JP2013186722A - Travel control apparatus and travel control method - Google Patents

Travel control apparatus and travel control method Download PDF

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Publication number
JP2013186722A
JP2013186722A JP2012051658A JP2012051658A JP2013186722A JP 2013186722 A JP2013186722 A JP 2013186722A JP 2012051658 A JP2012051658 A JP 2012051658A JP 2012051658 A JP2012051658 A JP 2012051658A JP 2013186722 A JP2013186722 A JP 2013186722A
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target
vehicle
travel
blind spot
unit
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JP2012051658A
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Japanese (ja)
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Yoshitaka Takagi
良貴 高木
Hikari Nishira
西羅  光
Shinichiro Jo
新一郎 城
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Nissan Motor Co Ltd
日産自動車株式会社
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Priority to JP2012051658A priority Critical patent/JP2013186722A/en
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Abstract

PROBLEM TO BE SOLVED: To provide a travel control apparatus capable of safely travelling a road with poor visibility.SOLUTION: A dead angle determination part 11 determines an existence of a dead angle point on a track in a direction of travel at a prescribed distance away from own vehicle, according to image information and road information. A vehicle geometric target calculation part 12 sets a target position and a target attitude which the own vehicle is to reach, according to the road information, speed and the dead angle point. A vehicle target arrival process calculation part 13 calculates a travel route until reaching the target position and the target attitude. If the dead angle determination part 11 determines that a dead angle point exists, the vehicle geometric target calculation part 12 sets the target position and the target attitude at a location where the dead angle in an angle of view of a travel environment detection part 21 becomes minimum, on a track within the angle of view of the travel environment detection part 21.

Description

  The present invention relates to a travel control device and a travel control method for controlling travel of a vehicle.

  Conventionally, as a device that supports driving operation of a vehicle on a road with poor visibility, a blind corner camera that images the front side of the vehicle and a front camera that images the front of the vehicle, An apparatus has been proposed in which when a T-shaped road is detected, an image of a bride corner camera is displayed on a monitor in a passenger compartment so that a driver can visually recognize a road that cannot be seen from the driver's seat (see Patent Document 1).

JP 2007-140992 A

However, the apparatus described in Patent Document 1 has a configuration that requires two cameras: a front camera that is highly versatile and can be shared with other support apparatuses, and a blind corner camera that is less versatile and is used exclusively for the apparatus. , Camera costs.
An object of the present invention is to provide a travel control device and a travel control method capable of safely traveling on a road with poor visibility.

  The traveling environment detection unit detects image information in the traveling direction of the host vehicle with a predetermined angle of view. A road information detection part detects the road information which exists in the own vehicle advancing direction. The vehicle state detection unit detects the speed of the host vehicle. The blind spot determination unit is configured to detect the blind spot in the angle of view of the travel environment detection unit on a travel path a predetermined distance in the traveling direction of the host vehicle based on the image information detected by the travel environment detection unit and the road information detected by the road information detection unit. Determine whether there is a blind spot where this occurs. The vehicle geometric target calculation unit sets a target position and a target posture that the host vehicle should reach based on the road information detected by the road information detection unit, the speed detected by the vehicle state detection unit, and the blind spot. The vehicle target arrival process calculation unit calculates a travel route to reach the target position and target posture set by the vehicle geometric target calculation unit. The vehicle control unit controls the travel of the host vehicle based on the travel route calculated by the vehicle target arrival process calculation unit. When the blind spot determination unit determines that a blind spot exists, the vehicle geometric target calculation unit sets the target at a point where the blind spot of the view angle of the travel environment detection unit is minimum on the travel path within the view angle of the travel environment detection unit. Set the position and target posture.

  ADVANTAGE OF THE INVENTION According to this invention, the traveling control apparatus and traveling control method which can drive | work safely the road with a bad view can be provided.

It is a typical block diagram explaining the basic composition of the traveling control device concerning a 1st embodiment of the present invention. It is a typical figure explaining the application example of the traveling control apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart explaining the process for every sampling time of the traveling control apparatus which concerns on the 1st Embodiment of this invention. It is a schematic diagram explaining the process of the traveling control apparatus which concerns on the 1st Embodiment of this invention in time series. It is a typical block diagram explaining the fundamental structure of the traveling control apparatus which concerns on the 2nd Embodiment of this invention. It is a schematic diagram explaining the application example of the traveling control apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart explaining the process for every sampling time of the traveling control apparatus which concerns on the 2nd Embodiment of this invention. Schematic explaining the processing of the travel control device according to the second embodiment of the present invention in time series

  Next, first and second embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, the embodiment described below exemplifies an apparatus and a method for embodying the technical idea of the present invention, and the technical idea of the present invention is an apparatus exemplified in the following embodiment. It is not specific to the method. The technical idea of the present invention can be variously modified within the technical scope described in the claims.

(First embodiment)
As illustrated in FIG. 1, the travel control device according to the first embodiment of the present invention includes a processing unit 10 that processes various calculations necessary for the operation of the travel control device according to the first embodiment; A traveling environment detection unit 21a, a road information detection unit 22, a vehicle state detection unit 23, and a vehicle control unit 30 are provided. The travel control apparatus according to the first embodiment is mounted on a vehicle and controls the travel of the host vehicle.

  The traveling environment detection unit 21a captures the traveling direction of the host vehicle with a predetermined angle of view, and detects the environment in which the host vehicle travels as image information. For example, as illustrated in FIG. 2, the traveling environment detection unit 21 a includes a front camera installed on the roof in front of the vehicle interior with the front of the vehicle in the shooting direction. The travel environment detection unit 21a detects obstacle information such as buildings, oncoming vehicles, and parked vehicles, road shapes, and the like from the image information. When detecting an obstacle such as an oncoming vehicle, the traveling environment detection unit 21a can detect the speed information of the obstacle by detecting an image every predetermined time.

  The road information detection unit 22 has map information, and includes road attributes such as intersections, T-shaped roads, and single roads in addition to the road curve radius and road width up to a predetermined distance in the traveling direction of the vehicle. Detect as road information. The road information detection unit 22 includes a car navigation device installed in the center of the dashboard, for example. The vehicle state detection unit 23 detects the speed of the vehicle as the vehicle state. The vehicle state detection part 23 consists of a wheel speed sensor etc. which were installed in the rear wheel which is a driven wheel, for example.

The vehicle control unit 30 includes an actuator or the like that controls the operation of the host vehicle. For example, as shown in FIG. 2, the vehicle control unit 30 includes a drive motor 31 that drives the vehicle, a brake 32 that decelerates and stops the vehicle, an EPS (Electric Power Steering) motor 33 that changes the traveling direction of the vehicle, and the like. . The EPS motor 33 can be driven according to the rotation of the steering wheel 41 and changes the direction of the front wheel 42. The configuration of the vehicle control unit 30 is an example, and other device configurations may be used. For example, the drive motor 31 may have another configuration such as an engine, and the EPS motor 33 may have a hydraulic steering system.
The processing unit 10 includes a blind spot determination unit 11, a vehicle geometric target calculation unit 12, and a vehicle target arrival process calculation unit 13 as a logical structure.

  The blind spot determination unit 11 is based on the image information detected by the travel environment detection unit 21a, the road information detected by the road information detection unit 22, and the like on the road ahead of a predetermined distance in the traveling direction of the host vehicle. It is determined whether there is a blind spot where a blind spot occurs in the angle of view. The blind spot determination unit 11 sets the distance of the travel path that is the target of the blind spot determination based on the road information detected by the road information detection unit 22, the speed detected by the vehicle state detection unit 23, and the like.

  The vehicle geometric target calculation unit 12 is based on the image information of the traveling environment detection unit 21a, the road information detected by the road information detection unit 22, and the vehicle state detected by the vehicle state detection unit 23. Is detected, and the target position and target posture that the host vehicle should reach are set based on the blind spot point determined by the blind spot determination unit 11.

  The vehicle target arrival process calculation unit 13 calculates a travel route until the host vehicle reaches the target position and target posture set by the vehicle geometric target calculation unit 12. The vehicle target arrival process calculation unit 13 is based on obstacle information detected by the travel environment detection unit 21a, information on the difference between the road shape detected by the travel environment detection unit 21a and the road shape detected by the road information detection unit 22, and the like. The travel route until the target position and target posture are reached can be calculated. The travel route does not have to be a single line, and may be calculated as a region indicating a travelable range.

  An example of the travel control method in the travel control apparatus according to the embodiment will be described using the flowchart of FIG. In the following description, a vehicle to which the travel control device according to the first embodiment is applied generates a route to a destination set in the car navigation device, and at a predetermined travel point on the route, a processing unit The vehicle control unit 30 will be described as an automatically driven vehicle in which the vehicle is automatically controlled so as to follow the target position and target posture set by 10.

  First, in step S101, the processing unit 10 acquires the current position of the host vehicle from a global positioning system (GPS) receiver or the like included in the road information detection unit 22, and acquires the speed of the host vehicle from the vehicle state detection unit 23. To do.

In step S <b> 102, the processing unit 10 acquires the curvature radius, road width, and road attribute of a road a predetermined distance ahead in the traveling direction as road information of the traveling direction of the own vehicle detected by the road information detecting unit 22.
In step S103, the processing unit 10 acquires image information detected by the traveling environment detection unit 21a.

  In step S104, the processing unit 10 determines whether the activation flag indicating the activation state of the travel control method according to the first embodiment is “ON” or “OFF”. When the activation flag is ON, the processing unit 10 advances the process to step S110. If the activation flag is OFF, the process proceeds to step S105.

  In step S105, the blind spot determination unit 11 has a blind spot with a poor visibility on a road a predetermined distance ahead in the traveling direction based on the image information detected by the traveling environment detection unit 21a, the road information detected by the road information detection unit 22, and the like. Determine the location. If the blind spot determining unit 11 determines that there is no blind spot, the process within one sampling time of the traveling control method according to the first embodiment is terminated, and if it is determined that there is a blind spot, the process proceeds to step S106. To proceed.

  The predetermined distance used by the blind spot determination unit 11 to determine the blind spot point indicates a distance expected to reach a predetermined time from the vehicle speed detected by the vehicle state detection unit 23. The blind spot determination unit 11 determines, for example, a method for determining whether the spot can be a blind spot from the map information of the road information detection unit 22 or the presence or absence of an obstacle detected within the angle of view of the traveling environment detection unit 21a. The blind spot point is determined by the method to do so.

  In step S106, in response to the determination that the blind spot is present in the traveling direction in step S105, the processing unit 10 sets the start flag to ON, and sets the travel control method according to the first embodiment to the start state. To do.

  In step S107, the vehicle geometric target calculation unit 12 determines the target position and the blind position determined by the blind spot determination unit 11 based on the road information detected by the road information detection unit 22, the vehicle state detected by the vehicle state detection unit 23, and the blind spot point determined by the blind spot determination unit 11. Set the target posture. The vehicle geometric target calculation unit 12 generates a risk potential, can be reached from the current vehicle state based on the generated risk potential, and is on the travel road at the angle of view of the travel environment detection unit 21 at the time of arrival. A target position and a target posture are set at a point where the blind spot is minimum. The risk potential is generated by distributing risk values calculated based on road information detected by the road information detection unit 22 and obstacle information detected by the traveling environment detection unit 21a on a two-dimensional plane.

In step S <b> 108, the vehicle target reaching process calculation unit 13 calculates and sets a travel route to the target position and target posture set by the vehicle geometric target calculation unit 12. Based on the risk potential and a mathematical model representing the motion of the vehicle, the vehicle target reaching process calculation unit 13 calculates a travel route until the risk potential is low and the target position and target posture are realized. The travel route does not need to be a single line. For example, a line passing through the innermost side and a line passing through the outermost side of the curve are calculated, and the area surrounded by the calculated two lines is calculated as the travelable range. May be.
Further, the calculation method of the target position, target posture, and travel route in step S107 and step S108 may be calculated using an optimization calculation method.

  In step S109, the vehicle target arrival process calculation unit 13 drives the vehicle control unit 30 based on the calculated travel route, the current position of the host vehicle detected by the road information detection unit 22, and the like. For example, the vehicle target arrival process calculation unit 13 drives the EPS motor 33 using the deviation from the travel route acquired from the road information detection unit 22 as feedback information, and based on the curvature radius of the travel route and the road attribute, A target vehicle speed suitable for traveling is calculated, and the drive motor 31 and the brake 32 are driven. In step S110, the vehicle control unit 30 controls the operation of the host vehicle, and ends the processing within one sampling time of the travel control method according to the first embodiment.

  In step S110, the vehicle target reaching process calculation unit 13 determines whether or not the target position and target posture set by the vehicle geometric target calculation unit 12 have been reached. The processing unit 10 proceeds to step S109 when the vehicle target arrival process calculation unit 13 determines that the target position and target posture have not yet been reached, and proceeds to step S111 when determined that the vehicle target arrival process calculation unit 13 has not reached the target position and target posture.

In step S111, the blind spot determination unit 11 determines whether there is a blind spot on a road a predetermined distance ahead in the traveling direction based on the image information detected by the traveling environment detection unit 21a, the road information detected by the road information detection unit 22, and the like. Judging. If the blind spot determination unit 11 determines that there is a blind spot, the process proceeds to step S107. If it is determined that there is no blind spot, the process proceeds to step S112.
In step S112, the processing unit 10 sets the activation flag to OFF, and ends the processing within one sampling time of the traveling control method according to the first embodiment.
An example of a scene in the case where the processing unit 10 advances the process for a vehicle to which the travel control device according to the first embodiment is applied will be described in time series with reference to FIG.

As shown in FIG. 4, in a state where the vehicle travels at the position of C 0 and the building B exists on the left side of the traveling road, the blind spot determination unit 11 performs road information and a traveling environment detection unit 21a of the road information detection unit 22. From the image information of the angle of view F 0 detected by, the front blind corner is determined as the blind spot A.

After the blind spot determining unit 11 determines that the spot is a blind spot point A, the vehicle geometric target calculating unit 12 arrives from the current position of the host vehicle within the range of the traveling path of the angle of view F 0 detected by the traveling environment detecting unit 21. The target position and the target posture are set at a position of C 1 where the blind spot on the travel path at the angle of view F 1 of the travel environment detection unit 21 becomes the smallest when the travel environment detection unit 21 arrives. The vehicle target arrival process calculation unit 13 calculates a travel route P that realizes the target position and target posture set by the vehicle geometric target calculation unit 12.

  Next, after the vehicle control unit 30 controls the operation of the host vehicle and reaches the target position and target posture, the blind spot determination unit 11 determines again whether there is a blind spot point. When it is determined that the vehicle has passed the blind spot, normal driving control is performed, and a new target position and target posture are set within the range of the road area detected by the angle of view of the driving environment detection unit 21, and automatic driving is performed. Done.

  According to the travel control apparatus of the first embodiment of the present invention, when the vehicle is determined to have a blind spot ahead of the travel path, the host vehicle is within the region on the travel path that can be detected by the travel environment detection unit 21a. Since the target position and target posture of the host vehicle are set at a point where the blind spot existing in the traveling direction is the minimum, it is possible to safely travel on a road with poor visibility while ensuring the maximum visibility.

  Further, according to the travel control apparatus according to the first embodiment of the present invention, the target position and target posture of the host vehicle are set based on the host vehicle speed, the road shape, and the viewing angle of the travel environment detection unit 21a. The target can be appropriately set according to the driving scene.

  Moreover, according to the traveling control apparatus according to the first embodiment of the present invention, the blind spot determination timing is set based on the own vehicle speed, so that even in the same traveling environment, depending on the current own vehicle traveling state. The present invention can be activated at an appropriate timing.

(Second Embodiment)
As shown in FIG. 5, the travel control apparatus according to the second embodiment of the present invention takes a picture of the traveling direction of the host vehicle with a predetermined angle of view and uses the environment in which the host vehicle travels as image information. It differs from the first embodiment in that the traveling environment detection unit 21b to be detected is configured by a laser scanner, the processing contents of the vehicle target arrival process calculation unit 13, and the like. For example, as illustrated in FIG. 6, the traveling environment detection unit 21 b is installed at the front end of the vehicle. Other configurations that are not described in the second embodiment are substantially the same as those in the first embodiment, and thus redundant description is omitted.

  An example of a travel control method in the travel control apparatus according to the second embodiment will be described using the flowchart of FIG. In the following description, a vehicle to which the travel control device according to the second embodiment is applied generates a route to a destination set in the car navigation device, and at a predetermined travel point on the route, a processing unit The vehicle control unit 30 will be described as an automatically driven vehicle in which the vehicle is automatically controlled so as to follow the target position and target posture set by 10.

  First, in step S <b> 201, the processing unit 10 acquires the current position of the host vehicle from a GPS receiver or the like included in the road information detection unit 22, and acquires the speed of the host vehicle from the vehicle state detection unit 23.

In step S <b> 202, the processing unit 10 acquires the curvature radius, road width, and road attribute of a road a predetermined distance ahead in the traveling direction as the road information of the traveling direction of the host vehicle detected by the road information detecting unit 22.
In step S203, the processing unit 10 acquires image information detected by the traveling environment detection unit 21b scanning the front of the vehicle.

  In step S204, the processing unit 10 determines whether the activation flag indicating the activation state of the travel control method according to the first embodiment is “ON” or “OFF”. If the activation flag is ON, the processing unit 10 advances the processing to step S211. If the activation flag is OFF, the process proceeds to step S205.

  In step S205, the blind spot determination unit 11 has a blind spot with a poor visibility on a road a predetermined distance ahead in the traveling direction based on the image information detected by the traveling environment detection unit 21b, the road information detected by the road information detection unit 22, and the like. Determine the location. If the blind spot determining unit 11 determines that there is no blind spot, the process within one sampling time of the traveling control method according to the second embodiment is terminated, and if it is determined that there is a blind spot, the process proceeds to step S206. To proceed.

  In step S206, when the processing unit 10 determines that there is a blind spot in the traveling direction in step S205, the processing unit 10 sets the activation flag to ON, and sets the traveling control method according to the first embodiment to the activated state. To do.

  In step S207, the vehicle geometric target calculation unit 12 determines the target position and the target position based on the road information detected by the road information detection unit 22, the vehicle state detected by the vehicle state detection unit 23, and the blind spot determined by the blind spot determination unit 11. Set the target posture. The vehicle geometric target calculation unit 12 generates a risk potential, can be reached from the current vehicle state based on the generated risk potential, and on the road at the angle of view of the traveling environment detection unit 21b when reaching the vehicle geometric target calculation unit 12 A target position and a target posture are set at a point where the blind spot is minimum.

  In step S208, the vehicle target reaching process calculation unit 13 calculates and sets the travel route to the target position and target posture set by the vehicle geometric target calculation unit 12. Based on the risk potential and a mathematical model representing the motion of the vehicle, the vehicle target reaching process calculation unit 13 calculates a travel route until the risk potential is low and the target position and target posture are realized.

  In step S209, the vehicle target arrival process calculation unit 13 determines whether or not there is a travel route that realizes the target position and target posture set for each sampling time, and the travel route does not exist and cannot be calculated. Returns the process to step S207, and sets the target position and target posture again based on the risk potential. If there is a travel route, the process proceeds to step S210.

  In step S210, the vehicle target arrival process calculation unit 13 drives the vehicle control unit 30 based on the calculated travel route, the current position of the host vehicle detected by the road information detection unit 22, and the like. The vehicle control unit 30 controls the operation of the host vehicle, and ends the processing within one sampling time of the traveling control method according to the first embodiment.

  In step S211, the vehicle target arrival process calculation unit 13 determines whether or not the target position and target posture set by the vehicle geometric target calculation unit 12 have been reached. The processing unit 10 proceeds to step S212 when the vehicle target arrival process calculation unit 13 determines that the target position and target posture have not yet been reached, and proceeds to step S214 when determined that the vehicle target arrival process calculation unit 13 has not reached the target position and target posture.

  In step S212, the traveling environment detection unit 21b determines whether an obstacle such as an oncoming vehicle may enter the traveling route while traveling on the traveling route calculated by the vehicle target arrival process calculating unit 13. If it is determined that there is a risk that the obstacle will enter the travel route, the process proceeds to step S208. If it is determined that there is no possibility that the obstacle will enter, the process proceeds to step S213.

  In step S213, the vehicle target reaching process calculation unit 13 determines whether or not the own vehicle has deviated from the calculated travel route. If the host vehicle has deviated from the travel route, the process proceeds to step S208. If not deviated, the process proceeds to step S210.

In step S214, the blind spot determination unit 11 determines whether there is a blind spot on a road a predetermined distance ahead in the traveling direction based on the image information detected by the traveling environment detection unit 21b, the road information detected by the road information detection unit 22, and the like. Judging. When the blind spot determination unit 11 determines that there is a blind spot, the process proceeds to step S207, and when it is determined that there is no blind spot, the process proceeds to step S215.
In step S215, the processing unit 10 sets the activation flag to OFF, and ends the processing within one sampling time of the traveling control method according to the second embodiment.
An example of a scene in the case where the processing unit 10 advances the process for a vehicle to which the travel control device according to the second embodiment is applied will be described in time series with reference to FIG.

As shown in FIG. 8A, in the state where the vehicle travels at the position of C 0 and the building B exists in front of the left side of the travel path, the blind spot determination unit 11 performs the road information and travel of the road information detection unit 22. from the image information of the angle of view F 0 the environment detecting unit 21b detects, in front of the blind corner determines that blind spot point a.

After the blind spot determining unit 11 determines that the spot is a blind spot point A, the vehicle geometric target calculating unit 12 arrives from the current position of the host vehicle within the range of the traveling path of the angle of view F 0 detected by the traveling environment detecting unit 21b. The target position and the target posture are set at a position of C 1 where the blind spot on the travel path at the angle of view F 1 of the travel environment detection unit 21b becomes the smallest at the time of arrival. The vehicle target arrival process calculation unit 13 calculates a travel route P that realizes the target position and target posture set by the vehicle geometric target calculation unit 12.

Next, as shown in FIG. 8B, the vehicle control unit 30 performs control of the vehicle along the travel route P calculated by the vehicle target arrival process calculation unit 13 from the opposite side. When the traveling oncoming vehicle D is detected by the traveling environment detection unit 21b and it is determined that there is a risk of contact by traveling on the calculated traveling route P, the vehicle target arrival process calculating unit 13 resets the traveling route. Do. If the vehicle target arrival process calculation unit 13 cannot reset the travel route to reach the target position and target posture, the vehicle geometric target calculation unit 12 resets the target position and target posture based on the current risk potential. Do. For example, when the host vehicle D is detected at the position C 2 and the oncoming vehicle D is detected at the angle of view F 2 , the vehicle geometric target calculation unit 12 resets the target position and target posture to the position C 3 and reaches the vehicle target. The process calculation unit 13 resets the travel route P.

After the vehicle control unit 30 controls the operation of the host vehicle and reaches the target position and the target posture, the blind spot determination unit 11 determines again whether there is a blind spot point. When it is determined that the vehicle has passed the blind spot point A, normal traveling control is performed, and a new target position and target posture are set to C 4 within the range of the traveling road area detected by the angle of view F 3 of the traveling environment detection unit 21b. The position is set and automatic operation is performed.

  According to the travel control apparatus according to the second embodiment of the present invention, the target position and the target posture are realized based on the position and speed information of the obstacle detected every predetermined time by the travel environment detection unit 21b. Since the correction is performed by resetting the travel route or travelable range of the vehicle, even if obstacles that did not exist at the time of target setting appear during vehicle control or when the road shape changes, the travel route or travel The travel control can be appropriately performed by correcting the possible range.

  In addition, according to the travel control device of the second embodiment of the present invention, when it is determined that the vehicle has deviated from the calculated travel route or the travelable range, the travel for realizing the target position and the target posture is performed. Since the route or the range that can be traveled is corrected, the travel route or the travelable region can also be deviated when the vehicle deviates from the travel route or the travelable region set by the change of the friction coefficient of the road surface, modeling error, or driver intervention. The travel control can be appropriately performed by the correction of the range.

  Further, according to the travel control device according to the second embodiment of the present invention, in order to reset the set target position and target posture when it is determined that there is no travel route that realizes the target position and target posture, Even when the situation changes so much that it cannot be handled by resetting the travel route during vehicle control, the travel control can be appropriately performed by resetting the target value position and the target posture.

  As described above, the present invention has been described according to the above-described embodiments. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art. It goes without saying that the present invention includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 10 Processing part 11 Blind spot judgment part 12 Vehicle geometric target calculation part 13 Vehicle target arrival process calculation part 21a, 21b Travel environment detection part 22 Road information detection part 23 Vehicle state detection part 30 Vehicle control part 31 Drive motor 32 Brake 33 Motor 33 EPS Motor 41 Steering wheel 42 Wheel

Claims (6)

  1. A traveling environment detection unit that detects image information of the traveling direction of the vehicle with a predetermined angle of view;
    A road information detection unit for detecting road information existing in the traveling direction of the vehicle;
    A vehicle state detector that detects the speed of the vehicle;
    Based on the image information detected by the travel environment detection unit and the road information detected by the road information detection unit, a blind spot is generated in the angle of view of the travel environment detection unit on a travel path a predetermined distance in the traveling direction of the host vehicle. A blind spot determination unit for determining whether there is a blind spot to be performed,
    A vehicle geometric target calculation unit that sets a target position and a target posture that the host vehicle should reach based on the road information detected by the road information detection unit, the speed detected by the vehicle state detection unit, and the blind spot point;
    A vehicle target arrival process calculation unit for calculating a travel route until the vehicle geometric target calculation unit sets a target position and a target posture; and
    A vehicle control unit that controls the travel of the host vehicle based on the travel route calculated by the vehicle target arrival process calculation unit;
    When the blind spot determining unit determines that the blind spot exists, the vehicle geometric target calculating unit has a minimum blind angle of the field of view of the traveling environment detecting unit on a traveling path within the field of view of the traveling environment detecting unit. The travel control device, wherein the target position and the target posture are set at a point.
  2.   2. The travel control device according to claim 1, wherein the blind spot determination unit sets a distance of a travel path to be determined as a blind spot based on at least the speed detected by the vehicle state detection unit. .
  3.   The said vehicle target arrival process calculation part sets the said target position and target attitude | position based on the obstruction information detected by the said driving environment detection part for every predetermined time, The Claim 1 or 2 characterized by the above-mentioned. Travel control device.
  4.   The vehicle target reaching process calculation unit resets the target position and target posture when the vehicle determines that the vehicle has deviated from the calculated travel route. The travel control device described in 1.
  5.   The vehicle geometric target calculation unit resets the target position and target posture when the vehicle target arrival process calculation unit cannot calculate a travel route that reaches the target position and target posture. The travel control device according to any one of 1 to 4.
  6. A step in which the traveling environment detection unit detects image information in the traveling direction of the vehicle having a predetermined angle of view;
    A road information detecting unit detecting road information existing in the traveling direction of the vehicle;
    A vehicle state detection unit detecting the speed of the host vehicle;
    Based on the image information detected by the travel environment detection unit and the road information detected by the road information detection unit, the blind spot determination unit displays the image of the travel environment detection unit on a travel path a predetermined distance in the traveling direction of the host vehicle. Determining whether there is a blind spot where a blind spot occurs in the corner;
    A vehicle geometric target calculation unit sets a target position and a target posture that the host vehicle should reach based on the road information detected by the road information detection unit, the speed detected by the vehicle state detection unit, and the blind spot. Steps,
    A vehicle target reaching process calculating unit calculating a travel route until reaching the target position and target posture set by the vehicle geometric target calculating unit;
    A vehicle control unit, based on the travel route calculated by the vehicle target arrival process calculation unit, to control the travel of the host vehicle,
    In the step of setting the target position and the target posture, when the blind spot determining unit determines that the blind spot point exists, the angle of view of the traveling environment detecting unit is on a traveling path within the angle of view of the traveling environment detecting unit. A travel control method characterized in that the target position and target posture are set at a point where the blind spot is minimum.
JP2012051658A 2012-03-08 2012-03-08 Travel control apparatus and travel control method Pending JP2013186722A (en)

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