 105
Lateral road 120b.Specifically, crossing 120b is to -Y direction in the case where observing, than the 2nd road 105 and the 1st road
100 positions for being located proximate to front intersected, are arranged in a manner of crosscutting 2nd road 105 of the direction of travel along this vehicle 1.
In addition, being equipped with for motor vehicle stop close to the position of front than crossing 120a in the traveling lane 101 of the 1st road 100
Only line 130.
In addition, the part in the intersection of road 110 is equipped with vehicle semaphore 140 and pedestrian's semaphore 150.Vehicle
It is that vehicle (this vehicle 1 and leading vehicle 5) for travelling on traveling lane 101 crosses intersection with semaphore 140
110 semaphore.Pedestrian is to cross intersection 110 (specifically along the direction of travel of this vehicle 1 for pedestrian with semaphore 150
Ground say be intersection 110 crossing 120b) semaphore.
Vehicle has green 141, yellow signal 142 and danger signal 143 with semaphore 140, only green 141
State (green display), the state (yellow is shown) that only yellow signal 142 is lighted, the shape that only danger signal 143 is lighted lighted
State (red display) switches in order.In addition, the green display of vehicle semaphore 140 is equivalent to license vehicle in intersection
The display advanced on 110, yellow signal 142 and danger signal 143 are equivalent to forbid vehicle to advance on intersection 110 aobvious
Show.In addition, yellow signal 142 substantially forbids the traveling of vehicle, but cannot safely be stopped at intersection 110 in vehicle
The case where (such as the case where must stopping in emergency) under, be the meaning that can exceptionally advance.
Pedestrian has green 151 and danger signal 152, the state that only green 151 is lighted with semaphore 150
The state (green flashing display) of (green display), the flashing of green 151, (red is shown the state that only danger signal 152 is lighted
Show) switch in order.In addition, the green display of pedestrian's semaphore 150 is equivalent to license pedestrian and crosses crossing 120b's
It has been shown that, red display are equivalent to the display for forbidding pedestrian to cross crossing 120b.In addition, green flashing is shown as indicating several
The display of red display is switched to after second from green display.
Fig. 2 is with block diagram by each function of this vehicle 1 functional block diagram that indicates.This vehicle 1 removes controller of vehicle 10
In addition, camera 20, radar sensor 30, sensor class 40, navigation system 50 and vehicle driving system 60 are also equipped with.
Camera 20 is the camera that the front of this vehicle 1 can be shot with scheduled field angle.The view of the camera 20
Rink corner is set so as to shoot lane (white line), the leading vehicle 5, crossing 120a, people's row of road by camera 20
The value of lateral road 120b, vehicle semaphore 140 and pedestrian's semaphore 150.Image detected by camera 20 is passed to
Controller of vehicle 10.The image according to detected by camera 20 of controller of vehicle 10, using image processing techniques come pair
Lane (white line) identified, and to the presence or absence of the presence or absence of leading vehicle 5, crossing 120a and crossing 120b, vehicle
It is identified with the display state etc. of semaphore 140 and pedestrian's signal of semaphore 150.
In addition, the frame per second of camera 20 for example if 10fps or more, is then come for accurately identifying that green flashes display
It says just enough.
Radar sensor 30 is by sensing the presumptive area in the front of this vehicle 1, to detect leading vehicle 5 and this vehicle
1 distance.The testing result of radar sensor 30 is passed to controller of vehicle 10.In addition, in present embodiment, as thunder
An example up to sensor 30 uses the radar sensor that millimetre-wave radar is utilized.
Sensor class 40 is the sensor class other than radar sensor 30.As sensor class 40, such as detection can be enumerated
The velocity sensor etc. of the speed of this vehicle 1.
Navigation system 50 is configured to storage cartographic information, and the position of this vehicle 1 is detected using vehicle GPS.
The testing result of navigation system 50 is passed to controller of vehicle 10.
Vehicle driving system 60 is the system for travelling this vehicle 1.Specifically, vehicle driving system 60 is driven comprising vehicle
Dynamic system and brake system etc., wherein vehicle drive system is the system that engine, speed changer etc. drive this vehicle 1, brake system
For carry out this vehicle 1 brake system.In addition, an example as engine uses diesel oil to draw in present embodiment
It holds up.In addition, an example as speed changer uses AMT (Automated Manual Transmission: mechanical automatic
Speed changer).
Controller of vehicle 10 is made of microcomputer, which, which calculates to have, executes various control processing
CPU11 (example of processor) and store the storage dress of program used in the work of the CPU11 or various data class
Set 12.In addition, being able to use ROM, RAM etc. as storage device 12.
The B of the A and Fig. 3 of Fig. 3 are for illustrating vehicle semaphore 140 and pedestrian with the signal condition of semaphore 150
The schematic diagram of determination method.Specifically, to be shown schematically in this vehicle 1 opposite at a distance from intersection 110 by the A of Fig. 3
The image 21 shot in farther away situation by camera 20, the B of Fig. 3 are shown schematically in this vehicle 1 and intersection 110
The image 21 shot by camera in the case where the relative close.
Scheduled in the image 21 that controller of vehicle 10 passes through the front to this vehicle 1 shot by camera 20 is sentenced
Determine region 22 and carry out image procossing, thus to the display state of vehicle semaphore 140 and pedestrian's signal of semaphore 150 into
Row determines.
Here, in the case where the observation of the direction of travel of this vehicle 1, as this vehicle 1 contracts at a distance from intersection 110
Short, vehicle semaphore 140 or pedestrian seem to become larger with semaphore 150.Therefore, controller of vehicle 10 is based on navigation system
50 testing result obtains this vehicle 1 at a distance from intersection 110, with this vehicle 1 and crossroad obtained in this way
The distance of mouth 110 shortens, and determinating area 22 is amplified.Therefore, the determinating area of A of the determinating area 22 of the B of Fig. 3 greater than Fig. 3
22。
Next, the control processing of controller of vehicle 10 is described in detail.Firstly, the execution of controller of vehicle 10 makes this vehicle
1 follows leading vehicle 5 and the automatic Pilot traveling that travels.Specifically, the controller of vehicle 10 of present embodiment passes through
Vehicle driving system 60 is controlled based on the testing result of camera 20, radar sensor 30 and sensor class 40,
To which one side is kept fixed the spacing of range between this vehicle 1 and leading vehicle 5, on one side in this vehicle being preset 1
Speed in the range of make this vehicle 1 travel.Further, since the automatic Pilot, which travels itself, can apply well known automatic Pilot
Traveling technology, therefore omit more detailed explanation.
In addition, controller of vehicle 10 starts to want in the automatic Pilot traveling for receiving the driver from this vehicle 1
In the case where asking, above-mentioned automatic Pilot traveling is executed.Specifically, being equipped on the driver's seat of this vehicle 1 for that will drive automatically
The beginning and stopping of sailing traveling are passed to the switch of controller of vehicle 10.Moreover, driver is it is desirable that start automatic Pilot row
In the case where sailing, by the way that the switch connection is started to require to what is travelled to the reception and registration automatic Pilot of controller of vehicle 10.It connects
The controller of vehicle 10 for receiving the signal that automatic Pilot traveling starts requirement starts to execute automatic Pilot traveling.In addition, In
In the case that driver wishes end automatic Pilot traveling, by the way that the switch is disconnected conveying certainly to controller of vehicle 10
The end requirement of dynamic driving travel.The end of controller of vehicle 10 for receiving the signal that automatic Pilot traveling terminates requirement is held
Row automatic Pilot traveling.
In addition, being connected with setting device (not shown) on controller of vehicle 10, it is used for driver's setting and drives automatically
Sail vehicle speed range (such as upper limit speed is 100km/h etc.) when driving.Controller of vehicle 10 is set by the setting device
Vehicle speed range in execute automatic Pilot traveling.
In addition, controller of vehicle 10 automatic Pilot when driving, execute flow chart shown in Fig. 4 described below.Tool
It says to body, controller of vehicle 10 starts to execute the flow chart of Fig. 4 while starting and executing automatic Pilot traveling.In addition, Fig. 4
Each step specifically executed by the CPU11 of controller of vehicle 10.Firstly, in the step S10 of Fig. 4, controller of vehicle 10
Automatic Pilot (that is, automatic Pilot traveling be carrying out in) when driving is being executed, whether is being that green is aobvious to vehicle semaphore 140
Show and is determined.Specifically, controller of vehicle 10 is by obtaining the image in front of this vehicle 1 that camera 20 detects
21, image procossing is carried out to the scheduled determinating area 22 in the image 21 of the acquirement, to obtain vehicle semaphore 140
Color is shown.Then, controller of vehicle 10 shows whether be green display to the color of the vehicle semaphore 140 of the acquirement
Determined, the judgement the result is that be determined as vehicle semaphore 140 for green display in the case where, in step slo
Be determined as be.
The case where being determined to be in step slo (vehicle semaphore 140 is determined to be the case where green display),
Whether controller of vehicle 10 is green flashing display with semaphore 150 to pedestrian or is that red display is determined (step
S20).Specifically, the image 21 in 1 front of this vehicle that controller of vehicle 10 is detected by acquirement camera 20, and it is right
Scheduled determinating area 22 in the image 21 of the acquirement carries out image procossing, to obtain pedestrian with the color of semaphore 150
Display.Then, controller of vehicle 10 shows whether be green flashing display to the color of pedestrian's semaphore 150 of the acquirement
Or red display is determined.Controller of vehicle 10 is being determined as pedestrian's semaphore 150 for green flashing display or red
In the case where display, be determined as be.
In addition, controller of vehicle 10 is as aforementioned in Fig. 3, with this when executing step S10 and step S20
Vehicle 1 shortens at a distance from intersection 110 and amplifies determinating area 22.Thereby, it is possible to accurately to vehicle signal
Machine 140 and pedestrian are shown with the color of semaphore 150 to be determined.
In addition it is also possible to be, controller of vehicle 10 obtains pedestrian in step S20 and is shown with the color of semaphore 150
When, execute following processing.Specifically, in the case that controller of vehicle 10 is determined to be in step slo, based on navigation
The testing result of system 50 estimates the position of intersection 110.Next, controller of vehicle 10 is based on camera 20
Testing result and the case where identify intersection 110, obtain the traveling lane with this vehicle 1 by carrying out image procossing
" the zebra stripes pattern " drawn on the road (the 2nd road 105) in 101 orthogonal directions.Then, controller of vehicle 10 should
The zebra stripes pattern of acquirement is identified as crossing 120b.Next, controller of vehicle 10 by carry out image procossing to
The semaphore of top of the identification in the crossing 120b identified in this wise, is identified as pedestrian with semaphore 150.So
Afterwards, controller of vehicle 10 obtains the color of the pedestrian's semaphore 150 identified in this wise by carrying out image procossing
Display.By handling above, controller of vehicle 10 can also obtain pedestrian and be shown with the color of semaphore 150.
The case where being determined to be in step S20 (pedestrian with semaphore 150 be determined to be green flashing display or it is red
The case where color is shown) under, controller of vehicle 10 obtains intersection 110 and this vehicle based on the testing result of navigation system 50
1 distance, and obtain based on the testing result of vehicle speed sensor (sensor class 40) speed of this vehicle 1, based on should
Intersection 110 at a distance from this vehicle 1 and the speed of this vehicle 1 come to whether cannot be in vehicle if this vehicle 1 does not accelerate
(step S30) is determined by intersection 110 during being become until yellow is shown with semaphore 140.
Specifically, firstly, being previously stored in the storage device 12 of controller of vehicle 10: from pedestrian's signal
Machine 150 becomes green flashing display and starts to become the prediction of required time until yellow is shown to vehicle semaphore 140
Value (referred to as " the 1st signal intensity predicted time ") and since pedestrian becomes red display with semaphore 150 to vehicle signal
Machine 140 becomes the predicted value (referred to as " the 2nd signal intensity predicted time ") of required time until yellow is shown.In addition, should
1st signal intensity predicted time and the 2nd signal intensity predicted time are, for example, several seconds or so time.In addition, the 1st signal intensity
Predicted time is the time longer than the 2nd signal intensity predicted time.In addition, because of the 1st signal intensity predicted time and the 2nd signal
The variation prediction time is not easy to set the precisely correct time, therefore acquires numerical value appropriate (its nothing such as first passing through experiment in advance
Need to be the accurate correct time), and store and arrive storage device 12.
Then, in the case that pedestrian is determined to be green flashing display with semaphore 150 in step S20, in step
In S30 controller of vehicle 10 to since step S20 pedestrian be determined to be with semaphore 150 green flashing display to
By in the time until the 1st signal intensity predicted time, with the present speed of this vehicle 1 (that is, to be kept without acceleration
The state of the present speed of this vehicle 1) whether cannot be calculated by intersection 110.On the other hand, in step S20
In the case that pedestrian is determined to be red display with semaphore 150, controller of vehicle 10 is to from step in step s 30
Pedestrian is determined to be red display with semaphore 150 and starts to by the time until the 2nd signal intensity predicted time in S20
It is interior, whether cannot be calculated by intersection 110 with the present speed of this vehicle 1.Then, controller of vehicle 10 is at this
Calculate the result is that be judged as cannot be by intersection 110 with the present speed of this vehicle 1 in the case where, in step s 30
Be determined as be.
The case where being determined to be in step s 30 is (that is, be judged as to use in vehicle if this vehicle 1 does not accelerate
The case where semaphore 140 passes through intersection 110 during becoming until yellow is shown) under, 10 pairs of this vehicles of controller of vehicle
1 is controlled such that this vehicle 1 reduces speed now, and this vehicle 1 is made to stop at the front (step S40) of intersection 110.This
Outside, controller of vehicle 10 is carried out by vehicle driving system 60 to this vehicle 1, is opened thereby executing the deceleration of this vehicle 1
The stopping begun with this vehicle 1 in the front of intersection 110.In addition, controller of vehicle 10 stops at this vehicle 1 in friendship
The front of the stop line 130 of the front of cross road mouth 110.
After the step s 40, controller of vehicle 10 from start step execution flow chart (return).In addition, in step
S10, step S20, be judged as in step S30 it is no in the case where, controller of vehicle 10 is also from starting step execution flow chart
(return).
In addition, whether being in step slo that green shows the controller of vehicle determined with semaphore 140 to vehicle
10 CPU11 is equivalent to the component with the function as " vehicle semaphore determination unit ".Pedestrian is believed in step S20
The CPU11 for the controller of vehicle 10 that whether number machine 150 is green flashing display or red display is determined, which is equivalent to, to be had
The component of function as " pedestrian's semaphore determination unit ".Execute the controller of vehicle 10 of step S30 and step S40
CPU11 is equivalent to the component with the function as " this vehicle stop control unit ".
The function and effect of present embodiment are as described below.According to the present embodiment, follow this vehicle 1 in advance in execution
Vehicle 5 and the automatic Pilot travelled when driving, in the case where vehicle semaphore 140 is green display (step S10's be),
It is green flashing display or when red display (step S20's be) in pedestrian's semaphore 150, that is, believe predicting vehicle
When number machine 140 will change the situation shown for yellow, it is being judged as to become in vehicle semaphore 140 if not accelerating
When passing through intersection 110 during until showing for yellow (step S30's be), this vehicle 1 can be made to reduce speed now and made
This vehicle stops at the front (step S40) of intersection 110.It is used when driving according to vehicle in execution automatic Pilot as a result,
Semaphore 140 becomes yellow and shows, and leading vehicle 5 reduces speed now, this vehicle 1 reduces speed now such prior art phase later
Than the deceleration of this vehicle 1 can be started in the period of earlier.As a result, it is possible to so that this vehicle 1 is slowly slowed down and stop at intersection
The front at crossing 110.
In addition, according to the present embodiment, since this vehicle 1 can be made slowly to slow down as described above and stop at crossroad
The front of mouth 110, therefore the energy loss of this vehicle 1 can also reduced so as to improve fuel economy.In addition, due to that can make
This vehicle 1 slowly slows down, therefore also can reduce the mental burden of driver.In addition, can also reduce the goods for being applied to this vehicle 1
Load on object.
In addition, according to the present embodiment, as illustrated in Figure 3 like that, due to this vehicle 1 and intersection 110
Distance shortens and amplifies scheduled determinating area 22, therefore can be accurately to vehicle semaphore 140 and pedestrian's signal
The color of machine 150, which is shown, to be determined.Thereby, it is possible to accurately execute to make this vehicle 1 slowly slow down and stop at intersection
The operation of the front at crossing 110.
The preferred embodiment of the disclosure is explained above, the disclosure is not limited to the specific embodiment,
In the main scope for the disclosure that claims are recorded, it is able to carry out various modifications and changes.
The application, and will be in it based on Japanese Patent Application (Patent 2017-089966) filed on April 28th, 2017
Hold and is quoted so far as reference.
[Industrial Availability]
The present invention has the effect of that this vehicle can be made slowly to slow down and stops at the front of intersection, for vehicle control
Device and control method for vehicle processed etc. are useful.
[description of symbols]
1 vehicle
5 leading vehicles
10 controller of vehicle
11 CPU
21 images
22 determinating areas
110 intersections
120a, 120b crossing
130 stop lines
140 vehicle semaphores
141 greens
142 yellow signals
143 danger signals
150 pedestrian's semaphores
151 greens
152 danger signals
Claims (6)
1. a kind of controller of vehicle, comprising:
Vehicle semaphore determination unit, execute so that this vehicle is followed leading vehicle and the automatic Pilot that travels when driving, it is right
Whether the vehicle of the intersection in the front in above-mentioned vehicle is that green display is determined with semaphore,
Pedestrian's semaphore determination unit, it is right in the case where above-mentioned vehicle is determined to be above-mentioned green with semaphore and shows
Pedestrian with semaphore whether be green flashing display or red display determine, the pedestrian with semaphore for pedestrian along
The direction of travel for stating this vehicle crosses above-mentioned intersection, and
This vehicle stop control unit is determined to be above-mentioned green flashing display or above-mentioned red with semaphore in above-mentioned pedestrian
In the case where display, based on above-mentioned intersection at a distance from above-mentioned vehicle and the speed of above-mentioned vehicle, if to whether on
It states this vehicle not accelerate, above-mentioned intersection cannot be passed through during above-mentioned vehicle semaphore becomes until yellow is shown
Determined, and is being judged as that if not accelerating, phase until above-mentioned yellow is shown cannot be become in above-mentioned vehicle semaphore
Between when passing through above-mentioned intersection, above-mentioned vehicle, which reduces speed now and make above-mentioned vehicle, to be controlled such that above-mentioned vehicle
Stop at the front of above-mentioned intersection.
2. controller of vehicle as described in claim 1, wherein
Above-mentioned vehicle passes through the image for obtaining the front of above-mentioned vehicle with semaphore determination unit, and to the above-mentioned image of the acquirement
In scheduled determinating area carry out image procossing, therefore, it is determined that above-mentioned vehicle semaphore be it is above-mentioned green display；
Above-mentioned vehicle above-mentioned will be made a reservation for semaphore determination unit as the distance at the above-mentioned intersecting crossing of vehicle shortens
Determinating area amplification.
3. controller of vehicle as claimed in claim 1 or 2, wherein
Above-mentioned pedestrian passes through the image for obtaining the front of above-mentioned vehicle with semaphore determination unit, and to the above-mentioned image of the acquirement
In scheduled determinating area carry out image procossing, therefore, it is determined that above-mentioned pedestrian's semaphore whether be it is above-mentioned green flashing display
Or above-mentioned red display；
Above-mentioned pedestrian above-mentioned will be made a reservation for semaphore determination unit as the distance at the above-mentioned intersecting crossing of vehicle shortens
Determinating area amplification.
4. a kind of control method for vehicle, to have the control method for vehicle of the vehicle of control device, the above method makes above-mentioned control
Device executes following steps, comprising:
Execute so that this vehicle is followed leading vehicle and the automatic Pilot that travels when driving, to the front in above-mentioned vehicle
Whether the vehicle of intersection is the step of green display is determined with semaphore,
In the case where above-mentioned vehicle is determined to be above-mentioned green with semaphore and shows, to for pedestrian along above-mentioned vehicle
The pedestrian that direction of travel crosses above-mentioned intersection is determined with the whether green flashing display of semaphore or red display
Step,
In the case where above-mentioned pedestrian is determined to be above-mentioned green flashing display or red display with semaphore, it is based on above-mentioned friendship
Cross road mouth at a distance from above-mentioned vehicle and the speed of above-mentioned vehicle, to whether cannot be upper if above-mentioned vehicle does not accelerate
The step of being determined during stating vehicle and being become until yellow is shown with semaphore by above-mentioned intersection, and
Being judged as to pass through during above-mentioned vehicle semaphore becomes until above-mentioned yellow is shown if not accelerating
When above-mentioned intersection, above-mentioned vehicle, which reduces speed now and stop at above-mentioned vehicle, to be controlled such that above-mentioned vehicle
The step of front of above-mentioned intersection.
5. control method for vehicle as claimed in claim 4, wherein
To above-mentioned vehicle with semaphore whether be green display determine the step of in,
It is carried out by obtaining the image in the front of above-mentioned vehicle, and to the scheduled determinating area in the above-mentioned image of the acquirement
Image procossing, therefore, it is determined that above-mentioned vehicle semaphore is above-mentioned green display；
Above-mentioned scheduled determinating area is amplified as the distance at the above-mentioned intersecting crossing of vehicle shortens.
6. control method for vehicle as described in claim 4 or 5, wherein
To above-mentioned pedestrian with semaphore whether be green flashing display or red display determine the step of in,
It is carried out by obtaining the image in the front of above-mentioned vehicle, and to the scheduled determinating area in the above-mentioned image of the acquirement
Image procossing, therefore, it is determined that whether above-mentioned pedestrian's semaphore is above-mentioned green flashing display or above-mentioned red display；
Above-mentioned scheduled determinating area is amplified as the distance at the above-mentioned intersecting crossing of vehicle shortens.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017-089966 | 2017-04-28 | ||
| JP2017089966A JP6838483B2 (en) | 2017-04-28 | 2017-04-28 | Vehicle control device |
| PCT/JP2018/016571 WO2018199075A1 (en) | 2017-04-28 | 2018-04-24 | Vehicle control device and vehicle control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110536818A true CN110536818A (en) | 2019-12-03 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880026450.4A Pending CN110536818A (en) | 2017-04-28 | 2018-04-24 | Controller of vehicle and control method for vehicle |
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| Country | Link |
|---|---|
| JP (1) | JP6838483B2 (en) |
| CN (1) | CN110536818A (en) |
| WO (1) | WO2018199075A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113554874A (en) * | 2021-07-30 | 2021-10-26 | 新石器慧通（北京）科技有限公司 | Unmanned vehicle control method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111047871B (en) * | 2019-11-19 | 2021-08-06 | 北京航空航天大学 | Man-machine driving hybrid traffic cooperative control system and method based on Internet of vehicles |
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- 2017-04-28 JP JP2017089966A patent/JP6838483B2/en active Active
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- 2018-04-24 CN CN201880026450.4A patent/CN110536818A/en active Pending
- 2018-04-24 WO PCT/JP2018/016571 patent/WO2018199075A1/en active Application Filing
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6838483B2 (en) | 2021-03-03 |
| WO2018199075A1 (en) | 2018-11-01 |
| JP2018187966A (en) | 2018-11-29 |
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Application publication date: 20191203 |