JP2013112069A - Traveling course generation apparatus and traveling control apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling course generation apparatus and a traveling control apparatus in which a traveling course can be generated within a predetermined time completely without performing control to stop a present vehicle and accuracy for a desired traveling course can be maintained to a certain extent.SOLUTION: A traveling course generation ECU 10 includes a traveling course calculation section 13 which generates the traveling course. On the basis of a present vehicle position and a target arrival position, the traveling course calculation section 13 generates the traveling course in accordance with a deformation method. Furthermore, when a solution of the traveling course cannot be discovered within a predetermined time by the deformation method, the traveling course is generated according to a step planner method of which the calculation time is shorter than that of the deformation method.

Description

  The present invention relates to a travel route generation device and a travel control device.

  When an automatic driving of a vehicle is performed, a traveling route of the vehicle is often generated. As a vehicle equipped with a travel route generating device that generates a travel route of such a vehicle, a vehicle that acquires a host vehicle route for the host vehicle to go to a destination and performs various driving support according to the acquired host vehicle route. There is a driving support device (see, for example, Patent Document 1).

  In this vehicle travel support device, in the case of automatic driving, a predetermined route is acquired as the own vehicle route. In addition, when the own vehicle route is not determined, the own vehicle route is predicted based on the vehicle speed, the steering angle, and the like. In addition, a travel condition such as a vehicle speed or a steering angle of the host vehicle is calculated based on the acquired host vehicle course, and the vehicle is controlled to satisfy the calculated travel condition.

JP 2006-260217 A

  However, in the vehicular travel support apparatus disclosed in Patent Document 1, it takes time to calculate when generating the own vehicle route. For this reason, the own vehicle route cannot be generated within a predetermined time, and the own vehicle route may not be generated even when the own vehicle is controlled. When the own vehicle route is not generated, for example, control for stopping the own vehicle is performed. As described above, when the control of stopping the host vehicle is performed when the host vehicle route is not generated, there are not a few cases where the control of stopping the host vehicle is performed, and there is a problem in that smooth running is hindered. .

  It is also conceivable to generate the own vehicle course by simple arithmetic processing. However, there is a problem that the vehicle path (traveling path) generated at this time is a short distance and the accuracy is low when generating a smooth traveling path.

  Accordingly, an object of the present invention is to generate a travel route within a predetermined time, and for example, it is possible to avoid the control of stopping the host vehicle, and to maintain the accuracy of a desired travel route to some extent. It is an object to provide a travel route generation device and a travel control device that can perform the above.

  The travel route generation device according to the present invention that has solved the above problems includes a host vehicle position acquisition unit that acquires the position of the vehicle, a arrival position acquisition unit that acquires a arrival position reached by the vehicle, and a position from the vehicle position to the arrival position. And a travel route generating means for generating a first travel route that is a travel route from the position of the vehicle to the arrival position by a first calculation process. And a second calculation that generates a second travel route that is a travel route from the position of the vehicle to the arrival position by a second calculation process that is lower in calculation accuracy and shorter in calculation time than the first calculation process. And when the travel route can be generated within a predetermined time by the first calculation process, the travel route can be generated within the predetermined time by the first calculation process. If not , Characterized in that the traveling path of the second traveling route.

  In the travel route generation device according to the present invention, the first calculation means for generating the first travel route by the first calculation processing, and the second calculation processing having lower calculation accuracy and shorter calculation time than the first calculation processing. Second operation means for generating a second travel route is provided. For this reason, the traveling route can be generated within a predetermined time, and for example, it is possible to avoid the control of stopping the host vehicle, and the accuracy of the desired traveling route can be maintained to some extent.

  Here, the first calculation process can be a course generation method (hereinafter referred to as “deformation method” for convenience of description) that smoothly generates a course with respect to the target course, and the second calculation process is discrete. A route generation method (hereinafter referred to as “step planner method” for convenience of description) for generating a route to a goal by arranging intermediate points (nodes) and connecting the nodes.

  The deformation method can generate a highly accurate traveling route, but takes a long time to calculate. On the other hand, in the step planner method, the accuracy of the traveling route is low, but the time required for calculation is short. For this reason, the deformation method can be preferably used as the first calculation process, and the step planner method can be preferably used as the second calculation process.

  In addition, a travel control device according to the present invention that has solved the above problems includes a vehicle travel state detection unit that detects a travel state of a vehicle and a travel route generated by the travel route generation device according to claim 1 or 2. And travel control means for controlling the travel of the vehicle based on the vehicle travel state detected by the vehicle travel state detection means.

  In the travel control device according to the present invention, travel control is performed using the travel route generated by the travel route generation device. For this reason, for example, it is not necessary to perform control for stopping the host vehicle.

  According to the travel route generation device and the travel control device according to the present invention, the travel route can be generated within a predetermined time, and for example, it is not necessary to perform control for stopping the host vehicle, and a desired travel is performed. The accuracy of the course can be maintained to some extent.

It is a block block diagram of the traveling control apparatus which concerns on 1st Embodiment. It is a flowchart which shows the process sequence of the traveling control apparatus which concerns on 1st Embodiment. It is explanatory drawing which shows the calculation method of the driving | running route by a deformation | transformation method. It is a figure which shows the example of the driving | running route produced | generated by the deformation | transformation method. It is a figure which shows the example of the driving | running route produced | generated by the step planner method. It is explanatory drawing which shows the state in which an obstacle exists, when producing | generating a driving course in a deformation | transformation method. FIG. 7 is an explanatory diagram when a traveling route is generated by the step planner method following FIG. 6.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.

  FIG. 1 is a block diagram of a travel control apparatus according to an embodiment of the present invention. As shown in FIG. 1, the travel control device 1 according to the present embodiment includes a travel route generation ECU [Electronic Control Unit] 10 and a travel control ECU 14. Each of the travel route generation ECU 10 and the travel control ECU 14 is an electronic control unit including a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. Further, a white line detection sensor 2, a GPS [Global Positioning System] device 3, and a travel state detection sensor 4 are connected to the travel control device 1. Furthermore, a travel control actuator 5 is connected to the travel control device 1.

  The travel route generation ECU 10 includes a travel region calculation unit 11, a target arrival position calculation unit 12, and a travel route calculation unit 13. Further, the travel route generation ECU 10 is connected to the travel control ECU 14. The travel route generation ECU 10 constitutes a travel route generation device of the present invention.

  The white line detection sensor 2 includes, for example, a CCD [Charge Coupled Device] camera and an image processing device. The CCD camera is attached, for example, in front of or on the side of the host vehicle, and takes an image around the host vehicle. In the image processing apparatus, image processing is performed on an image captured by the CCD camera, and a white line in the image is detected as a traveling environment of the host vehicle. The white line detection sensor 2 transmits white line information regarding the white line detected by the image processing apparatus to the travel area calculation unit 11 in the travel route generation ECU 10.

  The GPS device 3 performs GPS communication by radio communication with a GPS satellite. The GPS device 3 stores map information, and is detected as a traveling environment of the host vehicle such as the position of the host vehicle and the direction with respect to the road, based on the GPS communication with the GPS satellite and the stored map information. doing. The GPS device 3 transmits the detected vehicle position information relating to the traveling environment of the host vehicle and the stored map information as GPS information to the travel region calculation unit 11 and the travel route calculation unit 13 in the travel route generation ECU 10. The GPS device 3 constitutes own vehicle position acquisition means of the present invention.

  The traveling state detection sensor 4 includes, for example, a vehicle speed sensor having a wheel speed sensor provided on a wheel of the host vehicle, measures the wheel speed, and detects the vehicle speed from the measured wheel speed. The traveling state detection sensor 4 transmits the detected vehicle speed to the traveling route calculation unit 13 in the traveling route generation ECU 10. The traveling state detection sensor 4 and the GPS device 3 constitute vehicle traveling state detection means of the present invention.

  Based on the white line information transmitted from the white line detection sensor 2 and the GPS information transmitted from the GPS device 3, the travel area calculation unit 11 in the travel route generation ECU 10 calculates a travel area in which the host vehicle can travel by calculation. . The travel area calculation unit 11 outputs the travel area information regarding the calculated travel area to the target arrival position calculation unit 12.

  Based on the travel area information output from the travel area calculation unit 11, the target arrival position calculation unit 12 calculates a target arrival position that is an arrival target when the host vehicle travels. The target arrival position calculation unit 12 uses the vehicle speed information transmitted from the traveling state detection sensor 4 in addition to the position information of the target arrival position, and the target time that is the time when the host vehicle reaches the target arrival position. Is calculated.

  The target arrival position calculation unit 12 outputs target arrival position information related to the calculated target arrival position to the travel route calculation unit 13. Target time information related to the target time is added to the target arrival position information. The travel route generation ECU 10 including the target arrival position calculation unit 12 constitutes the arrival position acquisition means of the present invention.

  The travel route calculation unit 13 travels the host vehicle from the host vehicle position to the target destination position based on the host vehicle position information transmitted from the GPS device 3 and the target destination position information output from the target destination position calculation unit 12. Create a course. The travel route to the target arrival position is calculated using a deformation method or a step planner method.

  The deformation method corresponds to the first calculation means of the present invention, and the step planner method corresponds to the second calculation processing with lower calculation accuracy and shorter calculation time than the first calculation processing. Further, the travel route generation ECU 10 including the travel route calculation unit 13 that calculates the travel route by the deformation method constitutes the first calculation means of the present invention and is calculated by using the step planner method. The travel route generation ECU 10 including the travel route calculation unit 13 that calculates the travel route by the deformation method constitutes the second calculation means of the present invention. Furthermore, the travel route generated by the deformation method corresponds to the first travel route of the present invention, and the travel route generated by the step planner method corresponds to the second route of the present invention.

  The travel route calculation unit 13 transmits the generated travel route information to the travel control ECU 14. Further, the travel route calculation unit 13 sends travel information regarding travel of the host vehicle such as vehicle speed information transmitted from the travel state detection sensor 4 and vehicle information transmitted from the GPS device 3 to the travel control ECU 14. Send. The travel route calculation unit 13 constitutes a travel route generation means of the present invention.

  The travel control ECU 14 also calculates travel control amounts such as acceleration / deceleration and steering angle of the host vehicle based on the travel route information and travel information output from the travel route calculation unit 13. The travel control ECU 14 transmits travel control amount information related to the calculated travel control amount to the travel control actuator 5. The travel control ECU 14 constitutes a travel control means of the present invention.

  The travel control actuator 5 includes an acceleration / deceleration actuator for accelerating / decelerating the host vehicle and a steering actuator for adjusting a steering angle. The travel control actuator 5 operates the acceleration / deceleration actuator and the steering actuator based on the travel control amount information transmitted from the travel control ECU 14 to control the travel of the host vehicle.

  Next, the operation of the travel control device according to the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure of the travel control apparatus according to the present embodiment. As shown in FIG. 2, in the travel control device according to the present embodiment, first, various information according to sensor signals transmitted from various sensors such as the white line detection sensor 2, the GPS device 3, and the travel state detection sensor 4. Is read (S1).

  Next, the travel area calculation unit 11 calculates the travel area (S2). The travel area is calculated based on the white line information transmitted from the white line detection sensor 2. For example, when two white lines drawn on both sides of a road are detected, an area inside the white lines on both sides is calculated as a travel area.

  After calculating the travel region, the target arrival position calculation unit 12 calculates the target arrival position (S3). As the target arrival position, for example, the center position of a line segment that connects two white lines and crosses the road and that is at a predetermined distance from the vehicle position can be used. Also, the target arrival position can be calculated by other methods.

Subsequently, a travel route from the vehicle position to the target arrival position is generated. Here, the traveling route is generated by the deformation method (S4). The deformation method is a method of continuously generating a course, and can generate a smooth path. In the deformation method, as shown in FIG. 3, the host vehicle is present at the current position P, and the distance between the travel route OL calculated in the past at the point i and the newly calculated travel route NL is dist _i. The traveling route can be generated using the following equation (1).

  The deformation method can generate a smooth travel route, but if the travel route is calculated in a wide area, the amount of calculation is large and the calculation time may be enormous. For example, as shown in FIG. 4, when the travel route OL generated in the past is different from the newly generated travel route NL, or an obstacle is found on the travel route generated in the past, When a route that avoids this obstacle is generated as a traveling route, a huge amount of processing time is required.

  Therefore, calculation of the travel route is started by the deformation method, and it is determined whether or not a solution of the travel route has been found within a predetermined time (S5). As a result, when the solution of the traveling route cannot be found, the calculation of the traveling route by the deformation method is stopped, and the traveling route is generated by the step planner method (S6).

  In the step planner method, as shown in FIG. 5, points (nodes) are discretely arranged between the own vehicle position (START) and the target arrival position (GOAL), and the arranged nodes are randomly connected. A route is generated by setting a plurality of routes and obtaining the best route from these routes based on a predetermined evaluation function. In FIG. 5, nodes P11 to P13, P21 to P28, and P31 to P36 are arranged, and a traveling route SL is generated by connecting the nodes P12, P23, and P33. In the step planner method, it is possible to search a wide range, avoid falling into a local solution (local minimum), and generate a rough course in a wide region.

  Thus, when the travel route is generated by the deformation method or the step planner method, the generated travel route is output to the travel control ECU 14 (S7). The travel control ECU 14 calculates the operation amount of the travel control actuator 5 based on the output travel route information and travel state information such as the vehicle speed and the direction of the host vehicle. The travel control ECU 14 controls the travel control actuator 5 according to the calculated operation amount (S8). Thus, the process in the travel control device is finished.

  Here, for example, as shown in FIG. 6, when the vehicle is in the past and the vehicle is present at the current position P, a new vehicle track NL is calculated when the vehicle is generated by the deformation method. Suppose that In this case, when a new traveling route NL passes through the obstacle W, the deformation method has many constraints for generating a route such as a steering amount and a maximum acceleration / deceleration value, and corresponds to a large change in the corresponding route to be calculated. Is difficult. For this reason, generation of a new travel route may stop.

  Therefore, when the traveling route is generated by the deformation method, if the solution cannot be found even after a predetermined time has elapsed, the traveling route SL is generated by the step planner method as shown in FIG. In the step planner method, it is impossible to generate a smooth route, but it is possible to prevent a situation in which generation of a traveling route stops. Then, when generating the travel route in the next cycle, a smooth travel route can be generated by generating the travel route again by the deformation method.

  As described above, in the travel control device according to the present embodiment, the travel route is generated by the deformation method, and the travel route is generated by the step planner method when a solution by the deformation method cannot be found within a predetermined time. I have to. For this reason, the traveling route can be generated within a predetermined time, and for example, it is possible to avoid the control for stopping the host vehicle. Furthermore, when a travel route by the deformation method can be generated within a predetermined time, a smooth travel route can be generated.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the travel control is performed by the travel control ECU 14, but a travel route notifying unit that notifies the driver of the travel route generated by the travel route generation ECU 10 can be provided. It is also possible to provide travel condition notifying means for notifying the driver of the travel conditions to achieve. In these cases, driving support for supporting the driving of the driver is performed instead of the traveling control. In addition, driving support can be performed by accelerating / decelerating or steering torque assist using a travel control device without performing complete travel control.

  Further, in the above embodiment, when the solution of the travel route by the deformation method cannot be found, generation of the travel route by the step planner method is started, but the travel route is simultaneously determined by the deformation method and the step planner method. When the generation is started and the solution of the travel route by the deformation method cannot be found, the travel route by the step planner method can be adopted.

  DESCRIPTION OF SYMBOLS 1 ... Traveling control apparatus, 2 ... White line detection sensor, 3 ... GPS apparatus, 4 ... Traveling state detection sensor, 5 ... Traveling control actuator, 11 ... Traveling area calculation part, 12 ... Target arrival position calculation part, 13 ... Traveling path calculation Part, 14 ... travel control ECU.

Claims (2)

Own vehicle position acquisition means for acquiring the position of the vehicle;
Arrival position acquisition means for acquiring an arrival position reached by the vehicle;
A travel route generating means for generating a travel route between the position of the vehicle and the arrival position;
The travel route generation means includes
First calculation means for generating a first travel route that is a travel route from the position of the vehicle to the arrival position by a first calculation process;
Second calculation means for generating a second travel route that is a travel route from the position of the vehicle to the arrival position by a second calculation process having lower calculation accuracy and shorter calculation time than the first calculation process; , And
When the travel route can be generated within a predetermined time by the first calculation process, the first travel route is set as a travel route,
A travel route generation apparatus, wherein the second travel route is set as a travel route when the travel route cannot be generated within a predetermined time by the first calculation process. Vehicle running state detecting means for detecting the running state of the vehicle;
A travel control means for controlling travel of the vehicle based on the travel path generated by the travel path generation device according to claim 1 and the vehicle travel state detection means and detected by the vehicle travel state detection means;
A travel control device comprising:

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