JP2016122308A5 - - Google Patents
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- JP2016122308A5 JP2016122308A5 JP2014261537A JP2014261537A JP2016122308A5 JP 2016122308 A5 JP2016122308 A5 JP 2016122308A5 JP 2014261537 A JP2014261537 A JP 2014261537A JP 2014261537 A JP2014261537 A JP 2014261537A JP 2016122308 A5 JP2016122308 A5 JP 2016122308A5
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- vehicle
- host vehicle
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- control device
- moving body
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- 210000003733 Optic Disk Anatomy 0.000 claims 10
- 238000001514 detection method Methods 0.000 claims 1
- 239000012530 fluid Substances 0.000 claims 1
- 239000010720 hydraulic oil Substances 0.000 claims 1
Claims (10)
前記死角領域から出現する可能性のある移動体の進路と前記自車両の進路の相対的な優先度を判定し、判定した優先度に基づいて前記自車両に対する制御信号を出力することを特徴とする車両制御装置。 An oncoming vehicle and other vehicles behind the oncoming vehicle are arranged on the map information around the intersection, and a blind spot area that is a blind spot for the own vehicle is determined from the positional relationship between the own vehicle, the oncoming vehicle, and the other vehicle. Detect
Determining a relative priority between a course of a moving object that may appear from the blind spot area and a course of the host vehicle, and outputting a control signal for the host vehicle based on the determined priority. Vehicle control device.
交差点周辺の地図情報を含む道路情報を取得する道路情報取得部と、
前記自車両周辺環境と前記道路情報に基づいて死角を検出する死角検出部と、
前記自車両周辺環境と前記道路情報に基づいて前記自車両を走行させる目標経路を生成する目標経路生成部と、
前記道路情報と前記死角に基づいて該死角から出現する可能性のある移動体を予測して該移動体の進路を予測する移動体進路予測部と、
前記自車両の目標経路と前記移動体の進路との優先度を判定し、判定した優先度に基づいて前記自車両に対する制御信号を出力する車両制御部と、を有することを特徴とする車両制御装置。 A surrounding environment recognition unit for recognizing an environment around the host vehicle and outputting information on the oncoming vehicle and the other vehicle ;
A road information acquisition unit for acquiring road information including map information around the intersection ;
A blind spot detection unit that detects a blind spot based on the surrounding environment of the host vehicle and the road information;
A target route generating unit that generates a target route for driving the host vehicle based on the surrounding environment of the host vehicle and the road information;
A moving body course prediction unit that predicts a moving body that may appear from the blind spot based on the road information and the blind spot, and predicts a course of the moving body;
A vehicle control unit that determines a priority between a target route of the host vehicle and a path of the moving body, and outputs a control signal for the host vehicle based on the determined priority; apparatus.
前記自車両は、予め設定された目標経路に沿って移動するように操舵制御と速度制御を行う自動運転車両であり、
自動運転中に、前記移動体によって生じる死角領域を検出し、
前記死角領域から出現する可能性のある移動体を予測し、
前記移動体の進路と前記自車両の進路の相対的な優先度を判定し、判定した優先度に基づいて前記自車両に対する制御信号を出力することを特徴とする車両制御装置。 In the vehicle control device according to claim 1 or 2,
The host vehicle is an autonomous driving vehicle that performs steering control and speed control so as to move along a preset target route,
During the automatic operation, a blind spot area generated by the moving body is detected,
Predicting a mobile that may emerge from the blind spot area;
A vehicle control device that determines a relative priority between a path of the moving body and a path of the host vehicle, and outputs a control signal for the host vehicle based on the determined priority.
前記自車両周辺の環境を認識する環境認識装置を備え、
前記優先度は道路情報に基づいて判定され、前記道路情報は少なくとも地図情報もしくは前記外環境認識装置で認識した情報から取得することを特徴とする車両制御装置。 In the vehicle control device according to any one of claims 1 to 3,
An environment recognition device for recognizing the environment around the host vehicle;
The priority is determined based on road information, and the road information is acquired from at least map information or information recognized by the external environment recognition device.
前記移動体の方が前記自車両より前記優先度が高い場合は、前記自車両が前記移動体に衝突しないように前記自車両に対する制御信号を出力することを特徴とする車両制御装置。 In the vehicle control device according to any one of claims 1 to 4,
When the priority of the moving body is higher than that of the own vehicle, the vehicle control apparatus outputs a control signal for the own vehicle so that the own vehicle does not collide with the moving body.
前記自車両が前記移動体に衝突しないように前記自車両を制御し、前記自車両の乗員に報知することを特徴とする車両制御装置。 The vehicle control device according to claim 5, wherein
A vehicle control apparatus that controls the host vehicle so that the host vehicle does not collide with the moving body and notifies a passenger of the host vehicle.
作動油の圧力を制御することで制動力を発生させる制動装置を備え、
前記自車両の方が前記移動体より前記優先度が高い場合は、前記制動装置の作動油の圧力を所定値まで上げることを特徴とする車両制御装置。 In the vehicle control device according to any one of claims 1 to 6,
A braking device that generates a braking force by controlling the pressure of hydraulic oil is provided.
When the priority of the own vehicle is higher than that of the moving body, the vehicle control device increases the pressure of the hydraulic fluid of the braking device to a predetermined value.
前記移動体が歩行者である場合には、該歩行者の進路の優先度を前記自車両の進路の優先度よりも高く設定することを特徴とする車両制御装置。 In the vehicle control device according to any one of claims 1 to 7,
When the moving body is a pedestrian, the vehicle control apparatus sets the priority of the route of the pedestrian higher than the priority of the route of the host vehicle.
前記自車両が右折する際には、自車両の進路の優先度を直進車両の進路の優先度よりも高く設定することを特徴とする車両制御装置。 The vehicle control device according to any one of claims 1 to 8,
When the host vehicle makes a right turn, the vehicle control device sets the priority of the route of the host vehicle higher than the priority of the route of the straight vehicle.
前記自車両と、前記自車両から前記対向車の端に向かって伸ばした第１の線と、前記自車両と前記他の車両の端に向かって伸ばした第２の線と、によって規定される領域の中で、前記他の車両の存在する車線領域以外の車線領域であり、かつ前記第１の線側にある車線領域を前記死角領域として認識し、
前記他の車両の端は前記対向車の端とは反対側にある、ことを特徴とする車両制御装置。 The vehicle control device according to any one of claims 1 to 9,
Defined by the host vehicle, a first line extending from the host vehicle toward the end of the oncoming vehicle, and a second line extending toward the end of the host vehicle and the other vehicle. In the area, the lane area other than the lane area where the other vehicle is present, and the lane area on the first line side is recognized as the blind spot area,
The vehicle control device according to claim 1, wherein an end of the other vehicle is on a side opposite to an end of the oncoming vehicle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014261537A JP2016122308A (en) | 2014-12-25 | 2014-12-25 | Vehicle controller |
| PCT/JP2015/084845 WO2016104198A1 (en) | 2014-12-25 | 2015-12-11 | Vehicle control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014261537A JP2016122308A (en) | 2014-12-25 | 2014-12-25 | Vehicle controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2016122308A JP2016122308A (en) | 2016-07-07 |
| JP2016122308A5 true JP2016122308A5 (en) | 2018-06-21 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2014261537A Pending JP2016122308A (en) | 2014-12-25 | 2014-12-25 | Vehicle controller |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2016122308A (en) |
| WO (1) | WO2016104198A1 (en) |
Cited By (1)
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| JP7121361B2 (en) | 2018-06-29 | 2022-08-18 | 国立大学法人金沢大学 | Autonomous mobile |
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