DE112021000247T5 - VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD - Google Patents

Abstract

The present invention enables an autonomous vehicle to travel safely on a narrow road without colliding with an oncoming vehicle. A driving control unit that controls driving of a host vehicle based on an external sensor that detects an external environment of the host vehicle as external information and a first autonomous driving map on which a planned travel route of the host vehicle is set, detects an alternative passing section before Host vehicle from the external information, before and after the alternate passing section on the first autonomous driving map, sets a plurality of spaces as predetermined regions where the host vehicle or an oncoming vehicle can temporarily stop, determines a space where the host vehicle at which oncoming vehicle can pass, based on the arrangement of the spaces, sets as a first passing point a space closest to the host vehicle beyond the alternative passing section and in which vehicles can pass each other, calculates times that the host vehicle and the like can pass nd need the oncoming vehicle to arrive at the first passing point, in a case where the oncoming vehicle is beyond the

Description

Technical part

The present invention relates to a vehicle control device and a vehicle control method.

State of the art

In recent years, autonomous driving of a vehicle (hereinafter also referred to as an autonomous driving vehicle) equipped with an autonomous driving vehicle control device has been put to practical use. In this context, for example, crossing a level crossing is also a goal of autonomous driving. However, when stopping at a level crossing (track), there is a risk of colliding with a train. It is therefore necessary to stop before entering the level crossing and pass the level crossing after making sure that no train is approaching and that there is space behind the level crossing.

Patent Literature 1 discloses a method of predicting whether or not a sufficient space for entry of a host vehicle will be provided behind a railroad crossing by using a position, speed, acceleration, and driving history of a preceding vehicle and the host vehicle in front of the entry stopped in the level crossing if there is insufficient space.

In addition, Patent Literature 1 discloses a technique for assisting escape from a railroad crossing and preventing an accident by prompting surrounding vehicles and trains to secure a place for a host vehicle to enter when it is determined that the host vehicle enters the railroad crossing after entering of the level crossing cannot pass.

Patent Literature 2 discloses a driving assistance device that recognizes a narrow path section in which it is difficult for vehicles from opposite directions to pass each other, and when an oncoming vehicle is detected, a priority order for passing through the narrow path based on the presence or absence of an avoidance point, a distance to the point and the like to realize smooth passage.

Patent Literature 3 discloses a vehicle control device that recognizes another vehicle passing a host vehicle on a single-lane road and an evacuation space. When the other vehicle arrives at a bottleneck earlier than the host vehicle and there is an evacuation space around the host vehicle, the vehicle control device causes the host vehicle to go into the evacuation space and wait until the other vehicle passes the host vehicle.

citation list

patent literature

• PTL 1: JP 2005-165643 A
• PTL 2: JP 2016-143137 A
• PTL 3: JP 2019-053646 A

Summary of the Invention

Technical problem

As the level crossing through which a vehicle passes, there are known a two-lane wide-lane level crossing through which vehicles from opposite directions can pass each other and a single-lane narrow-lane level crossing through which vehicles from opposite directions can alternately pass. In particular, when passing through a single-lane level crossing, it is necessary to check the presence of an oncoming vehicle, in addition to the approach of a train and a space behind the level crossing.

This means that the host vehicle can pass the level crossing earlier when there is no oncoming vehicle or an oncoming vehicle is far away, and the host vehicle has to wait in front of the level crossing until the oncoming vehicle has passed the level crossing when there is an oncoming vehicle is near the level crossing or has already started to pass the level crossing.

In addition, it is known that typical roads also have a bottleneck where vehicles from opposite directions pass alternately, and before passing through the bottleneck, it is necessary to confirm whether there is an oncoming vehicle such as a car. B. when passing a single-lane level crossing.

However, according to the technique of Patent Document 1, a host vehicle does not become aware of an oncoming vehicle in transit controlled by a single lane level crossing. if e.g. B. Seen from the carrier vehicle behind the level crossing is sufficient space, although an oncoming vehicle is approaching the level crossing, the carrier vehicle may enter the level crossing. This can lead to the carrier vehicle and the oncoming vehicle unintentionally facing each other on the level crossing.

In addition, even if the technique of Patent Literature 1 includes accident prevention support such as B. requesting surrounding vehicles and trains to evacuate if it is determined that a carrier vehicle cannot pass the level crossing.

According to the technique of Patent Literature 2, a host vehicle is controlled so as to preferentially run on a narrow path portion where an electric pole is installed, but it is necessary to prompt an oncoming vehicle near an evacuation point in advance through inter-vehicle communication. to wait at the evacuation point.

This is an unreasonable situation for the oncoming vehicle because the host vehicle runs on the narrow path portion without stopping in front of the electric pole while forcing the oncoming vehicle to stop beforehand. In addition, it is required that the host vehicle and the oncoming vehicle can communicate with each other. When the oncoming vehicle cannot communicate with each other, there is a possibility that the host vehicle and the oncoming vehicle collide in the narrow path section.

In addition, the technique of Patent Literature 3 does not consider the case where a host vehicle and an oncoming vehicle enter a narrow road area at the same time. This means that the carrier vehicle may drive into the bottleneck if they arrive at the same time and there is therefore a possibility that the carrier vehicle and the oncoming vehicle will face each other in the bottleneck.

The present invention was made to solve the above problems, and an object of the present invention is to provide a technique that enables an autonomous vehicle to safely pass through a railroad crossing or a narrow road.

the solution of the problem

The present invention is a vehicle control device having a processor and a memory, the vehicle control device comprising: an external sensor that detects an external environment of a host vehicle as external information; an autonomous driving map on which a planned travel route of the host vehicle is set; and a driving control unit that controls driving of the host vehicle based on the external information and the planned travel route, wherein the driving control unit acquires an alternate passage section in front of the host vehicle from the external information, before and after the alternate passage section on the autonomous driving map a plurality of spaces as predetermined areas in which the host vehicle or an oncoming vehicle can temporarily stop, a space in which the host vehicle can pass the oncoming vehicle, and a space in which the host vehicle cannot pass the oncoming vehicle, on the basis the arrangement of the spaces set before and after the alternate passage section, sets as the first vehicle passage point a space closest to the host vehicle beyond the alternate passage section and in which vehicles can pass each other the times it takes for the host vehicle and the oncoming vehicle to arrive at the first vehicle passing point when the oncoming vehicle is detected beyond the alternative passing section, and controls the order in which the host vehicle passes based on the order in which the host vehicle and the oncoming vehicle arrive at the first vehicle passing point.

Advantageous Effects of the Invention

Therefore, the present invention enables an autonomous vehicle to travel safely on an alternate passage section (narrow road) on which the autonomous vehicle can travel without colliding with an oncoming vehicle.

Details of at least one embodiment of the subject matter disclosed herein are set forth in the accompanying drawings and the description below. Other features, aspects, and effects of the disclosed subject matter will be apparent from the following disclosure, drawings, and claims.

character list

• [ 1A ] 1A 1 illustrates Embodiment 1 of the present invention, and is a block diagram of a vehicle control device of an autonomous vehicle.
• [ 1B ] 1B 12 shows Embodiment 1 of the present invention, and is a block diagram showing an example of a configuration of an ECU for autonomous driving.
• [ 2 ] 2 FIG. 1 illustrates Embodiment 1 of the present invention and is a diagram showing a single-lane railroad crossing.
• [ 3 ] 3 FIG. 1 illustrates Embodiment 1 of the present invention and is a flowchart of processing performed by a passage determination unit.
• [ 4 ] 4 FIG. 12 shows Embodiment 1 of the present invention, and is a diagram in which a method of step S7 is applied to a single-lane railroad crossing.
• [ 5 ] 5 FIG. 11 shows Embodiment 1 of the present invention, and is a diagram in which a method of step S8 is applied to a single-lane railroad crossing.
• [ 6 ] 6 FIG. 11 shows Embodiment 1 of the present invention and is a diagram showing a two-lane railroad crossing.
• [ 7 ] 7 FIG. 12 shows Embodiment 1 of the present invention, and is a diagram in which the processes of Step S14 and Step S15 are applied to a single-lane railroad crossing.
• [ 8th ] 8th FIG. 12 shows Embodiment 1 of the present invention, and is a diagram in which a method of step S18 is applied to a single-lane railroad crossing.
• [ 9 ] 9 FIG. 11 illustrates Embodiment 1 of the present invention, showing a scene in which a host vehicle cannot pass an oncoming vehicle.
• [ 10A ] 10A FIG. 12 shows Embodiment 1 of the present invention, and is a diagram in which the processes of Step 30 and Step 31 are applied to a single-lane railroad crossing.
• [ 10B ] 10B FIG. 1 illustrates Embodiment 1 of the present invention and is a diagram showing an example of position numbers and a discrimination result.
• [ 11 ] 11 FIG. 11 illustrates Embodiment 2 of the present invention and is a diagram showing a narrow road.
• [ 12 ] 12 FIG. 1 illustrates Embodiment 2 of the present invention and is a flowchart of processing performed by a passing determination unit.
• [ 13 ] 13 FIG. 11 illustrates Embodiment 2 of the present invention and is a diagram in which a process of step S106 is applied to a narrow road.
• [ 14A ] 14A FIG. 12 shows Embodiment 2 of the present invention, and is a diagram in which the processes of step S107 and step S108 are applied to a narrow road.
• [ 14B ] 14B FIG. 11 illustrates Embodiment 2 of the present invention and is a diagram showing an example of position numbers and a discrimination result.
• [ 15 ] 15 FIG. 11 shows Embodiment 1 of the present invention, and is a diagram showing a host vehicle and another vehicle behind a railroad crossing.

Description of the embodiments

Embodiments of the present invention will be described below with reference to the accompanying drawings.

[Embodiment 1]

Hereinafter, a vehicle control device and a vehicle control method according to some embodiments will be described in detail with reference to the drawings. It should be noted that the present embodiment is just an example for realizing the present invention and does not limit the technical scope of the present invention. In the drawings, identical components are given identical reference numbers. First, in Embodiment 1, an example of passing through a single-lane railroad crossing will be described.

1 14 is a configuration diagram of a vehicle control device of an autonomously running vehicle.

The vehicle control device has an electronic control unit (ECU) for autonomous driving 1, various sensors SS, a communication unit U1, a map unit U2, various vehicle drive units D, a display 9, a microphone 10 and a speaker 11.

The autonomous driving ECU detects the operations of a motor D1, a steering D2, and a brake D3, which the vehicle drive unit D controls.

The sensors SS include a camera sensor SS1 and a radar sensor SS2. The camera sensor SS1 captures object information (sensor information) captured from an image around the autonomous driving vehicle, and supplies the captured object information to the autonomous driving ECU 1 . The radar sensor SS2 detects object information (sensor information) detected from a distance to a predetermined point around the autonomous driving vehicle, and supplies the detected object information to the autonomous driving ECU 1 .

The communication unit U1 includes an antenna 12. The antenna 12 transmits and receives wireless communication between vehicles (vehicle-to-vehicle communication) and wireless communication between a vehicle and an infrastructure facility (e.g., a roadside unit). The communication unit U1 provides the autonomous driving ECU 1 with information such as a position, a speed, or vehicle control information of a surrounding vehicle, or signal information, regulation information, or road information of an infrastructure facility based on the wireless communication signal received. In the case of transmission using wireless communication, the communication unit U1 receives an information signal such as position, speed, or vehicle control information of the host vehicle from the autonomous driving ECU 1 and transmits the signal from the antenna 12.

The map unit U2 includes an antenna 13. The antenna 13 receives a satellite reception signal (hereinafter referred to as GNSS signal) of a global navigation satellite system (hereinafter referred to as GNSS). The map unit U2 includes a map database 7 and a locator 8. The map unit U2 calculates the host vehicle position information through the locator 8 based on the received GNSS signal, selects surrounding map information from the map database 7, and provides the position information of the host vehicle and the surrounding map information to the ECU 1 for autonomous driving. The map information includes detailed information such as roads, signs, and features required for autonomous driving.

The vehicle drive unit D acquires vehicle information such as B. driving information of the motor D1, operation information of the steering D2 and operation information of the brake D3, and supplies the detected vehicle information to the autonomous driving ECU 1 and the map unit U2.

The display 9 displays vehicle information, an autonomous driving state, a communication content, a guide, a warning, and the like, and can be operated with a touch panel.

The microphone 10 is z. B. used to operate the vehicle by voice input, to make calls and to record noises in the environment of the carrier vehicle.

The speaker 11 is z. B. used for voice guidance, an alarm and a phone call.

The autonomous driving ECU 1 includes an autonomous driving control unit 2, a peripheral object detection unit 3, and a peripheral map detection unit 4, and the autonomous driving control unit 2 includes an autonomous driving determination unit 5 and a passing determination unit 6.

The host vehicle surrounding object detection unit 3 receives object information from the sensors SS and the communication unit U1, generates correct object information after excluding the influence of a detection error of the sensors SS and a wireless communication failure of the communication unit U1, and provides the correct object information to the environment map detection unit 4 for detecting objects in the environment.

The surrounding map acquisition unit 4 generates an autonomous driving map by using the host vehicle position information and the surrounding map information supplied from the map unit U2 and the object information supplied from the surrounding object acquisition unit 3 . merges and supplies the autonomous driving map to the autonomous driving control unit 2 . The surrounding map acquiring unit 4 supplies information about a preset planned travel route to the autonomous driving control unit 2 .

The autonomous driving determination unit 5 of the autonomous driving control unit 2 receives the autonomous driving map of the surrounding map acquisition unit 4, the vehicle information of the vehicle drive unit D, and the planned one driving route, calculates an action, route, speed or the like necessary for autonomous driving, and controls the vehicle drive unit D.

The passing determination unit 6 determines whether or not to pass a railroad crossing based on the autonomous driving map and the vehicle information, and performs the processing in cooperation with the autonomous driving determining unit 5 .

1B 14 is a block diagram showing an example of a configuration of the ECU 1 for autonomous driving. The autonomous driving ECU 1 comprises a processor 21, a memory 22, an I/O interface (I/F in , and the same applies in the following) 23, a communication interface 24 and an additional storage device 25.

The I/O interface 23 is connected to the sensors SS, the display 9, the microphone 10 and the loudspeaker 11. The communication interface 24 is connected to the communication unit U1 and the card unit U2 via a local area network (LAN) or a controller area network (CAN).

The auxiliary storage 25 is a non-volatile storage medium and contains programs, tables and the like. The autonomous driving control unit 2 , the surrounding object detection unit 3 , and the surrounding map detection unit 4 are loaded into the memory 22 as programs and executed by the processor 21 .

The processor 21 operates as a functional unit that provides predetermined functions by executing processing according to the programs of the functional units. For example, the processor 21 functions as the autonomous driving control unit 2 by executing processing according to an autonomous driving control program. The same applies to other programs. In addition, the processor 21 also functions as a functional unit that provides functions of a variety of processes executed by programs. A computer and a computer system are a device and a system with these functional units.

2 12 is a diagram showing a single-lane railroad crossing and depicting an example where a host vehicle C1 is standing at a stop line in front of the railroad crossing. The road width inside the level crossing in 2 is a single-lane road that allows the passage of a single vehicle. Before or after the level crossing, the lane width changes from two lanes to one lane or from one lane to two lanes.

3 FIG. 12 is a flowchart of the processing performed by the passage determination unit 6. FIG. Each step is described below.

When the autonomous driving is performed by the vehicle control device, first, the processes of the autonomous driving determination unit 5 and the passing determination unit 6 are started. The passing determination unit 6 recognizes the presence of a railroad crossing on a preset travel route and a stopped state of the host vehicle C1 from a running state of the host vehicle after acquiring surrounding object information and railroad crossing information from the sensors SS and the communication unit U1 and host vehicle position information and surrounding map information of the map unit in step S1 (step S1). U2 from the map for autonomous driving of the area map acquisition unit 4 has acquired.

The passing determination unit 6 proceeds to Step S4 when there is a railroad crossing on the travel route and the host vehicle C1 has stopped in front of the railroad crossing, while the passing determination unit 6 continues to detect the railroad crossing in Step S3 (Step S3: YES) while the passing determination unit 6 is too Step S1 returns if the host vehicle C1 has not stopped before the railroad crossing (Step S3: NO).

In step S4, the passing determination unit 6 notifies the autonomous driving determination unit 5 that the host vehicle C1 has stopped in front of the level crossing (“level crossing mode”). After receiving the notification of the “railway crossing mode”, the autonomous travel determination unit 5 is controlled to keep stopping in front of the railway crossing and wait for a travel start command from the passage determination unit 6 .

The passing determination unit 6 determines whether or not a train is passing in step S5. The passing determination unit 6 determines whether or not a train is passing by detecting a state where a barrier of the railroad crossing has lowered and a warning lamp from image information of the camera sensor SS1 and picking up a warning sound of the railroad crossing through the microphone 10 . Alternatively, the passing determination unit 6 recognizes whether or not a train is passing by acquiring information indicating passage of a train from an infrastructure facility from the communication unit U1.

The passing determination unit 6 returns to step S5 when a train is passing in step S6 (step S6: YES), and proceeds to step S7 when no train is passing (step S6: NO).

In step S7, the passing determination unit 6 acquires a standing position of the host vehicle C1, a road type, a road shape, a road length, a road width, the number of lanes, an incline, a stop line, a sign, an intersection area, a railroad crossing area, coordinates, and the like of the map for autonomous driving and arranges a level crossing area and spaces on the autonomous driving map around the level crossing.

The passing determination unit 6 sets, on the autonomous driving map, a railroad crossing area crossing a railroad ahead of the vehicle as a temporary no-stopping section based on the information about the surrounding object or on the autonomous driving map. Moreover, the passing determination unit 6 sets a space with a predetermined size on both sides of the railroad crossing on the autonomous driving map as an area where the host vehicle C1 or an oncoming vehicle C2 can temporarily stop.

When the number of lanes of a road on which the host vehicle C1 temporarily stands is two or more, the passing determination unit 6 sets a space for passing the oncoming vehicle C2 in a lane opposite to the host vehicle C1's stopped position. In addition, the passing determination unit 6 sets a space on the planned travel route beyond the railroad crossing as an area where a vehicle can temporarily stop. As for the space beyond the railroad crossing, a space where the host vehicle C1 runs and a space where the oncoming vehicle C2 runs or waits are set parallel to each other when the road width is two lanes or more.

4 12 is a diagram showing the procedure of step S7 on a single-lane railroad crossing using 2 is applied. in the in 4 In the example shown, a level crossing area R1 and spaces SPO to SP5 are shown around the single-lane level crossing.

In 4 For example, like the map for autonomous driving M1, the center lines (planned travel route) of the lanes are displayed because only a part of the map information can be displayed. The railroad crossing area R1 is an example of railroad crossing information of the autonomous driving map M1, and contains information about a road width L1 and a road length L0 inside the railroad crossing. Since the railroad crossing area R1 is an area with a road width that allows passage of a vehicle and crosses a railroad track, a vehicle must pass through the railroad crossing area R1 without stopping.

A section such as the railroad crossing area R1, where it is difficult for vehicles from different directions to pass each other, can be regarded as an alternative passing section. In addition, a section where rooms such as rooms SPO and SP1 are arranged in parallel can be regarded as a two-way section where vehicles can pass each other.

4 12 also shows a result of arranging the plurality of spaces SPO to SP5 on the autonomous driving map M1 as a result of the execution of step S7. The space SPO is located at the position of the host vehicle C1, and the space SP1 is located parallel to the space SPO on the right (opposite) lane of the space SPO.

Since the lane widths of the roads before and after the railroad crossing R1 change from one lane of the railroad crossing R1 to two lanes, the single space SP2 and the single space SP3 are arranged on the roads. Since a road beyond the space SP3 again has a road width of two lanes, the space SP4 and the space SP5 are arranged in parallel on this road.

Since these spaces are located close to each other so that they do not overlap, the passing determination unit 6 can determine that vehicles cannot pass each other in spaces (SP2, SP3) located alone on the autonomous driving map M1 and that vehicles can pass each other in spaces (SP0 and SP1, SP4 and SP5) that are arranged in parallel. Note that a single space in Embodiment 1 is defined to have a sufficient size for a single general vehicle.

In step S30, the passing determination unit 6 discriminates a space group in which vehicles can pass each other and a space group in which vehicles cannot pass each other based on the result of the space arrangement in step S7, and assigns each space group a position number based on the railroad crossing area R1 . Assuming that a position number of the level crossing be When R1 is 0, a positive number is assigned to a space distant from the host vehicle C1, and a negative number is assigned to a space close to the host vehicle C1. The position number increases with increasing distance from the level crossing area R1.

In step S31, the passing determination unit 6 selects a space group with a smallest positive position number from the space groups in which vehicles can pass each other based on a result of the determination in step S30, and sets this position number as a vehicle passing point F. That is, the vehicle passing point F is defined as a space group in which the host vehicle C1 and the oncoming vehicle can pass each other through the level crossing.

10A 14 is a diagram in which the processes of Step S30 and Step S31 are applied to a single-lane railroad crossing. 10B FIG. 14 shows an example of a discrimination result 300 regarding the position numbers and whether or not vehicles can pass each other. The discrimination result 300 from 10B contains in one entry a position number 301, parallel spaces 302 in which vehicles can pass each other, a single space 303 in which vehicles cannot pass each other, and a vehicle passing point 304.

In this example, the level crossing area R1 is defined as a space group with position number 0, in which vehicles cannot pass each other. Spaces SPO and SP1 are defined as a space group with position number -2 in which vehicles can pass each other, space SP2 is defined as a space group with position number -1 in which vehicles cannot pass each other, space SP3 is defined as defines a space group with position number +1 in which vehicles cannot pass each other, the spaces SP4 and SP5 are defined as a space group with position number +2 in which vehicles can pass each other, and from the above description becomes the space group of SP4 and SP5 is set as the vehicle passing point F.

In step S8, the passing determination unit 6 acquires a position of a surrounding vehicle (object information) from the autonomous driving map M1 and recognizes whether the spaces (SP0 to SP5) are empty.

5 14 is a diagram in which the process of step S8 is applied to a single-lane railroad crossing.

In this example, the host vehicle C1 stands on the space SP0, and therefore the space SPO is recognized as a space on which an “object is located”. Rooms SP1 to SP5 are recognized as "empty" because there is no vehicle there. By recognizing an empty state of each space, the passing determination unit 6 can determine whether or not the host vehicle C1 can pass the railroad crossing.

The passing determination unit 6 detects the road width L1 of the railroad crossing area R1 in step S9 and determines whether the road width L1 is a road width that allows vehicles to pass each other. In a case where the road width is a road width corresponding to a single vehicle and does not allow vehicles to pass each other as by the road width L1 in the level crossing of FIG 4 is displayed (step S9: NO), the passing determination unit 6 proceeds to step S14.

shows the spaces around a two-lane level crossing.

In this example, spaces SP20 to SP23 are arranged on an autonomous driving map M2. Since a road inside the level crossing and roads before and after the level crossing have a road width of two lanes, passing an oncoming vehicle is also possible inside the level crossing. Therefore, in a case where the railroad crossing area has a road width that corresponds to two or more vehicles and allows vehicles to pass, the passing determination unit 6 travels as determined by a road width L2 of a railroad crossing area R2 in step S9 6 is displayed (Step S9: YES), proceed to Step S10.

7 14 is a diagram in which the processes of step S14 and step S15 are applied to a single-lane railroad crossing. in the in 7 In the example shown, the host vehicle C1 is standing in front of the level crossing, and the oncoming vehicle C2 is approaching the level crossing from the opposite side.

In step S14, the passing determination unit 6 recognizes the oncoming vehicle C2 based on the object information of the autonomous driving map M1.

The passing determination unit 6 proceeds to step S10 when the oncoming vehicle C2 has not been recognized in step S33 (step S33: YES), and proceeds to step S15 when the oncoming vehicle C2 has been recognized (step S33: NO).

The passing determination unit 6 detects a speed of the oncoming vehicle C2 and a distance of the oncoming vehicle C2 to the vehicle passing point F (SP5) in step S15 and calculates a time TC2 (s) for the oncoming vehicle C2 to arrive at the vehicle passing point F. In step S15, the passing determination unit 6 acquires a planned running speed of the host vehicle C1 and a distance from the standing position to the vehicle passing point F (SP4), and calculates a time TC1 (s) required for the host vehicle to arrive at the vehicle passing point F.

Note that in the case where the times TC2 (s) and TC1 (s) are the same (arrival at the same time), the vehicle passing point F needs to be set at a place where the host vehicle C1 and the oncoming vehicle C2 can pass each other. A reason why a space group in which vehicles can pass each other is set as the vehicle passing point F in the description of step S31 is that arrival at the same time is taken into consideration. In the example, a room group from room SP5 and room SP4 in 7 set as the vehicle passing point F.

When the oncoming vehicle C2 can perform wireless communication with the host vehicle C1, the passing determination unit 6 starts wireless communication with the oncoming vehicle C2 using the communication unit U1 in step S16.

The passing determination unit 6 compares the time TC1 (s) with the time TC2 (s) in step S32 and proceeds to step S10 when the host vehicle C1 and the oncoming vehicle C2 arrive at the vehicle passing point F at the same time (TC1=TC2, step S32: YES ), and proceeds to step S17 if the host vehicle C1 and the oncoming vehicle C2 do not arrive at the vehicle passing point F at the same time (TC1 ≠ TC2, step S32: NO).

The passing determination unit 6 compares the time TC1 (s) with the time TC2 (s) in step S17, and proceeds to step S10 when the host vehicle C1 can arrive at the vehicle passing point F earlier (TC1<TC2, step S17: YES), and exits proceeds to step S18 when the oncoming vehicle C2 can arrive at the vehicle passing point F earlier (TC1 > TC2, step S17: NO).

8th 14 is a diagram in which the process of step S18 is applied to a single-lane railroad crossing. in the in 8th illustrated example, the host vehicle C1 is in front of the level crossing, and the oncoming vehicle C2 tries to pass the level crossing earlier.

In step S18, the passing determination unit 6 determines whether the host vehicle C1 stands at a place where the host vehicle C1 and the oncoming vehicle C2 can pass each other. In the example of 8th the passing determination unit 6 proceeds to step S24 when it is determined that the space SPO and the space SP1 are arranged in parallel, the host vehicle C1 is in the space SPO, and the space SP1 is “empty”, that is, when it is determined that the host vehicle C1 and the oncoming vehicle C2 can pass each other (step S18: YES), and the passing determination unit 6 proceeds to step S19 when determining that the host vehicle C1 is in a place where the host vehicle C1 and the oncoming vehicle C2 are not can pass each other (step S18: NO).

In step S24, the passing determination unit 6 maintains the host vehicle C1 in the stopped state, and in a case where the oncoming vehicle C2 can perform wireless communication, transmits a signal to request the oncoming vehicle C2 to start traveling by wireless communication.

In step S25, the passing determination unit 6 calculates whether the oncoming vehicle C2 has passed the host vehicle C1 based on a positional relationship between the host vehicle C1 and the oncoming vehicle C2. The passing determination unit 6 can determine that the oncoming vehicle C2 has passed the host vehicle C1 after the position number of the oncoming vehicle C2 matches that of the host vehicle C1.

The passing determination unit 6 proceeds to step S10 when the oncoming vehicle has passed C2 in step S26 (step S26: YES), and returns to step S25 and waits when the oncoming vehicle has not passed C2 (step S26: NO).

9 FIG. 14 shows an example where the host vehicle C1 is located at a place where vehicles cannot pass each other in step S18. In this example, the host vehicle C1 is in the single space SP2, and the oncoming vehicle C2 is also in the single space SP3. That is, the host vehicle C1 and the oncoming vehicle C2 face each other outside the railroad crossing R1.

In step S19, the passing determination unit 6 determines whether the oncoming vehicle C2 has been waiting at the vehicle passing point F. In the example of 9 since the host vehicle C1 can pass the oncoming vehicle C2 in the space SP4 (step S19: YES), the passing determination unit 6 proceeds to step S10 when the oncoming vehicle C2 has waited in the space SP5, which is the vehicle passing point F, and proceeds to step S20 when the oncoming vehicle C2 is standing or traveling in the space SP3 since there is no space where the host vehicle C1 can pass the oncoming vehicle C2 (step S19: NO).

In step S20, the passing determination unit 6 receives a radio signal from the oncoming vehicle C2. The passing determination unit 6 proceeds to step S10 when the host vehicle C1 receives a signal requesting the host vehicle C1 to start traveling to yield the right of way (step S20: YES), and proceeds to step S21 when the Host vehicle C1 cannot receive a radio signal or cannot receive a signal requesting host vehicle C1 to start traveling (step S20: NO).

In step S21, the passing determination unit 6 checks a space behind the host vehicle C1. In 9 For example, the passing determination unit 6 proceeds to step S23 when the space SPO behind the host vehicle C1 exists and the space SPO is “empty” (step S21: YES), and the passing determination unit 6 proceeds to step S22 when there is no space behind the Host vehicle C1 is present or an “object” is present in a space behind the host vehicle C1 (Step S21: NO).

In step S23, the passing determination unit 6 issues an instruction for reverse travel, and the autonomous travel determination unit 5 controls the host vehicle C1 to move backward into the space SPO. That is, the host vehicle C1 determines to dodge to allow the oncoming vehicle C2 to pass the host vehicle C1 in the space SP1.

In step S22, the passing determination unit 6 issues a warning to a driver (and a passenger) indicating that a situation where the host vehicle C1 and the oncoming vehicle C2 face each other cannot be avoided. The warning is output through the display 9 and the speaker 11, and also transmitted to surrounding vehicles including the oncoming vehicle C2 through wireless communication.

In step S10, the passing determination unit 6 determines whether or not the spaces and the area between the host vehicle C1 and the vehicle passing point F beyond the railroad crossing are “empty”. In 5 For example, when all of the space SP2, the railroad crossing area R1, the space SP3, and the space SP4 in front of the host vehicle C1 are “empty”, the passing determination unit 6 proceeds to step S11 (step S10: YES), and the passing determination unit 6 returns to S5 , if there is an “object present” even in a space or area of the above spaces and the railroad crossing area R1 (Step S10: NO).

That is, in a case where all the spaces and the range from the host vehicle C1 to the vehicle passing point F (SP4) beyond the level crossing are “empty” as in 5 As illustrated, the host vehicle C1 can safely pass the railroad crossing, and therefore the passing determination unit 6 gives a driving start command in S11 and the autonomous driving determining unit 5 controls the vehicle to start driving.

In a case where other vehicles (preceding vehicles) C101 and C102 stand in front of the host vehicle C1 at the vehicle passing point F, for example, due to a traffic jam as in FIG 15 shown, there is an “object present” in the space SP4 and it is difficult to pass the railroad crossing safely, and therefore the host vehicle C1 is maintained in the stationary state. In this way, the host vehicle C1 can be prevented from entering the railroad crossing R1 area, and a smooth traffic environment can be maintained even if the oncoming vehicle C2 is not present when a preceding vehicle is at the vehicle passing point F on the planned travel route of the Carrier vehicle C1 is.

In step S12, the passing determination unit 6 determines whether the host vehicle C1 has passed the railroad crossing. When the host vehicle C1 has passed the railroad crossing (step S12: YES), the passing determination unit 6 proceeds to step S13. When the host vehicle C1 crosses the railroad crossing (step S12: NO), the process of step S12 is repeated.

In step S13, the passing determination unit 6 notifies the autonomous driving determination unit that the “level crossing mode” notified in step S4 has been cancelled.

Through the above processes, the autonomous driving ECU 1 sets the vehicle passing point F in parallel spaces beyond the railroad crossing area R1 and determines the presence or Absence of the oncoming vehicle C2 and the times required for the host vehicle C1 and the oncoming vehicle C2 to arrive at the vehicle passing point F. In this way, the host vehicle C1 can pass through the single-lane railroad crossing area R1 and the individual spaces SP2 and SP3 before and after the railroad crossing area R1 without colliding with the oncoming vehicle C2.

In addition, in a case where there is a possibility that the host vehicle C1 encounters the oncoming vehicle C2 in the single-lane railroad crossing area R1 and the individual spaces SP2 and SP3 before and after the railroad crossing, the autonomous driving ECU 1 can set an order for the Determine passing through the railroad crossing area R1 by performing wireless communication with the oncoming vehicle C2.

When the host vehicle C1 encounters the oncoming vehicle C2 in the area of the single-lane railroad crossing R1 and in the individual spaces SP2 and SP3 before and after the railroad crossing, the autonomous driving ECU 1 can let the oncoming vehicle C2 pass by causing the host vehicle C1 to reverse after checking the presence of a following vehicle.

[Embodiment 2]

Next, in Embodiment 2, an example of driving through a narrow road will be described. There 1 of Embodiment 1 is used as a configuration diagram of a vehicle control device, the description thereof is omitted.

11 12 is a diagram showing a narrow road on which vehicles cannot pass each other, and shows an example in which a host vehicle C1 and an oncoming vehicle C2 enter a narrow road (alternative passing section). The narrow street in 11 has a roadway width of one lane on which a vehicle can drive. Before or after the bottleneck, the lane width changes from two lanes (oncoming traffic) to one lane or from one lane to two lanes, and a sign is posted indicating the narrowing of the lane width. It is only required that the section with oncoming traffic has two or more lanes.

12 FIG. 12 is a flowchart of processing performed by a passing determination unit 6. FIG.

The individual steps are described below. When the autonomous driving is performed by the vehicle control device, first, the processes of the autonomous driving determination unit 5 and the passing determination unit 6 are started.

The passing determination unit 6 detects the presence of a narrow road (alternative passing section) including, for example, a railroad crossing on a travel route after acquiring surrounding object information and narrow road information (alternative passing section) from sensors SS and a communication unit U1, and subordinate position information and surrounding map information of a map unit U2 has acquired from an autonomous driving map of a surrounding map acquisition unit 4 in step S101.

The passing determination unit 6 proceeds to step S103 when the host vehicle C1 has approached a narrow road (alternative passing section) in step S102 (step S102: YES), and returns to step S101 when the host vehicle C1 has not approached a narrow road (Step S102: NO).

The passing determination unit 6 proceeds to step S104 when the narrow road is a railroad crossing in step S103 (step S103: YES), and proceeds to step S106 when the narrow road is not a railroad crossing (step S103: NO).

In step S104, the passing determination unit 6 detects whether or not a train is passing after the host vehicle C1 stops in front of the railroad crossing. The passing determination unit 6 detects whether or not a train is passing by detecting a state where a barrier of the railroad crossing has lowered and a warning lamp from image information of a camera sensor SS1 and capturing a warning sound of the railroad crossing with a microphone 10 . Alternatively, the passing determination unit 6 recognizes whether or not a train is passing by acquiring information indicating passage of a train from an infrastructure facility from the communication unit U1.

The passing determination unit 6 returns to step S104 when a train is passing in step S105 (step S105: YES), and proceeds to step S106 when no train is passing (step S105: NO).

In step S106, the passing determination unit 6 acquires a position of the host vehicle C1, a road type, a road shape, a road length, a road width, the number of running lanes, an incline, a stop line, a sign, an intersection area, a level crossing area, coordinates and the like of the autonomous driving map, and arranges a level crossing area or an alternative passing section and spaces on the autonomous driving map around the level crossing or the alternative passing section.

The passing determination unit 6 sets an alternative passing section or a railroad crossing area in front of the vehicle on the autonomous driving map as a section where temporary stop is prohibited based on the surrounding object information or the autonomous driving map. Moreover, the passing determination unit 6 sets a space with a predetermined size on both sides of the alternative passing section or the railroad crossing area on the autonomous driving map as an area where the host vehicle C1 or the oncoming vehicle C2 can temporarily stop.

In a case where the number of lanes of a road on which the host vehicle C1 is traveling is two or more, the passing determination unit 6 sets a space for the oncoming vehicle C2 to pass on a lane opposite to the position of the host vehicle C1. Moreover, the passing determination unit 6 sets a space on the planned travel route beyond the alternative passing section as an area where a vehicle can temporarily stop. As for the space beyond the alternative passage section, a space where the host vehicle C1 runs and a space where the oncoming vehicle C2 runs or waits are set parallel to each other when the road width is two lanes or more.

13 12 is a diagram in which the process of S106 is applied to an autonomous driving map with a narrow road (alternative passing section). In this example, the space around the narrow street is shown.

In 13 center lines of the lanes are displayed as in an autonomous driving map M100 because only part of the map information can be displayed. The narrow road area R100 is an example of a narrow road area of the autonomous driving map M100, and contains information about a road width L101 and a road length L100 of the narrow road.

13 12 also shows a result of arranging a plurality of spaces on the autonomous driving map M100 in step S106. A space SP100 is arranged at a position in front of the host vehicle C1, and a space SP101 is arranged parallel to the space SP100 on the right (opposite) lane of the space SP100.

Since the road widths of the roads before and after the narrow road R100 change between two lanes and a single lane, a single space SP102 and a single space SP103 are arranged on the roads. Since a road beyond the space SP103 has a lane width of two lanes, a space SP104 and a space SP105 are arranged in parallel on this road.

Since these spaces are arranged close to each other so that they do not overlap, the passing determination unit 6 can determine that vehicles cannot pass each other in spaces (SP102, SP103) arranged alone on the autonomous driving map M100 and that vehicles can pass each other in rooms (SP100 and SP101, SP104 and SP105) that are arranged in parallel. Note that a single space in Embodiment 2 is defined to have a sufficient size for a single general vehicle.

In step S107, the passing determination unit 6 discriminates a space group in which vehicles can pass each other and a space group in which vehicles cannot pass each other based on the result of the space arrangement in step S106, and assigns each space group a position number based on the narrow road area R100 to.

Assuming that a position number of the narrow road area R100 is 0, a positive number is assigned to a space away from the host vehicle C1 and a negative number is assigned to a space near the host vehicle C1. The position number increases with distance from the narrow road surface R100.

In step S108, the passing determination unit 6 selects a space group having a smallest positive position number from the space groups in which vehicles can pass each other based on a result of the determination in step S107, and sets this position number as a vehicle passing point F.

In addition, the passing determination unit 6 selects a space group having a smallest negative position number from among the space groups in which vehicles can pass each other, and sets this position number as Vehicle passing point N fixed. The vehicle passing point F is defined as a space group in which the host vehicle C1 and the oncoming vehicle C2 can pass each other beyond the narrow road area R100, and the vehicle passing point N is defined as a space group in which the host vehicle and the oncoming vehicle in front of the narrow road area R100 can pass each other.

14A 12 is a diagram in which the processes of step S107 and step S108 are applied to a narrow road. 14B FIG. 12 shows an example of a discrimination result 310 regarding the position numbers and whether or not vehicles can pass each other. The discrimination result 310 from 14B contains in one entry a position number 311, parallel spaces 312 in which vehicles can pass each other, a single space 313 in which vehicles cannot pass each other, and a vehicle passing point 314.

In this example, the narrow road area R100 is defined as a space group with position number 0 in which vehicles cannot pass each other. Spaces SP100 and SP101 are defined as a space group with position number -2 in which vehicles can pass each other, space SP102 is defined as a space group with position number -1 in which vehicles cannot pass each other, space SP103 is defined as defines a space group with position number +1 in which vehicles cannot pass each other, and spaces SP104 and SP105 are defined as a space group with position number +2 in which vehicles can pass each other. From the above description, the space group of the space SP104 and the space SP105 is defined as the vehicle passing point F, and the space group of the space SP100 and the space SP101 is defined as the vehicle passing point N.

In step S109, the passing determination unit 6 acquires a position of a surrounding vehicle (object information) from the autonomous driving map M100 and recognizes whether the spaces (SP100 to SP105) are empty.

The passing determination unit 6 detects the road width L101 of the narrow road area R100 in step S110 and determines whether the road width L101 is a road width that allows vehicles to pass each other. In a case where the road width is a road width corresponding to a single vehicle and does not allow vehicles to pass each other as shown by the road width L101 of the narrow road of FIG 13 is displayed (step S110: NO), the passing determination unit 6 proceeds to step S114. In a case where the narrow road area has a road width corresponding to two or more vehicles and allows vehicles to pass each other (step S110: YES), the passing determination unit 6 proceeds to step S111.

In step S114, the passing determination unit 6 recognizes the oncoming vehicle C2 based on the object information of the autonomous driving map M100.

The passing determination unit 6 proceeds to step S111 when the oncoming vehicle C2 was not recognized in step S115 (step S115: YES), and proceeds to step S116 when the oncoming vehicle C2 was recognized (step S115: NO).

The passing determination unit 6 detects a speed of the oncoming vehicle C2 and a distance of the oncoming vehicle C2 to the vehicle passing point F (SP105) in step S116, and calculates a time TC2 (s) for the oncoming vehicle C2 to arrive at the vehicle passing point F. In step S116, the passing determination unit 6 acquires a planned running speed of the host vehicle C1 and a distance from the stop position to the vehicle passing point F (SP104), and calculates a time TC1 (s) for the host vehicle to arrive at the vehicle passing point F.

It should be noted that in the case that the times TC2 (s) and TC1 (s) are the same (arrival at the same time), the vehicle passing point F must be set at a place where the host vehicle C1 and the oncoming vehicle C2 can pass each other. A reason why, in the description of step S108, a space group in which vehicles can pass each other beyond the narrow road is set as the vehicle passing point F is that arrival at the same time is taken into account. In the example, a room group from room SP105 and room SP104 in 14A set as the vehicle passing point F.

When the oncoming vehicle C2 can perform wireless communication with the host vehicle C1, the passing determination unit 6 starts wireless communication with the oncoming vehicle C2 using the communication unit U1 in step S117.

The passing determination unit 6 compares the time TC1 (s) with the time TC2 (s) in step S118 and proceeds to step S111 when the host vehicle C1 and the oncoming vehicle C2 arrive at the vehicle passing point F at the same time (TC1=TC2, step S118: YES) , and proceeds to step S119 if the host vehicle C1 and the oncoming vehicle C2 do not arrive at the vehicle passing point F at the same time (TC1 ≠ TC2, step S118: NO).

The passing determination unit 6 compares the time TC1 (s) with the time TC2 (s) in step S119 and proceeds to step S111 when the host vehicle C1 can arrive at the vehicle passing point F first (TC1<TC2, step S119: YES) and exits proceeds to step S120 if the oncoming vehicle C2 can arrive at the vehicle passing point F first (TC1 > TC2, step S119: NO).

In step S120, the passing determination unit 6 determines whether there is a place in the vicinity of the host vehicle C1 where the host vehicle C1 can pass the oncoming vehicle C2, i. H. the vehicle passing point N is near the host vehicle C1.

The passing determination unit 6 proceeds to step S125 when the passing determination unit 6 determines that the vehicle passing point N exists near the host vehicle C1 in front of the narrow road area R100 and the host vehicle C1 can wait in the space SP100 (step S120: YES), and proceeds to step S121 when the passing determination unit 6 determines that the vehicle passing point N does not exist or the host vehicle C1 cannot wait in the space SP100 (step S120: NO).

In step S125, the passing determination unit 6 outputs a message instructing the autonomous travel determination unit 5 to move to and wait in the space SP100 of the vehicle passing point N of the host vehicle C1, and the autonomous travel determination unit 5 controls the host vehicle C1.

In step S126, the passing determination unit 6 transmits a signal requesting the oncoming vehicle C2 to start traveling by wireless communication when the oncoming vehicle C2 can perform wireless communication.

In step S127, the passing determination unit 6 calculates whether or not the oncoming vehicle C2 has passed the host vehicle C1 based on a positional relationship between the host vehicle C1 and the oncoming vehicle C2.

The passing determination unit 6 proceeds to step S111 when the oncoming vehicle has passed C2 in step S128 (step S128: YES), and returns to step S127 and waits when the oncoming vehicle has not passed C2 (step S128: NO). The passing determination unit 6 can determine that the oncoming vehicle C2 has passed the host vehicle C1 after the position number of the oncoming vehicle C2 matches that of the host vehicle C1.

In step S121, the passing determination unit 6 determines whether the oncoming vehicle C2 has been waiting at the vehicle passing point F. In the example of 13 since the host vehicle C1 can pass the oncoming vehicle C2 in the space SP104 (step S121: YES), the passing determination unit 6 proceeds to step S111 when the oncoming vehicle C2 has waited in the space SP105 which is the vehicle passing point F, and goes to step S122 when the oncoming vehicle C2 is standing or traveling in the space SP103 because there is no space where the host vehicle C1 can pass the oncoming vehicle C2 (step S121: NO).

In step S122, the passing determination unit 6 receives a radio signal from the oncoming vehicle C2. The passing determination unit 6 proceeds to step S111 when the host vehicle C1 receives a signal requesting the host vehicle C1 to start traveling to yield the right of way (step S122: YES), and proceeds to step S123 when the Host vehicle C1 cannot receive a radio signal or cannot receive a signal requesting host vehicle C1 to start traveling (step S122: NO).

In step S123, the passing determination unit 6 issues a message instructing the autonomous travel determination unit 5 to stop in front of the narrow road area R100, and the autonomous travel determination unit 5 controls the host vehicle C1.

In step S124, the passing determination unit 6 gives the driver (and the passenger) a warning indicating that the narrow road is impassable. The warning is output through the display 9 and the speaker 11, and is also transmitted to surrounding vehicles including the oncoming vehicle C2 through wireless communication.

In step S111, the passing determination unit 6 determines whether the spaces and the area between the host vehicle C1 and the vehicle passing point F beyond the narrow road are "empty". are or not. For example, the passing determination unit 6 proceeds to step S112 when all of the space SP100, the space SP102, the narrow road area R100, the space SP103, and the space SP104 in front of the host vehicle C1 are “empty” (step S111: YES).

On the other hand, in a case where an “object exists” even in a space or area among the above spaces and the narrow road area R100 (step S111: NO), the passing determination unit 6 proceeds to step S123.

In a case where the spaces and the area between the host vehicle C1 and the vehicle passing point F (SP104) beyond the narrow road are “empty”, the host vehicle C1 can safely pass the narrow road, and therefore the passing determination unit 6 returns in step S112 issues a message instructing the autonomous travel determination unit 5 to pass through the narrow road, and the autonomous travel determination unit 5 controls the host vehicle.

In step S113, the passing determination unit 6 determines whether the host vehicle C1 has passed the narrow road. When the host vehicle C1 has passed the bottleneck (step S113: YES), the processing is ended. When the host vehicle C1 passes the narrow road (step S113: NO), the process from step S113 is repeated.

According to Embodiment 2 of the present invention, in a case where the oncoming vehicle C2 is traveling toward a narrow road where vehicles cannot pass each other, the passing determination unit 6 sets a narrowest space group where vehicles can pass each other beyond the narrow road as the Vehicle passing point F and sets a closest space group where vehicles can pass each other in front of the narrow road as the vehicle passing point N.

In a case where the passing determination unit 6 determines that the host vehicle C1 arrives at the vehicle passing point F earlier, based on the result of calculating the times it takes the host vehicle C1 and the oncoming vehicles C2 to arrive at the vehicle passing point F, the passing determination unit allows 6 allows the host vehicle C1 to pass the narrow road after finding that the spaces between the host vehicle C1 and the vehicle passing point F and the narrow road are empty. This allows the host vehicle C1 to travel safely without colliding with the oncoming vehicle C2 on the narrow road.

When the passing determination unit 6 determines that the oncoming vehicle C2 arrives at the vehicle passing point F earlier based on the calculation result, the passing determination unit 6 causes the host vehicle C1 to wait at the vehicle passing point N until the oncoming vehicle C2 passes, and then allows the host vehicle C1 to narrow to pass road after finding that the spaces between the host vehicle C1 and the vehicle passing point F and the narrow road are empty. In this way, the host vehicle C1 can drive safely without colliding with the oncoming vehicle C2 on the narrow road.

When the passing determination unit 6 determines from the calculation result that the oncoming vehicle C2 arrives at the vehicle passing point F earlier but the oncoming vehicle C2 waited at the vehicle passing point F, the passing determination unit 6 allows the host vehicle C1 to pass through the narrow road after determining that the spaces between the host vehicle C1 and the vehicle passing point F and the narrow road are empty. In this way, the host vehicle can drive safely without colliding with the oncoming vehicle C2 on the narrow road.

When the passing determination unit 6 determines from the calculation result that the host vehicle C1 and the oncoming vehicle C2 arrive at the vehicle passing point F at the same time, the passing determination unit 6 allows the host vehicle C1 to pass through the narrow road after determining that the spaces between the host vehicle C1 and the vehicle passing point F and the narrow road are empty. Thereby, the host vehicle C1 can drive safely without colliding with the oncoming vehicle C2 on the narrow road.

The present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments have been described in detail in order to explain the present invention in a manner that is easily understood, and is not necessarily limited to an embodiment having all of the elements described. Additionally, an element may be added, deleted, or replaced, as with one or more elements of an embodiment.

For example, although each of the rooms in 4 is defined as large enough for a single general vehicle, the size of the room can be changed to any size in accordance with a host vehicle and a surrounding vehicle (a two-wheeled vehicle, a small vehicle, an ordinary vehicle, or a large vehicle) without to be fixed.

In addition, each of the spaces is not limited to a space of a single vehicle size, but may be deformed into a space (e.g., a space of two or three vehicle sizes) in which vehicles pass each other according to the road shape be able. Although the spaces are arranged so as not to overlap in the above description, they may overlap as long as a vehicle can run or wait smoothly.

For example, although the process of arranging the spaces (S0 to S5) on the autonomous driving map M1 in step S7 of 3 in Embodiment 1, a road shape and an empty space can be recognized from the sensor information of the sensors SS, and the road shape and the empty space thus recognized can be used instead of the autonomous driving map M1 in a case in which the autonomous driving map M1 is not used.

For example, although in Embodiment 1 a vehicle control device ( 1 ) of an autonomously driving vehicle is the target of the application, a target of the application can also be a driving assistance device of a manually controlled vehicle. That is, the passing determination unit 6 can also be applied to a driving assistance device. For example, the start instruction in step S11 in 3 are transmitted to a driver as a signal indicating that the driver can start a vehicle, and the reverse movement instruction in step S23 in 3 may be transmitted to the driver as a signal indicating that the driver must reverse the vehicle while driving the vehicle is left to the driver.

For example, in Embodiment 1, in a case where the host vehicle C1 and the oncoming vehicle C2 are autonomous vehicles equipped with the vehicle control device of the present invention and stand in the space SP1 and the space SP5, respectively, and it is unclear, which of the host vehicle C1 and the oncoming vehicle C2 starts running earlier, since both the host vehicle C1 and the oncoming vehicle C2 wait and see whether the other vehicle starts running earlier, an order of priority determines which vehicle starts running earlier by using wireless communication performed by the communication unit U1 to pass a railroad crossing.

For example, in Embodiment 1, in a case where in step S31 of 3 no viable vehicle pass point is found, the driver is informed that no vehicle pass point was found. In addition, in a case where the oncoming vehicle C2 cannot be recognized, the host vehicle C1 can be controlled to travel after determining that the spaces in front of the host vehicle C1 are empty and in a case where the oncoming vehicle C1 C2 can be recognized, the host vehicle C1 can be controlled to stop and wait.

For example, in Embodiment 1, the results of the processes in steps S7, S30 and S31 in 3 can be stored in the autonomous driving ECU 1 or the map unit U2 as additional information of the autonomous driving map, and the processes in steps S7, S30 and S31 can be omitted by reusing the stored additional information when the same railroad crossing is passed again.

For example, in Embodiment 1, in a case where there is an oncoming vehicle in step S33 (step S33: YES), but a position of the oncoming vehicle is far from the vehicle passing point F (e.g., several kilometers or more) and can be detected If the host vehicle C1 can pass a railroad crossing without hurry, even without the need to calculate the arrival times at the vehicle passing point in step S15, it can be assumed that there is no oncoming vehicle (step S33: NO), and the process can with Proceed to step S10 to reduce unnecessary waiting time of the host vehicle C1.

Although an example of suppressing occurrence of a situation where the oncoming vehicle C2 collides in a narrow portion has been described in Embodiments 1 and 2, posts or pillars are sometimes used to prevent passage of large vehicles installed on a road bordering a river and having a width for two lanes to limit the width of a vehicle using the street can happen. Even in such a road environment, it is possible to avoid the host vehicle C1 and the oncoming vehicle C2 from facing each other in the vehicle width restriction portion by applying the vehicle control device of the present invention.

<Conclusion>

As described above, the vehicle control device of the above embodiments may have the following configuration.

(1) A vehicle control device having a processor (21) and a memory (22), the vehicle control device comprising: an external sensor (sensor SS) that detects an external environment of a host vehicle as external information; an autonomous driving map (map unit U2) on which a planned travel route of the host vehicle is set; and a driving control unit (ECU 1 for autonomous driving) that controls driving of the host vehicle (C1) based on the external information and the planned driving route, wherein the driving control unit (1) selects an alternative passing section (e.g. railroad crossing area R1) in front of the host vehicle (C1). recognizes the external information, before and after the alternative passage section (R1) on the autonomous driving map (U2), sets a plurality of spaces (SP1 to 5) as predetermined areas in which the host vehicle (C1) or an oncoming vehicle (C2) temporarily stop, a space (SP1, 4) in which the host vehicle (C1) can pass the oncoming vehicle (C2), and a space (SP2, 3) in which the host vehicle (C1) cannot pass the oncoming vehicle (C2) determines a space as the first vehicle passing point (F) based on the arrangement of the spaces (SP) set before and after the alternative passing section (R1). (SP4) that is closest to the host vehicle (C1) beyond the alternative passage section (R1) and in which vehicles can pass each other, calculates the times (TC) that the host vehicle (C1) and the oncoming vehicle (C2) need, to arrive at the first vehicle passing point (F) when the oncoming vehicle (C2) is detected beyond the alternative passing section (R1), and controls an order in which the host vehicle (C1) passes based on an order in which the host vehicle (C1 ) and the oncoming vehicle (C2) arrive at the first vehicle passing point (F).

According to the above configuration, the autonomous driving ECU 1 sets the vehicle passing point F in parallel spaces beyond the railroad crossing area R1 and determines the presence or absence of the oncoming vehicle C2 and the time it takes the oncoming vehicle C2 to arrive at the vehicle passing point F. In this way, the host vehicle C1 can pass through the single-lane railroad crossing area R1 and the individual spaces SP2 and SP3 before and after the railroad crossing area R1 without colliding with the oncoming vehicle C2.

(2) The vehicle control apparatus according to (1), wherein in a case where the host vehicle (C1) arrives at the first vehicle passing point (F) earlier than the oncoming vehicle (C2), the travel control unit (1) passes the host vehicle (C1). leaves as long as the spaces (SP) from a position of the host vehicle (C1) to the first vehicle passing point (F) and the alternative passing section (R1) are empty.

According to the above configuration, in a case where the host vehicle C1 arrives at the vehicle passing point F earlier, the autonomous driving ECU 1 allows the host vehicle C1 to start traveling and pass through the railroad crossing area R1 (or the narrow road area R100) earlier, thereby Host vehicle C1 can pass without colliding with the oncoming vehicle C2.

(3) The vehicle control apparatus according to (1), wherein in a case where the oncoming vehicle (C2) arrives at the first vehicle passing point (F) earlier than the host vehicle (C1) and it is determined that the oncoming vehicle (C2) is at the first vehicle passing point (F), the driving control unit (1) lets the host vehicle (C1) pass as long as the spaces (SP) from a position of the host vehicle (C1) to the first vehicle passing point (F) and the alternative passing section (R1) are empty.

According to the above configuration, in a case where the oncoming vehicle C2 arrives at the vehicle passing point F earlier and it is determined that the oncoming vehicle C2 has waited (stopped), the autonomous driving ECU 1 allows the host vehicle C1 to start driving and to pass through the railroad crossing area R1 (or the narrow road area R100) earlier, thereby allowing the host vehicle C1 to pass without colliding with the oncoming vehicle C2.

(4) The vehicle control apparatus according to (1), wherein the travel control unit (1) sets as the second vehicle passing point (N) a space (SP) closest to the host vehicle (C1) in front of the alternative passing section (R1) and where vehicles can pass each other, and in a case where the oncoming vehicle (C2) arrives at the first vehicle-passing point (F) earlier than the host vehicle (C1) controls that the host vehicle (C1) waits at the second vehicle-passing point (N), and, after the oncoming vehicle (C2) has passed the second vehicle passing point (N), allows the host vehicle (C1) to pass as long as the spaces (SP) between a position of the host vehicle (C1) and the first vehicle passing point (F) and the alternative passing section (R1 ) are empty.

According to the above configuration, in a case where the oncoming vehicle C2 arrives at the vehicle passing point F earlier, the autonomous driving ECU 1 controls the host vehicle C1 to wait at the vehicle passing point N before the railroad crossing area R1 (or the narrow road area R100), and allows the host vehicle C1, after the oncoming vehicle C2 has passed the vehicle passing point N, to start traveling from the vehicle passing point N and pass through the railroad crossing area R1, thereby allowing the host vehicle C1 to pass without colliding with the oncoming vehicle C2.

(5) The vehicle control apparatus according to (1), wherein in a case where the host vehicle (C1) and the oncoming vehicle (C2) arrive at the first vehicle passing point (F) at the same time, the driving control unit (1) allows the host vehicle (C1) to pass , as long as the spaces (SP) from a position of the host vehicle (C1) to the first vehicle passing point (F) and the alternative passing section (R1) are empty.

When the host vehicle C1 and the oncoming vehicle C2 arrive at the vehicle passing point F at the same time, the autonomous driving ECU 1 allows the host vehicle C1 to start driving and pass through the railroad crossing R1 (or the narrow road area R100) earlier, thereby passing the host vehicle C1 can without colliding with the oncoming vehicle C2.

(6) The vehicle control device according to (1), wherein in a case where a preceding vehicle (C101) is recognized beyond the alternative passing section (R1) and the preceding vehicle is at the first vehicle passing point (F), the driving control unit (1) das Host vehicle (C1) controls to wait before the alternative passage section (R1).

According to the above configuration, it is possible to prevent the host vehicle C1 from entering the railroad crossing R1 and maintain a smooth traffic environment even if the oncoming vehicle C2 is not present when a preceding vehicle is at the vehicle passing point F on the planned travel route of the host vehicle C1 stands.

(7) The vehicle control device according to (1), wherein the travel control unit (1) changes a size and a shape of the spaces (SP) based on the host vehicle (C1), a surrounding vehicle and/or a road shape.

According to the above configuration, the autonomous driving ECU 1 can set a temporary stop area according to the shape of the host vehicle C1, the shape of the surrounding road, and the shape of the surrounding vehicle by changing the size and shape of the spaces.

(8) The vehicle control device according to (1), wherein the travel control unit (1) stores the spaces (SP) and the first vehicle passing point (F) in a storage device, and in a case where it is determined based on the external information that the Carrier vehicle (C1) passes the alternative passage section (R1) again, reads the last calculated spaces (SP) and the first vehicle passing point (F) from the storage device and uses the spaces (SP) and first vehicle passing point (F) thus read.

According to the above configuration, the autonomous driving ECU 1 can reduce a calculation load by storing the spaces, the vehicle passing point F and the like of the railroad crossing area R1 (R100) that the host vehicle C1 has once passed and in a case where the host vehicle C1 passes the level crossing area R1 (R100) again, reusing the data calculated last time.

The present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments have been described in detail in order to explain the present invention in a manner that is easy to understand, and is not necessarily limited to an embodiment having all of the elements described. Furthermore, one or more elements of one embodiment may be replaced with an element of another embodiment. Furthermore, an element of one embodiment may be added to elements of another embodiment. In addition, one or more elements of each embodiment can be used individually or in combination with added to, deleted from or replaced by another element.

Furthermore, some or all of the above elements, functions, processing units, processing means and the like may be implemented in hardware, for example by being designed as an integrated circuit. In addition, each of the above elements, functions and the like can be realized by software by interpreting and executing a program for realizing each function by a processor. Information such as a program, a table and a file for realizing each function can be stored in a recording device such as a memory, a hard disk or a solid state drive (SSD), or a recording medium such as an IC card, an SD card or a DVD .

Also, only the control and information lines deemed necessary for the description are shown, and not all of the control and information lines of a product are shown. In practice, it can be assumed that almost all elements are interconnected.

Reference List

C1

carrier vehicle

C2

oncoming vehicle

M100

Autonomous driving map

ss

sensors

U1

communication unit

U2

card unit

1

ECU for autonomous driving

2

Control unit for autonomous driving

3

Unit for detecting objects in the environment

4

Environment Map Acquisition Unit

5

autonomous driving determination unit

6

passage determination unit

21

processor

22

Storage

23

I/O interface

24

communication interface

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• JP2005165643A [0006]
• JP2016143137A [0006]
• JP 2019053646 A [0006]

Claims (15)

A vehicle control device having a processor and a memory, the vehicle control device comprising: an external sensor that detects the external environment of a host vehicle as external information; an autonomous driving map on which a planned travel route of the host vehicle is set; and a driving control unit that controls driving of the host vehicle based on the external information and the planned driving route, wherein the driving control unit recognizes an alternative passage section in front of the carrier vehicle based on the external information, before and after the alternative passage section on the autonomous driving map, sets a plurality of spaces as predetermined areas where the host vehicle or an oncoming vehicle can temporarily stop, determines a space in which the host vehicle can pass the oncoming vehicle and a space in which the host vehicle cannot pass the oncoming vehicle, based on the arrangement of the spaces set before and after the alternative passing section, sets as the first vehicle passage point an area that is closest to the host vehicle beyond the alternative passage section and where vehicles can pass each other, calculates the times required for the host vehicle and the oncoming vehicle to arrive at the first vehicle passing point when the oncoming vehicle is detected beyond the alternative passing section, and controls the order in which the host vehicle passes based on the order in which the host vehicle and the oncoming vehicle arrive at the first vehicle passing point. Vehicle control device according to claim 1 wherein in a case where the host vehicle arrives at the first vehicle passing point earlier than the oncoming vehicle, the driving control unit allows the host vehicle to pass while spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. Vehicle control device according to claim 1 , wherein in a case where the oncoming vehicle arrives at the first vehicle-passing point earlier than the host vehicle and it is determined that the oncoming vehicle has waited at the first vehicle-passing point, the driving control unit lets the host vehicle pass while the spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. Vehicle control device according to claim 1 wherein the driving control unit sets as the second vehicle passing point a space closest to the host vehicle in front of the alternative passing section and in which vehicles can pass each other, and in a case where the oncoming vehicle arrives at the first vehicle passing point earlier than the host vehicle, controls the host vehicle to wait at the second vehicle passing point and, after the oncoming vehicle has passed the second vehicle passing point, allowing the host vehicle to pass as long as spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. Vehicle control device according to claim 1 wherein, in a case where the host vehicle and the oncoming vehicle arrive at the first vehicle passing point at the same time, the driving control unit allows the host vehicle to pass while spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. Vehicle control device according to claim 1 wherein, in a case where a preceding vehicle is recognized beyond the alternative passing section and the preceding vehicle is at the first vehicle passing point, the driving control unit controls the host vehicle to wait in front of the alternative passing section. Vehicle control device according to claim 1 , wherein the driving control unit changes the size and shape of the spaces based on the host vehicle, a surrounding vehicle, and/or the road shape. Vehicle control device according to claim 1 wherein the driving control unit stores the spaces and the first vehicle passing point in a storage device, and in a case where it is determined from the external information that the host vehicle passes through the alternative passing section again, reads the spaces and the first vehicle passing point calculated last time from the storage device and using the spaces thus read out and the first vehicle passing point. A vehicle control method in which a vehicle control device having a processor and a memory controls driving of a host vehicle based on an external sensor that detects an external environment of the host vehicle as external information and an autonomous driving map on which a planned travel route of the host vehicle is set , wherein the vehicle control method comprises: an alternative passage section recognition step in which the vehicle control device recognizes an alternative passage section in front of the host vehicle based on the external information, a space setting step in which the vehicle control device sets a plurality of spaces as predetermined areas, in which the host vehicle or an oncoming vehicle may temporarily stop before and after the alternative passing section on the autonomous driving map, a spatial determination step in which the Vehicle control device determines a space in which the host vehicle can pass the oncoming vehicle and a space in which the host vehicle cannot pass the oncoming vehicle based on the arrangement of the spaces set before and after the alternative passing section, a step of setting a first vehicle passing point in which the vehicle control device sets a space closest to the host vehicle beyond the alternative passing section where vehicles can pass each other as a first vehicle passing point, an arrival time calculation step in which the vehicle control device calculates the times that the host vehicle and require the oncoming vehicle to arrive at the first vehicle passing point when the oncoming vehicle is detected beyond the alternative passing section, and a host vehicle control step in which the The vehicle control device controls the order in which the host vehicle passes based on the order in which the host vehicle and the oncoming vehicle arrive at the first vehicle passing point. vehicle control procedures claim 9 wherein the step of host vehicle control comprises, in a case where the host vehicle arrives at the first vehicle passing point earlier than the oncoming vehicle, allowing the host vehicle to pass while the spaces between the position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. vehicle control procedures claim 9 , wherein in a case where the oncoming vehicle arrives at the first vehicle passing point earlier than the host vehicle and it is determined that the oncoming vehicle has waited at the first vehicle passing point, the step of controlling the host vehicle includes allowing the host vehicle to pass while the spaces between a position of the Carrier vehicle and the first vehicle passing point and the alternative passing section are empty. vehicle control procedures claim 9 , further comprising a second vehicle passing point setting step in which the vehicle control device sets a space closest to the host vehicle in front of the alternative passing section and in which vehicles can pass each other as a second vehicle passing point, the step of host vehicle control comprising in a case in which the oncoming vehicle arrives at the first vehicle-passing point earlier than the host vehicle, controlling the host vehicle to wait at the second vehicle-passing point, and after the oncoming vehicle has passed the second vehicle-passing point, allowing the host vehicle to pass while the spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. vehicle control procedures claim 9 wherein the step of host vehicle control comprises, in a case where the host vehicle and the oncoming vehicle arrive at the first vehicle passing point at the same time, allowing the host vehicle to pass while spaces between a position of the host vehicle and the first vehicle passing point and the alternative passing section are empty. vehicle control procedures claim 9 wherein the step of controlling the host vehicle includes, in a case where a preceding vehicle is detected beyond the alternative passage section and the preceding vehicle is at the first vehicle passing point, controlling the host vehicle to wait in front of the alternative passage section. vehicle control procedures claim 9 wherein the step of adjusting the spaces includes changing the size and shape of the spaces based on the host vehicle, a surrounding vehicle and/or the shape of the road.

Images