JP2017047814A - Vehicle recognition device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle recognition device capable of accurately recognizing a preceding vehicle and a succeeding vehicle.SOLUTION: A vehicle recognition device 1 comprises a one's own vehicle information acquisition unit 3 for acquiring a position Pand a speed Vof a one's own vehicle, a target information acquisition unit 5 for acquiring a distance Dup to a target from the one's own vehicle and a relative speed Vof the target, a peripheral vehicle information acquisition unit 7 for acquiring a position Pand a speed Vof a peripheral vehicle by communication, a distance calculation unit 9 for calculating a distance Dup to the peripheral vehicle from the one's own vehicle, a relative speed calculation unit 11 for calculating a relative speed Vof the peripheral vehicle with the one's own vehicle as a reference and a recognition unit 13 for recognizing the target as a preceding vehicle or a succeeding vehicle on condition that a difference between the distance Dand the distance Dis equal to a threshold value or less and a difference between the relative speed Vand the relative speed Vis equal to the threshold value or less.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle recognition device.

  2. Description of the Related Art Conventionally, a follow-up running control device that performs follow-up running that automatically follows a preceding vehicle is known. Patent Document 1 discloses a method of selecting a preceding vehicle as a follow-up destination. That is, this document describes that a preceding vehicle capable of inter-vehicle communication is identified based on a radar detection result and vehicle information acquired by inter-vehicle communication.

JP 2013-67303 A

  When changing lanes to a lane in which a preceding vehicle or a following vehicle exists, it is desirable to accurately recognize the preceding vehicle or the following vehicle. Conventionally, it has been difficult to accurately recognize a preceding vehicle and a subsequent vehicle existing in a lane to which a lane is changed. The present invention has been made in view of these problems, and an object thereof is to provide a vehicle recognition device that can accurately recognize a preceding vehicle and a subsequent vehicle.

The vehicle recognition apparatus according to the present invention includes a host vehicle information acquisition unit that acquires a position P ₀ and a speed V ₀ of the host vehicle, a distance D _a from the host vehicle to a target using a sensor provided in the host vehicle, and a target information acquiring unit for acquiring the relative velocity V _a of the target object relative to the vehicle, near the vehicle is transmitted, and the peripheral vehicle information acquisition unit that acquires the communication position P _s and the velocity V _s of the periphery of the vehicle , based on the position P ₀ and the position P _s, a distance calculating unit for calculating a distance D _b from the vehicle to the peripheral vehicle on the basis of the velocity V ₀ and the velocity V _s, the relative speed of the peripheral vehicle relative to the vehicle On the _condition that the difference between the relative speed calculation unit for calculating V _b and the distance D _a and the distance D _b is equal to or smaller than the threshold and the difference between the relative speed V _a and the relative speed V _b is equal to or smaller than the threshold. , The target, the preceding car or And a recognizing unit and continue the car.

  The vehicle recognition device of the present invention can accurately recognize a preceding vehicle or a subsequent vehicle.

1 is a block diagram illustrating a configuration of a vehicle recognition device 1. FIG. 4 is a block diagram showing a configuration of a center 29. FIG. It is explanatory drawing showing the example of the automatic traveling which the own vehicle 37 performs. It is explanatory drawing showing the process which the vehicle recognition apparatus 1 performs. The position P _{0 of} the host vehicle 37, the positions P _s1 , P _s2 , P _s3 , P _{s4 of} the surrounding vehicles 49-1 to 49-4, and the distance D _b1 from the host vehicle 37 to the surrounding vehicles 49-1 to 49-4 , D _b2 , D _b3 , D _b4 . It is a diagram of the velocity _{V s1, V s2, V s3} , V s4 speed _{V 0,} and surrounding vehicles 49-1～49-4 of the vehicle 37. Description representing the distances D _a2 and D _a3 from the host vehicle 37 to the targets 47-2 and 47-3, and the relative speeds V _a2 and V _a3 of the targets 47-2 and 47-3 with the host vehicle 37 as a reference. FIG.

Embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Vehicle Recognition Device 1 The configuration of the vehicle recognition device 1 will be described with reference to FIG. The vehicle recognition device 1 is an in-vehicle device mounted on a vehicle. Hereinafter, the vehicle on which the vehicle recognition device 1 is mounted is referred to as the own vehicle. The vehicle recognition device 1 is a known computer that includes a CPU, a RAM, a ROM, and the like. The vehicle recognition device 1 executes processing to be described later with a program stored in the ROM.

  The vehicle recognition device 1 functionally includes a host vehicle information acquisition unit 3, a target information acquisition unit 5, a surrounding vehicle information acquisition unit 7, a distance calculation unit 9, a relative speed calculation unit 11, a recognition unit 13, and a lane change unit 15. And an automatic travel control unit 17. The function of each unit will be described later. Note that the automatic travel control unit 17 corresponds to a formation travel control unit.

In addition to the vehicle recognition device 1, the host vehicle includes a GPS 19, a distance measurement sensor 21, a speed sensor 22, a communication device 23, a storage device 25, and a vehicle control unit 27. The GPS 19 acquires the position P ₀ of the host vehicle. The distance measuring sensor 21 is a laser or a lidar and detects a target (for example, another vehicle (hereinafter referred to as a surrounding vehicle) running around the host vehicle) existing around the host vehicle. The distance measuring sensor 21 outputs a distance D _{a from} the host vehicle to the target, _a target velocity V _{a based on} the host vehicle, and a direction of the target based on the host vehicle.

The speed sensor 22 detects the speed V _{0 of the} host vehicle. The communication device 23 can perform inter-vehicle communication with surrounding vehicles. The communication device 23 can communicate with a center 29 described later.

The storage device 25 stores map information 26 and the like. The vehicle control unit 27 operates an engine, a brake, a steering, and the like of the host vehicle in accordance with a signal from the vehicle recognition device 1.
2. Configuration of Center 29 The configuration of the center 29 will be described with reference to FIG. The center 29 is fixed at a predetermined location. The center 29 includes a control unit 31 and a communication device 33. The control unit 31 is a known computer including a CPU, a RAM, a ROM, and the like. The control unit 31 executes processing to be described later with a program stored in the ROM. The communication device 33 can communicate with the communication device 23 of the vehicle recognition device 1. The communication device 33 can also communicate with a communication device mounted on another vehicle. The center 29 controls automatic traveling of a plurality of vehicles including the own vehicle. Details will be described later.

3. Processes Executed by the Vehicle Recognition Device 1 and the Center 29 (3-1) Automatic Traveling The host vehicle can perform automatic travels by the process performed by the automatic travel control unit 17. The automatic traveling means that the driver automatically travels along a preset route without performing all or part of the driving operation. There are two types of automatic traveling: automatic traveling by itself and automatic traveling performed in a formation (hereinafter referred to as a formation traveling).

  During automatic traveling alone, the automatic traveling control unit 17 performs appropriate steering using the vehicle control unit 27 while periodically acquiring the position of the host vehicle on the map using the GPS 19 and the map information 26. The position of the host vehicle is maintained on the route. The automatic travel control unit 17 adjusts the speed of the host vehicle to the target speed set for each position on the route by appropriately performing engine control and brake operation using the vehicle control unit 27.

  Further, the automatic travel control unit 17 periodically transmits information such as the position and speed of the host vehicle to the center 29 using the communication device 23. The center 29 appropriately transmits instructions according to the transmitted information. Examples of the contents of the instruction include stop of the own vehicle, acceleration, deceleration, lane change, route change, and the like. The automatic travel control unit 17 receives an instruction transmitted by the center 29 using the communication device 23, and performs automatic travel according to the instruction.

  In addition, during automatic traveling alone, the automatic traveling control unit 17 detects an obstacle or the like using the distance measuring sensor 21. When there is an obstacle, the automatic travel control unit 17 uses the vehicle control unit 27 to perform processing such as stopping before it or steering to avoid it. The automatic traveling control unit 17 and the center 29 perform other processes similar to those of known automatic traveling.

  The platooning can be divided into a case where the host vehicle is at the head and a case other than the head. When the host vehicle is at the head, the automatic travel control unit 17 performs the same processing as in the case of independent automatic travel. When the host vehicle is other than the head, the automatic travel control unit 17 causes the host vehicle to follow the preceding vehicle while keeping a certain inter-vehicle distance between the preceding vehicle and the host vehicle.

  Specifically, the automatic travel control unit 17 uses the distance measuring sensor 21 to periodically measure the inter-vehicle distance between the preceding vehicle and the host vehicle, and keeps the inter-vehicle distance within a certain range. As described above, engine control and brake operation are performed using the vehicle control unit 27. The automatic travel control unit 17 performs steering using the vehicle control unit 27 so that the position of the host vehicle in the vehicle width direction is directly behind the preceding vehicle.

  Note that the automatic traveling control unit 17 may perform basically the same processing as when the host vehicle is not at the head of the platoon, even when it is at the head. However, the automatic travel control unit 17 performs the above-described processing for keeping the inter-vehicle distance between the preceding vehicle and the host vehicle constant.

  In the case of platooning, the automatic traveling control unit 17 periodically transmits information such as the position and speed of the host vehicle to the center 29. The center 29 appropriately transmits instructions according to the transmitted information. The automatic travel control unit 17 receives an instruction transmitted by the center 29 using the communication device 23, and performs automatic travel according to the instruction.

  An example of automatic travel is shown in FIG. The own vehicle 37 starts automatic travel from the departure point 39. Examples of the departure point 39 include a driver's home in the own vehicle 37 and the like. In the example shown in FIG. 3, the own vehicle 37 initially performs automatic traveling alone, and then joins the convoy 41 that performs convoy traveling. The platoon 41 is composed of a plurality of vehicles 43 traveling in the same lane.

  After joining, the own vehicle 37 becomes a part of the platoon 41. In the example shown in FIG. 3, the own vehicle 37 is not the head of the platoon 41. At this time, the own vehicle 37 performs the above-mentioned platooning when the own vehicle 37 is not the head. The convoy 41 including the host vehicle 37 reaches the destination 45.

(3-2) Joining to the formation As shown in the example shown in FIG. 3, the processing that is performed when the own vehicle 37 that is independently traveling alone joins the formation 41 will be described with reference to FIGS. 4 to 7. To do. Each vehicle 43 constituting the platoon 41 of the merging destination performs the above-described platooning according to an instruction from the center 29. Prior to joining, the host vehicle 37 moves to the lane next to the convoy 41 in advance.

In step 1 of FIG. 4, the lane change unit 15 determines whether or not the merge instruction is received in the communication device 23. The merge instruction is an instruction transmitted by the center 29.
The center 29 transmits a merge instruction when requested by the host vehicle 37. The center 29 transmits a merge instruction when the positional relationship between the host vehicle 37 and the platoon 41 satisfies a preset condition. Examples of the preset condition include a condition that the destination of the own vehicle 37 is on the planned travel route of the platoon 41 and the distance between the own vehicle 37 and the platoon 41 is equal to or less than a threshold value. If a join instruction has been received, the process proceeds to step 2, and if not received, this process ends.

In step 2, the host vehicle information acquisition unit 3 acquires the position P ₀ of the host vehicle 37 using the GPS 19. This position P ₀ is an absolute position with respect to the earth. As shown in FIG. 5, the position P ₀ is represented by a coordinate X ₀ on the X axis along the traveling direction of the host vehicle 37 and a coordinate Y ₀ on the Y axis along the vehicle width direction.

In addition, the host vehicle information acquisition unit 3 acquires the speed V ₀ of the host vehicle 37 using the speed sensor 22. This speed V ₀ is an absolute speed with respect to the earth.
In step 3, the target information acquisition unit 5 acquires target information using the distance measuring sensor 21. The target information includes the distance D _{a from} the host vehicle 37 to the target, the relative speed V _a of the target with reference to the host vehicle 37, and the orientation of the target with reference to the host vehicle 37.

The target information acquisition unit 5 acquires target information for each target when there are a plurality of targets. For example, as shown in FIG. 7, when there are a plurality of targets 47-2 and 47-3, the distances D _a2 and D _a3 and the relative velocities V _a2 and V _a3 are acquired.

In step 4, the surrounding vehicle information acquisition unit 7 acquires the surrounding vehicle information using the communication device 23. The peripheral vehicle information, the position P _s in the vicinity of the vehicle includes a speed V _s of the peripheral vehicles. Position P _s is the absolute position relative to the earth. The position P _s is represented by a coordinate X _s on the X axis along the traveling direction of the host vehicle 37 and a coordinate Y _s on the Y axis along the vehicle width direction. The velocity V _s is an absolute velocity with respect to the earth.

Note that the peripheral vehicle, periodically, has a function of measuring its own position P _s and the velocity V _s, and transmits. The transmitted information may reach the communication device 23 of the host vehicle 37 via the center 29, or may reach the communication device 23 of the host vehicle 37 directly by inter-vehicle communication. Of the surrounding vehicle information, the position P _s reaches the communication device 23 of the own vehicle 37 via the center 29, and the speed V _s reaches the communication device 23 of the own vehicle 37 directly by inter-vehicle communication. May be.

The surrounding vehicle information acquisition unit 7 can acquire the surrounding vehicle information in a plurality of surrounding vehicles. For example, as shown in FIGS. 5 and 6, the surrounding vehicle information in a plurality of surrounding vehicles 49-1, 49-2, 49-3 and 49-4 can be acquired. In the following, the positions P _s of the surrounding vehicles 49-1, 49-2, 49-3, 49-4 are P _s1 , P _s2 , P _s3 , P _s4 , respectively, and the surrounding vehicles 49-1, 49-2. , the velocity _{V s} of 49-3,49-4, _{respectively,} and _{V s1, V s2, V s3} , V s4. The positions P _s1 , P _s2 , P _s3 , and P _s4 are respectively (X _s1 , Y _s1 ), (X _s2 , Y _s2 ), (X _s3 , Y _s3 ), ( X _s4 , Y _s4 ).

In step 5, the distance calculation unit 9, and the position P ₀ obtained in the step 2, based on the position P _s obtained in the step 4, to calculate the distance D _b. The distance D _b is the distance between the position P _s and the position P _0, in other words, the distance from the vehicle 37 to the surrounding vehicles.

When there are a plurality of surrounding vehicles, the distance _Db is calculated for each surrounding vehicle. For example, as shown in FIG. 5, when there are a plurality of surrounding vehicles 49-1, 49-2, 49-3, and 49-4, the respective distances D _b1 , D _b2 , D _b3 , and D _b4 are calculated. .

In step 6, the relative speed calculation unit 11 calculates a relative speed V _b based on the speed V ₀ acquired in step 2 and the speed V _s acquired in step 4. The relative speed _Vb is a relative speed of the surrounding vehicle with respect to the own vehicle 37. The relative velocity _{V b} is a value obtained by subtracting the velocity _{V 0} from the speed _{V s.}

When there are a plurality of surrounding vehicles, the relative speed _Vb is calculated for each surrounding vehicle. For example, as shown in FIG. 6, when there are a plurality of surrounding vehicles 49-1, 49-2, 49-3, and 49-4, the relative speeds V _b1 , V _b2 , V _b3 , and V _b4 are calculated. To do.

In step 7, the recognition unit 13 determines whether or not the difference between the distance D _a acquired in step 3 and the distance D _b calculated in step 5 is equal to or less than a threshold value T _D. Threshold T _D is a preset fixed value. When there are a plurality of targets or surrounding vehicles, it is determined whether or not the difference between the distance D _a and the distance D _b is equal to or less than a threshold value T _D for each combination of the target and the surrounding vehicles.

When the difference between the distance D _a and the distance D _b is equal to or less than the threshold value T _{D for} at least one set of targets and surrounding vehicles, the process proceeds to step 9, and in any combination, the distance D _a and the distance D _b If the difference exceeds a threshold value T _D and the process ends.

In step 8, the relative speed V _a acquired in step 3 is obtained for the combination of the target and the surrounding vehicle for which the difference between the distance D _a and the distance D _b is determined to be equal to or less than the threshold value T _{D in} step 7. , whether the difference between the relative velocity V _b calculated at step 6 is equal to or less than the threshold value T _v recognition unit 13 determines. The threshold value _Tv is a preset fixed value. If it is determined that the difference between the relative speed V _a and the relative speed V _b is equal to or less than the threshold value T _v , the process proceeds to step 9, and if it is determined that the difference exceeds the threshold value T _v , this process ends.

In step 9, the recognition unit 13 uses the preceding vehicle or the following vehicle included in the platoon as a target having the relative speed V _a determined in step 9 that the difference from the relative speed V _b is equal to or less than the threshold value T _v. Recognize that

  Here, the preceding vehicle means a surrounding vehicle that is ahead of the host vehicle 37 and no other vehicle exists between the preceding vehicle and the host vehicle 37. In addition, the following vehicle means a vehicle that is behind the own vehicle 37 and no other vehicle exists between the following vehicle and the own vehicle 37 among the surrounding vehicles.

If the target position P _s is ahead of the position P ₀ of the host vehicle 37, the recognition unit 13 recognizes the target as a preceding vehicle included in the platoon. On the other hand, recognizes that if the rear from the position P ₀ of the position P _s of the target host vehicle 37, the target is a following vehicle contained in the convoy.

  In Step 10, the recognition unit 13 determines whether or not both the preceding vehicle and the following vehicle are recognized in Step 9. If it is determined that both the preceding vehicle and the following vehicle have been recognized, the process proceeds to step 11, and if it is determined that only one of the preceding car and the following vehicle has been recognized, the process proceeds to step 12.

In step 11, the lane change unit 15 first calculates the distance of the preceding vehicle and the follower vehicle, then it determines whether the interval is a preset threshold T _i or more. The distance between the preceding vehicle and the following vehicle is set to the position P _s of the preceding vehicle, the distance between the position P _s of the follower vehicle. If the interval of the preceding vehicle and the following vehicle is the threshold value T _i or proceeds to step 12, if it is less than the threshold value T _i, the process is terminated.

  In step 12, the lane changing unit 15 performs steering using the vehicle control unit 27, changes the own vehicle 37 to the same lane as the platoon, and joins the own vehicle 37 to the platoon. The mode of merging differs depending on the presence or absence of a preceding vehicle and a following vehicle. That is, when the preceding vehicle is recognized but the following vehicle is not recognized, the vehicle joins behind the preceding vehicle. Further, when the succeeding vehicle is recognized but the preceding vehicle is not recognized, the vehicle joins ahead of the succeeding vehicle. Further, when the preceding vehicle and the following vehicle are recognized, the vehicle joins between the preceding vehicle and the following vehicle.

  When merging, the lane change unit 15 adjusts the speed of the host vehicle 37 using the vehicle control unit 27 so as to keep the distance in the traveling direction between the recognized preceding vehicle or the following vehicle and the host vehicle 37 at a predetermined value or more. To do. In addition, after joining the platoon, the own vehicle 37 performs the platooning mentioned above.

4). Effects of vehicle recognition device 1 (1A) The vehicle recognition device 1 has a difference between the distance D _a and the distance D _b that is equal to or less than the threshold value T _D, and a difference between the relative speed V _a and the relative speed V _b is the threshold value T. _The target is recognized as a preceding vehicle or a succeeding vehicle on condition that it is _s or less. As a result, the preceding vehicle or the following vehicle can be accurately recognized.

(1B) The vehicle recognition device 1 can change the lane according to the recognized position of the preceding vehicle or the succeeding vehicle, and join the own vehicle 37 to the platoon.
(1C) vehicle recognition apparatus 1, when recognizing both of the preceding vehicle and the following vehicle, the condition that their spacing is preset threshold T _i above, performs lane change. Therefore, it is possible to reduce the possibility that the host vehicle 37 comes into contact with the preceding vehicle and the following vehicle.

(1D) The vehicle recognition device 1 can control the host vehicle 37 that has joined the platoon and perform platooning.
<Other embodiments>
As mentioned above, although embodiment of this invention was described, this invention can take a various form, without being limited to the said embodiment.

  (1) When a negative determination is made in step 11, the center 29 can instruct the preceding vehicle and the following vehicle to widen the interval between them. If the vehicle recognition device 1 makes a negative determination in step 11, the vehicle recognition device 1 can request the center 29 to issue an instruction. As a method of increasing the distance between the preceding vehicle and the following vehicle, for example, there are methods such as accelerating the preceding vehicle and decelerating the following vehicle.

  (2) The above-described method of joining the platoon may be used when the host vehicle 37 joins the main line on an expressway or the like. Moreover, you may utilize the joining method to the platoon mentioned above for the lane change to the lane where the other vehicle which is not carrying out platoon exists.

  (3) The vehicle recognition device 1 may be a device installed at a place other than the host vehicle 37. In this case, the vehicle recognition apparatus 1 can acquire necessary information from the own vehicle 37, the center 29, and the surrounding vehicles, and can transmit the recognition result of the preceding vehicle or the following vehicle to the own vehicle 37.

  (4) The host vehicle 37 may travel by manual operation until it joins the platoon. In this case, the driver of the own vehicle 37 can merge while paying attention to the preceding vehicle and the succeeding vehicle recognized by the vehicle recognition device 1. After merging, platooning can be performed as in the first embodiment.

  (5) The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (6) In addition to the vehicle recognition device described above, a system including the vehicle recognition device as a component, a program for causing a computer to function as the vehicle recognition device, a medium storing the program, a vehicle recognition method, a lane change direction, The present invention can also be realized in various forms such as a convoy joining method.

DESCRIPTION OF SYMBOLS 1 ... Vehicle recognition apparatus, 3 ... Own vehicle information acquisition unit, 5 ... Target information acquisition unit, 7 ... Surrounding vehicle information acquisition unit, 9 ... Distance calculation unit, 11 ... Relative speed calculation unit, 13 ... Recognition unit, 15 ... Lane change unit, 17 ... automatic travel control unit, 19 ... GPS, 21 ... ranging sensor, 22 ... speed sensor, 23 ... communication device, 25 ... storage device, 27 ... vehicle control unit, 29 ... center, 31 ... control unit , 33 ... communication device, 37 ... own vehicle, 39 ... departure place, 41 ... formation, 43 ... vehicle, 45 ... destination, 47 ... target, 49 ... surrounding vehicle

Claims (5)

A host vehicle information acquisition unit that acquires the position P ₀ and the speed V ₀ of the host vehicle;
A target information acquisition unit that acquires a distance D _a from the host vehicle to a target using a sensor provided in the host vehicle, and a relative speed V _a of the target with respect to the host vehicle;
A peripheral vehicle information acquisition unit that acquires the position P _s and speed V _s of the peripheral vehicle transmitted by the peripheral vehicle by communication;
A distance calculating unit that calculates a distance D _b from the host vehicle to the surrounding vehicle based on the position P ₀ and the position P _s ;
A relative speed calculation unit that calculates a relative speed V _b of the surrounding vehicle based on the own vehicle based on the speed V ₀ and the speed V _s ;
On the _condition that the difference between the distance D _a and the distance D _b is less than or equal to a threshold, and the difference between the relative speed V _a and the relative speed V _b is less than or equal to a threshold, A recognition unit that recognizes a car or a following vehicle;
A vehicle recognition device comprising: The vehicle recognition device according to claim 1,
It has a lane change unit that controls the lane change of its own vehicle,
When the recognition unit recognizes the preceding vehicle or the following vehicle, the lane changing unit is (a) behind the preceding vehicle, (b) in the following vehicle in the same lane as the preceding vehicle or the following vehicle. A vehicle recognizing device that controls lane change so that the host vehicle moves forward and to any position between the preceding vehicle and the following vehicle. The vehicle recognition device according to claim 2,
When the recognition unit recognizes the preceding vehicle and the succeeding vehicle, the lane changing unit is configured on the condition that the distance between the preceding vehicle and the succeeding vehicle is equal to or greater than a preset threshold value. The vehicle recognition device that shifts the host vehicle to the position. The vehicle recognition device according to claim 2 or 3,
The preceding vehicle or the succeeding vehicle is a part of a platoon of vehicles performing platooning,
The lane change unit is a vehicle recognition device that joins the own vehicle to the platoon by changing the lane. The vehicle recognition device according to claim 4,
A vehicle recognition device comprising a convoy travel control unit that causes the host vehicle to perform the convoy travel after joining the convoy.

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