JP2017213936A - Vehicle control system, vehicle control method, and vehicle control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle control system, a vehicle control method, and a vehicle control program, which enable an appropriate automatic driving on the basis of the presence of detection from another vehicle.SOLUTION: A vehicle control system includes: a detection part for detecting position and state of another vehicle traveling nearby a subject vehicle; an automatic drive control part for executing an automatic driving to automatically perform at least one of speed control and steering control on the basis of a detection result of the detection part; and a detected-state detection part for detecting whether the subject vehicle is being detected by a detection part of another vehicle. Further, the automatic drive control part refers to a detection result of the detected-state detection part and determines a plan of the automatic driving.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle control system, a vehicle control method, and a vehicle control program.

  Conventionally, research has been conducted on automatic driving that automatically performs at least one of speed control and steering control. In relation to this, if it is determined whether or not a situation is necessary to transfer with surrounding vehicles, and if it is determined that a situation is necessary, the action schedule of the vehicle in that situation is directed to the surrounding vehicles. A technique is disclosed that, when transmitted and received approval / disapproval information indicating approval / disapproval of action schedule content, performs notification based on the received approval / disapproval information (see, for example, Patent Document 1).

JP-A-2006-1432

  For automatic driving, sensors for detecting peripheral objects such as other vehicles are required. In the prior art, no consideration is given to the presence or performance of sensors or the like in other vehicles.

  The present invention has been made in view of such circumstances, and provides a vehicle control system, a vehicle control method, and a vehicle control program that can suitably perform automatic driving based on the presence or absence of detection from other vehicles. One of the purposes is to do.

  According to the first aspect of the present invention, the speed control and the steering are performed based on the detection unit (DD, 142) for detecting the position and state of another vehicle traveling around the host vehicle (M), and the detection result of the detection unit. An automatic driving control unit (120) that executes automatic driving that automatically performs at least one of the control and detection of whether or not the host vehicle is being detected by a detecting unit of another vehicle A state detection unit (65), wherein the automatic operation control unit refers to a detection result by the detected state detection unit and determines a plan for the automatic operation (100).

  According to a second aspect of the present invention, in the first aspect of the invention, the detected state detection unit detects an electromagnetic wave emitted by the detection unit of the other vehicle, so that the own vehicle is detected by the detection unit of the other vehicle. It is to detect whether or not it is in a detected state.

  The invention according to claim 3 is the invention according to claim 1 or 2, wherein the own vehicle is detected by the detecting unit of the other vehicle by the communication unit (55) communicating with the other vehicle and the detected state detecting unit. A communication control unit (155) for receiving, from the other vehicle, contents of an automatic driving plan to be executed in the other vehicle using the communication unit. .

  According to a fourth aspect of the present invention, in the third aspect of the invention, the automatic driving control unit is based on the content of an automatic driving plan executed in the other vehicle received from the other vehicle by the communication unit. The automatic driving plan to be executed in the host vehicle is determined.

  According to the fifth aspect of the present invention, the in-vehicle computer detects the position and state of another vehicle traveling around the host vehicle, and automatically performs at least one of speed control and steering control based on the detection result. In this state, it is detected whether or not the own vehicle is detected by the detection unit of the other vehicle, and the own vehicle is detected by the detection unit of the other vehicle. This is a vehicle control method for determining a plan for the automatic driving based on whether or not the vehicle is driven.

  According to a sixth aspect of the present invention, an in-vehicle computer is caused to detect the position and state of another vehicle traveling around the host vehicle, and at least one of speed control and steering control is automatically performed based on the detection result. In this state, the automatic driving is executed, the detection unit of the other vehicle detects whether or not the own vehicle is detected, and the detection unit of the other vehicle detects the own vehicle. It is a vehicle control program for determining the plan of the automatic driving based on whether or not.

  According to the invention of each claim, automatic driving can be suitably performed based on the presence or absence of detection from another vehicle.

2 is a diagram illustrating components of a host vehicle M. FIG. 1 is a functional configuration diagram centering on a vehicle control system 100. FIG. 2 is a functional configuration diagram of a host vehicle M. FIG. 2 is a configuration diagram of an HMI 70. FIG. It is a figure which shows a mode that the relative position of the own vehicle M with respect to the driving lane L1 is recognized by the own vehicle position recognition part 140. FIG. It is a figure which shows an example of the action plan produced | generated about a certain area. 3 is a diagram illustrating an example of a configuration of a trajectory generation unit 146. FIG. It is a figure which shows an example of the track | orbit candidate produced | generated by the track | orbit candidate generation part 146B. FIG. 5 is a diagram in which trajectory candidates generated by a trajectory candidate generation unit 146B are expressed by trajectory points K. It is a figure which shows lane change target position TA. It is a figure which shows the speed production | generation model at the time of assuming that the speed of three surrounding vehicles is constant. It is a figure which shows an example of the operation availability information 188 classified by mode. It is a figure which shows an example of the scene where the vehicle control based on the detection result of the to-be-detected state detection apparatus 65 is performed. It is a figure which shows an example of the information transmitted to a surrounding vehicle. 5 is a flowchart illustrating an example of a flow of processing executed by an automatic operation control unit 120. It is a figure which shows another example of the scene where the vehicle control based on the detection result of the to-be-detected state detection apparatus 65 is performed. 6 is a flowchart illustrating another example of a flow of processing executed by the automatic operation control unit 120.

Hereinafter, embodiments of a vehicle control system, a vehicle control method, and a vehicle control program of the present invention will be described with reference to the drawings.
FIG. 1 is a diagram illustrating components of a vehicle (hereinafter referred to as a host vehicle M) on which the vehicle control system 100 of the embodiment is mounted. The vehicle on which the vehicle control system 100 is mounted is, for example, a motor vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a vehicle using an internal combustion engine such as a diesel engine or a gasoline engine as a power source, or an electric vehicle using a motor as a power source. And a hybrid vehicle having an internal combustion engine and an electric motor. An electric vehicle is driven using electric power discharged by a battery such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, or an alcohol fuel cell.

  As shown in FIG. 1, the host vehicle M includes a finder 20-1 to 20-7, radars 30-1 to 30-6, sensors such as a camera 40, a navigation device 50, and a vehicle control system 100. Installed.

  The finders 20-1 to 20-7 are, for example, LIDAR (Light Detection and Ranging) that measures scattered light with respect to irradiation light and measures the distance to the target. For example, the finder 20-1 is attached to a front grill or the like, and the finders 20-2 and 20-3 are attached to a side surface of a vehicle body, a door mirror, the inside of a headlamp, a side lamp, and the like. The finder 20-4 is attached to a trunk lid or the like, and the finders 20-5 and 20-6 are attached to the side surface of the vehicle body, the interior of the taillight, or the like. The above-described finders 20-1 to 20-6 have a detection area of about 150 degrees in the horizontal direction, for example. The finder 20-7 is attached to a roof or the like. The finder 20-7 has a detection area of 360 degrees in the horizontal direction, for example.

  The radars 30-1 and 30-4 are, for example, long-range millimeter wave radars having a detection area in the depth direction wider than that of other radars. Radars 30-2, 30-3, 30-5, and 30-6 are medium-range millimeter-wave radars that have a narrower detection area in the depth direction than radars 30-1 and 30-4.

  Hereinafter, when the finders 20-1 to 20-7 are not particularly distinguished, they are simply referred to as “finder 20”, and when the radars 30-1 to 30-6 are not particularly distinguished, they are simply referred to as “radar 30”. The radar 30 detects the position and speed of an object by, for example, FM-CW (Frequency Modulated Continuous Wave) method.

  The camera 40 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 40 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 40 periodically images the front of the host vehicle M repeatedly. The camera 40 may be a stereo camera including a plurality of cameras.

  The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  FIG. 2 is a functional configuration diagram centering on the vehicle control system 100 of the embodiment. The host vehicle M includes a detection device DD including a finder 20, a radar 30 and a camera 40, a navigation device 50, a communication device 55, a vehicle sensor 60, an HMI (Human Machine Interface) 70, and a vehicle control system. 100, a driving force output device 200, a steering device 210, and a brake device 210 are mounted. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. It should be noted that the vehicle control system in the claims does not indicate only the “vehicle control system 100”, but may include a configuration other than the vehicle control system 100 (such as the detection unit DD and the HMI 70).

  The navigation device 50 includes a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel display device that functions as a user interface, a speaker, a microphone, and the like. The navigation device 50 identifies the position of the host vehicle M using the GNSS receiver, and derives a route from the position to the destination specified by the user. The route derived by the navigation device 50 is provided to the target lane determining unit 110 of the vehicle control system 100. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 60. In addition, the navigation device 50 provides guidance on the route to the destination by voice or navigation display when the vehicle control system 100 is executing the manual operation mode. The configuration for specifying the position of the host vehicle M may be provided independently of the navigation device 50. Moreover, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a user holds, for example. In this case, information is transmitted and received between the terminal device and the vehicle control system 100 by wireless or wired communication.

  The communication device 55 performs wireless communication using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like. The communication device 55 communicates with at least surrounding vehicles (other vehicles) using DSRC or the like.

  The vehicle sensor 60 includes a vehicle speed sensor that detects a vehicle speed, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around a vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  The detected state detection device 65 detects whether or not another vehicle is detecting the host vehicle M. More specifically, the detected state detection device 65 detects whether or not the other vehicle is detecting the host vehicle M (detected state) by detecting an electromagnetic wave emitted by the detection unit of the other vehicle. Is detected. The electromagnetic waves are radio waves, ultrasonic waves, infrared rays, and the like. Typically, the detected state detection device 65 is a radar detection device. In the case of a radar detection device, the detected state detection device 65 receives a radio wave of a specific frequency such as a millimeter wave, and a signal indicating that the detected state is detected when the intensity of the received radio wave is equal to or greater than a threshold value. Is output to the vehicle control system 100. One detected state detection device 65 may be provided with the detection direction facing the front or the rear of the host vehicle M, or a plurality of detection directions may be provided with the detection direction directed forward and rearward, or sideward or obliquely laterally. May be.

  FIG. 3 is a configuration diagram of the HMI 70. The HMI 70 includes, for example, a driving operation system configuration and a non-driving operation system configuration. These boundaries are not clear, and the configuration of the driving operation system may have a non-driving operation system function (or vice versa).

  The HMI 70 includes, for example, an accelerator pedal 71, an accelerator opening sensor 72, an accelerator pedal reaction force output device 73, a brake pedal 74, a brake pedal amount sensor (or a master pressure sensor, etc.) 75, a shift, etc. A lever 76, a shift position sensor 77, a steering wheel 78, a steering angle sensor 79, a steering torque sensor 80, and other driving operation devices 81 are included.

  The accelerator pedal 71 is an operator for receiving an acceleration instruction (or a deceleration instruction by a return operation) from a vehicle occupant. The accelerator opening sensor 72 detects the depression amount of the accelerator pedal 71 and outputs an accelerator opening signal indicating the depression amount to the vehicle control system 100. Instead of outputting to the vehicle control system 100, the output may be directly output to the travel driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configurations of other driving operation systems described below. The accelerator pedal reaction force output device 73 outputs a force (operation reaction force) in a direction opposite to the operation direction to the accelerator pedal 71 in response to an instruction from the vehicle control system 100, for example.

  The brake pedal 74 is an operator for receiving a deceleration instruction from the vehicle occupant. The brake depression amount sensor 75 detects the depression amount (or depression force) of the brake pedal 74 and outputs a brake signal indicating the detection result to the vehicle control system 100.

  The shift lever 76 is an operator for receiving an instruction to change the shift stage by a vehicle occupant. The shift position sensor 77 detects the shift stage instructed by the vehicle occupant and outputs a shift position signal indicating the detection result to the vehicle control system 100.

  The steering wheel 78 is an operator for receiving a turning instruction from a vehicle occupant. The steering angle sensor 79 detects the operation angle of the steering wheel 78 and outputs a steering angle signal indicating the detection result to the vehicle control system 100. The steering torque sensor 80 detects the torque applied to the steering wheel 78 and outputs a steering torque signal indicating the detection result to the vehicle control system 100.

  The other driving operation device 81 is, for example, a joystick, a button, a dial switch, a GUI (Graphical User Interface) switch, or the like. The other driving operation device 81 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs them to the vehicle control system 100.

  The HMI 70 has, for example, a display device 82, a speaker 83, a contact operation detection device 84 and a content reproduction device 85, various operation switches 86, a sheet 88 and a sheet driving device 89, and a window glass 90. And a window drive device 91 and a vehicle interior camera 95.

  The display device 82 is, for example, an LCD (Liquid Crystal Display) or an organic EL (Electroluminescence) display device that is attached to each part of the instrument panel, an arbitrary position facing the passenger seat or the rear seat. Further, the display device 82 may be a HUD (Head Up Display) that projects an image on a front windshield or other window. The speaker 83 outputs sound. When the display device 82 is a touch panel, the contact operation detection device 84 detects a contact position (touch position) on the display screen of the display device 82 and outputs it to the vehicle control system 100. When the display device 82 is not a touch panel, the contact operation detection device 84 may be omitted.

  The content playback device 85 includes, for example, a DVD (Digital Versatile Disc) playback device, a CD (Compact Disc) playback device, a television receiver, and various guidance image generation devices. The display device 82, the speaker 83, the contact operation detection device 84, and the content playback device 85 may have a configuration in which a part or all of them are common to the navigation device 50.

  The various operation switches 86 are disposed at arbitrary locations in the vehicle interior. The various operation switches 86 include an automatic operation changeover switch 87 for instructing start (or future start) and stop of automatic operation. The automatic operation changeover switch 87 may be either a GUI (Graphical User Interface) switch or a mechanical switch. The various operation switches 86 may include switches for driving the sheet driving device 89 and the window driving device 91.

  The seat 88 is a seat on which a vehicle occupant is seated. The seat driving device 89 freely drives the reclining angle, the front-rear direction position, the yaw angle, and the like of the seat 88. The window glass 90 is provided at each door, for example. The window driving device 91 drives the window glass 90 to open and close.

  The vehicle interior camera 95 is a digital camera using a solid-state image sensor such as a CCD or CMOS. The vehicle interior camera 95 is attached at a position where at least the head of a vehicle occupant performing a driving operation can be imaged, such as a rearview mirror, a steering boss, and an instrument panel. For example, the camera 40 periodically and repeatedly images the vehicle occupant.

  Prior to the description of the vehicle control system 100, the driving force output device 200, the steering device 210, and the brake device 220 will be described.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. For example, when the host vehicle M is an automobile using an internal combustion engine as a power source, the traveling driving force output device 200 includes an engine, a transmission, and an engine ECU (Electronic Control Unit) that controls the engine. In the case of an electric vehicle that uses an electric motor as a power source, the vehicle includes a driving motor and a motor ECU that controls the driving motor. When the host vehicle M is a hybrid vehicle, the engine, the transmission, and the engine ECU and the driving motor A motor ECU. When the travel driving force output device 200 includes only the engine, the engine ECU adjusts the throttle opening, the shift stage, and the like of the engine according to information input from the travel control unit 160 described later. When traveling driving force output device 200 includes only the traveling motor, motor ECU adjusts the duty ratio of the PWM signal applied to the traveling motor according to the information input from traveling control unit 160. When travel drive force output device 200 includes an engine and a travel motor, engine ECU and motor ECU control travel drive force in cooperation with each other in accordance with information input from travel control unit 160.

  The steering device 210 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor in accordance with information input from the vehicle control system 100 or information of the input steering steering angle or steering torque, and changes the direction of the steered wheels.

  The brake device 220 is, for example, an electric servo brake device that includes a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a braking control unit. The braking control unit of the electric servo brake device controls the electric motor according to the information input from the travel control unit 160 so that the brake torque corresponding to the braking operation is output to each wheel. The electric servo brake device may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal to the cylinder via the master cylinder. The brake device 220 is not limited to the electric servo brake device described above, but may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator in accordance with information input from the travel control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. Further, the brake device 220 may include a regenerative brake by a traveling motor that can be included in the traveling driving force output device 200.

[Vehicle control system]
Hereinafter, the vehicle control system 100 will be described. The vehicle control system 100 is realized by, for example, one or more processors or hardware having an equivalent function. The vehicle control system 100 includes a combination of a processor such as a CPU (Central Processing Unit), a storage device, and an ECU (Electronic Control Unit) in which a communication interface is connected by an internal bus, or an MPU (Micro-Processing Unit). It may be.

  Returning to FIG. 2, the vehicle control system 110 includes, for example, a target lane determination unit 110, an automatic driving control unit 120, a travel control unit 160, and a storage unit 180. The automatic driving control unit 120 includes, for example, an automatic driving mode control unit 130, an own vehicle position recognition unit 140, an external environment recognition unit 142, an action plan generation unit 144, a track generation unit 146, a switching control unit 150, A communication control unit 155. A part or all of the target lane determining unit 110, the automatic driving control unit 120, and the travel control unit 160 are realized by a processor executing a program (software). Some or all of these may be realized by hardware such as LSI (Large Scale Integration) and ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware.

  The storage unit 180 stores information such as high-accuracy map information 182, target lane information 184, action plan information 186, and mode-specific operation availability information 188. The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via an in-vehicle Internet facility or the like. The program may be installed in the storage unit 180 by mounting a portable storage medium storing the program on a drive device (not shown). The vehicle control system 100 may be distributed by a plurality of computer devices.

  The target lane determining unit 110 is realized by, for example, an MPU. The target lane determination unit 110 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the high-precision map information 182 for each block. Determine the target lane. For example, the target lane determination unit 110 performs determination such as how many lanes from the left are to be traveled. For example, the target lane determination unit 110 determines the target lane so that the host vehicle M can travel on a reasonable travel route for proceeding to the branch destination when there is a branch point or a merge point in the route. . The target lane determined by the target lane determining unit 110 is stored in the storage unit 180 as target lane information 184.

  The high-precision map information 182 is map information with higher accuracy than the navigation map included in the navigation device 50. The high-precision map information 182 includes, for example, information on the center of the lane or information on the boundary of the lane. The high-precision map information 182 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, road lane number, width of each lane, road gradient, road position (longitude, latitude, height). Information including 3D coordinates), curvature of lane curves, lane merging and branch point positions, signs provided on roads, and the like. The traffic regulation information includes information that the lane is blocked due to construction, traffic accidents, traffic jams, or the like.

The automatic operation mode control unit 130 determines an automatic operation mode performed by the automatic operation control unit 120. The modes of automatic operation in the present embodiment include the following modes. The following is merely an example, and the number of modes of automatic operation may be arbitrarily determined.
[Mode A]
Mode A is the mode with the highest degree of automatic driving. When the mode A is implemented, all vehicle control such as complicated merge control is automatically performed, so that the vehicle occupant does not need to monitor the surroundings and state of the host vehicle M.
[Mode B]
Mode B is a mode in which the degree of automatic driving is the second highest after Mode A. When mode B is implemented, in principle, all vehicle control is performed automatically, but the driving operation of the host vehicle M is left to the vehicle occupant depending on the situation. For this reason, the vehicle occupant needs to monitor the periphery and state of the own vehicle M.
[Mode C]
Mode C is a mode in which the degree of automatic driving is the second highest after mode B. When mode C is implemented, the vehicle occupant needs to perform confirmation operation according to the scene with respect to HMI70. In mode C, for example, when the vehicle occupant is notified of the lane change timing and the vehicle occupant performs an operation to instruct the HMI 70 to change the lane, the automatic lane change is performed. For this reason, the vehicle occupant needs to monitor the periphery and state of the own vehicle M.

  The automatic driving mode control unit 130 determines the mode of automatic driving based on the operation of the vehicle occupant with respect to the HMI 70, the event determined by the action plan generation unit 144, the travel mode determined by the track generation unit 146, and the like. The automatic operation mode is notified to the HMI control unit 170. Moreover, the limit according to the performance etc. of the detection device DD of the own vehicle M may be set to the mode of automatic driving. For example, when the performance of the detection device DD is low, the mode A may not be performed. In any mode, it is possible to switch to the manual operation mode (override) by an operation on the configuration of the driving operation system in the HMI 70.

  The vehicle position recognition unit 140 of the automatic driving control unit 120 includes high-precision map information 182 stored in the storage unit 180 and information input from the finder 20, the radar 30, the camera 40, the navigation device 50, or the vehicle sensor 60. Based on the above, the lane (traveling lane) in which the host vehicle M is traveling and the relative position of the host vehicle M with respect to the traveling lane are recognized.

  The own vehicle position recognition unit 140 is, for example, a road lane line pattern recognized from the high-precision map information 182 (for example, an arrangement of solid lines and broken lines) and the periphery of the own vehicle M recognized from an image captured by the camera 40. The road lane is recognized by comparing the road lane marking pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.

  FIG. 4 is a diagram showing how the vehicle position recognition unit 140 recognizes the relative position of the vehicle M with respect to the travel lane L1. The own vehicle position recognition unit 140, for example, makes a deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the travel lane center CL and a line connecting the travel lane center CL in the traveling direction of the own vehicle M. The angle θ is recognized as a relative position of the host vehicle M with respect to the traveling lane L1. Instead, the host vehicle position recognition unit 140 recognizes the position of the reference point of the host vehicle M with respect to any side end of the host lane L1 as the relative position of the host vehicle M with respect to the traveling lane. Also good. The relative position of the host vehicle M recognized by the host vehicle position recognition unit 140 is provided to the travel lane determination unit 110.

  The external environment recognition unit 142 recognizes the positions of surrounding vehicles and the state such as speed and acceleration based on information input from the finder 20, the radar 30, the camera 40, and the like. The peripheral vehicle is, for example, a vehicle that travels around the host vehicle M and travels in the same direction as the host vehicle M. The position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the other vehicle, or may be represented by a region expressed by the contour of the other vehicle. The “state” of the surrounding vehicle may include the acceleration of the surrounding vehicle, whether the lane is changed (or whether the lane is going to be changed), which is grasped based on the information of the various devices. In addition to the surrounding vehicles, the external environment recognition unit 142 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects.

  The action plan generation unit 144 sets a starting point of automatic driving and / or a destination of automatic driving. The starting point of the automatic driving may be the current position of the host vehicle M or a point where an operation for instructing automatic driving is performed. The action plan generation unit 144 generates an action plan in a section between the start point and the destination for automatic driving. In addition, not only this but the action plan production | generation part 144 may produce | generate an action plan about arbitrary sections.

  The action plan is composed of, for example, a plurality of events that are sequentially executed. Examples of the event include a deceleration event for decelerating the host vehicle M, an acceleration event for accelerating the host vehicle M, a lane keeping event for driving the host vehicle M so as not to deviate from the traveling lane, and a lane change event for changing the traveling lane. In order to merge with the overtaking event in which the own vehicle M overtakes the preceding vehicle, the branch event in which the own vehicle M is driven so as not to deviate from the current traveling lane, or the main line Accelerates and decelerates the own vehicle M in the merging lane of the vehicle, a merging event that changes the driving lane, shifts from the manual driving mode to the automatic driving mode at the start point of the automatic driving, or manually from the automatic driving mode at the scheduled end point of the automatic driving A handover event or the like for shifting to the operation mode is included. The action plan generation unit 144 sets a lane change event, a branch event, or a merge event at a location where the target lane determined by the target lane determination unit 110 is switched. Information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as action plan information 186.

  FIG. 5 is a diagram illustrating an example of an action plan generated for a certain section. As illustrated, the action plan generation unit 144 generates an action plan necessary for the host vehicle M to travel on the target lane indicated by the target lane information 184. Note that the action plan generation unit 144 may dynamically change the action plan regardless of the target lane information 184 according to a change in the situation of the host vehicle M. For example, the action plan generation unit 144 may determine that the speed of the surrounding vehicle recognized by the external recognition unit 142 exceeds the threshold while the vehicle travels, or the movement direction of the surrounding vehicle traveling in the lane adjacent to the own lane is the own lane direction. When the vehicle heads, the event set in the driving section where the host vehicle M is scheduled to travel is changed. For example, when the event is set so that the lane change event is executed after the lane keep event, the vehicle from the rear of the lane to which the lane is changed becomes greater than the threshold during the lane keep event according to the recognition result of the external recognition unit 142. When it is determined that the vehicle has traveled at the speed of, the action plan generation unit 144 may change the event next to the lane keep event from a lane change event to a deceleration event, a lane keep event, or the like. As a result, the vehicle control system 100 can automatically drive the host vehicle M safely even when a change occurs in the external environment.

  FIG. 6 is a diagram illustrating an example of the configuration of the trajectory generation unit 146. The track generation unit 146 includes, for example, a travel mode determination unit 146A, a track candidate generation unit 146B, and an evaluation / selection unit 146C.

  For example, when the lane keeping event is performed, the travel mode determination unit 146A determines one of the travel modes such as constant speed travel, follow-up travel, low-speed follow-up travel, deceleration travel, curve travel, and obstacle avoidance travel. . In this case, the traveling mode determination unit 146A determines that the traveling mode is constant speed traveling when there is no other vehicle ahead of the host vehicle M. In addition, the traveling mode determination unit 146A determines the traveling mode to follow running when traveling following the preceding vehicle. In addition, the traveling mode determination unit 146A determines the traveling mode as low-speed following traveling in a traffic jam scene or the like. In addition, the travel mode determination unit 146A determines the travel mode to be decelerated when the outside recognition unit 142 recognizes the deceleration of the preceding vehicle or when an event such as stopping or parking is performed. In addition, when the outside recognition unit 142 recognizes that the host vehicle M has reached a curved road, the travel mode determination unit 146A determines the travel mode to be curved travel. In addition, the travel mode determination unit 146A determines the travel mode to be obstacle avoidance travel when the external environment recognition unit 142 recognizes an obstacle in front of the host vehicle M. In addition, when executing a lane change event, an overtaking event, a branching event, a merging event, a handover event, and the like, the traveling mode determination unit 146A determines a traveling mode according to each event.

  The trajectory candidate generation unit 146B generates trajectory candidates based on the travel mode determined by the travel mode determination unit 146A. FIG. 7 is a diagram illustrating an example of trajectory candidates generated by the trajectory candidate generation unit 146B. FIG. 7 shows candidate tracks generated when the host vehicle M changes lanes from the lane L1 to the lane L2.

  The trajectory generation unit 146B takes a trajectory as shown in FIG. 7 for a target position (orbit point K) at which the reference position (for example, the center of gravity or the center of the rear wheel axis) of the host vehicle M should arrive, for example, every predetermined time in the future. Decide as a gathering. FIG. 8 is a diagram in which trajectory candidates generated by the trajectory candidate generation unit 146B are expressed by trajectory points K. As the distance between the track points K increases, the speed of the host vehicle M increases. As the distance between the track points K decreases, the speed of the host vehicle M decreases. Therefore, the trajectory generator 146B gradually widens the distance between the trajectory points K when it wants to accelerate and gradually narrows the distance between the trajectory points when it wants to decelerate.

  Thus, since the trajectory point K includes a velocity component, the trajectory generation unit 146B needs to give a target speed to each of the trajectory points K. The target speed is determined according to the travel mode determined by the travel mode determination unit 146A.

  Here, a method for determining a target speed when a lane change (including a branch) is performed will be described. The track generation unit 146B first sets a lane change target position (or a merging target position). The lane change target position is set as a relative position with respect to the surrounding vehicles, and determines “with which surrounding vehicle the lane is to be changed”. The track generation unit 146B pays attention to the three surrounding vehicles with the lane change target position as a reference, and determines a target speed when the lane change is performed. FIG. 9 is a diagram illustrating the lane change target position TA. In the figure, L1 represents the own lane and L2 represents the adjacent lane. Here, in the same lane as that of the own vehicle M, the preceding vehicle mA is set as the surrounding vehicle that runs immediately before the own vehicle M, the front reference vehicle mB, and the lane change target position TA is set as the surrounding vehicle that runs immediately before the lane changing target position TA. A surrounding vehicle traveling immediately after is defined as a rear reference vehicle mC. The host vehicle M needs to perform acceleration / deceleration in order to move to the side of the lane change target position TA. However, it is necessary to avoid catching up with the preceding vehicle mA at this time. For this reason, the trajectory generation unit 146B predicts the future state of the three neighboring vehicles and determines the target speed so as not to interfere with each neighboring vehicle.

  FIG. 10 is a diagram showing a speed generation model when the speeds of the three surrounding vehicles are assumed to be constant. In the figure, straight lines extending from mA, mB, and mC indicate displacements in the traveling direction when it is assumed that the respective surrounding vehicles have traveled at a constant speed. The own vehicle M must be between the front reference vehicle mB and the rear reference vehicle mC at the point CP at which the lane change is completed, and must be behind the preceding vehicle mA before that. Under such restrictions, the track generation unit 146B derives a plurality of time-series patterns of the target speed until the lane change is completed. Then, a plurality of trajectory candidates as shown in FIG. 8 are derived by applying the time-series pattern of the target speed to a model such as a spline curve. The motion patterns of the three surrounding vehicles are not limited to the constant speed as shown in FIG. 10, and may be predicted on the assumption of a constant acceleration and a constant jerk (jumping degree).

  The evaluation / selection unit 146C evaluates the track candidates generated by the track candidate generation unit 146B from, for example, two viewpoints of planability and safety, and selects a track to be output to the travel control unit 160. . From the viewpoint of planability, for example, the track is highly evaluated when the followability with respect to an already generated plan (for example, an action plan) is high and the total length of the track is short. For example, when it is desired to change the lane in the right direction, a trajectory in which the lane is once changed in the left direction and returned is evaluated as low. From the viewpoint of safety, for example, at each track point, the distance between the host vehicle M and the object (peripheral vehicle or the like) is longer, and the higher the acceleration / deceleration or the change amount of the steering angle, the higher the evaluation.

  The switching control unit 150 switches between the automatic operation mode and the manual operation mode based on a signal input from the automatic operation switch 87. Further, the switching control unit 150 switches from the automatic operation mode to the manual operation mode based on an operation instructing acceleration, deceleration, or steering for the configuration of the driving operation system in the HMI 70. For example, the switching control unit 150 switches from the automatic operation mode to the manual operation mode when the operation amount indicated by the signal input from the configuration of the driving operation system in the HMI 70 exceeds the threshold for a reference time or longer ( override). Further, the switching control unit 150 may return to the automatic operation mode when an operation for the configuration of the driving operation system in the HMI 70 is not detected for a predetermined time after switching to the manual operation mode by the override. .

  The travel control unit 160 controls the travel driving force output device 200, the steering device 210, and the brake device 220 so that the host vehicle M passes the track generated by the track generation unit 146 at a scheduled time.

  When the automatic driving control unit 120 notifies the automatic driving mode information, the HMI control unit 170 refers to the mode-specific operation availability information 188 and controls the HMI 70 according to the type of the automatic driving mode.

  FIG. 11 is a diagram illustrating an example of the operation permission / inhibition information 188 for each mode. The mode-specific operation availability information 188 shown in FIG. 11 includes “manual operation mode” and “automatic operation mode” as operation mode items. Further, the “automatic operation mode” includes the above-mentioned “mode A”, “mode B”, “mode C”, and the like. The mode-specific operation propriety information 188 includes “navigation operation” that is an operation on the navigation device 50, “content reproduction operation” that is an operation on the content reproduction device 85, and an operation on the display device 82 as non-driving operation items. It has a certain "instrument panel operation" etc. In the example of the mode-by-mode operation availability information 188 shown in FIG. 11, whether or not the vehicle occupant can operate the non-driving operation system is set for each operation mode described above, but the target interface device is limited to this. is not.

  The HMI control unit 170 refers to the mode-specific operation availability information 188 based on the mode information acquired from the automatic driving control unit 120, and is permitted to be used (a part or all of the navigation device 50 and the HMI 70). And a device that is not permitted to be used. Further, the HMI control unit 170 controls whether or not to accept an operation from the vehicle occupant for the non-driving operation type HMI 70 or the navigation device 50 based on the determination result.

  For example, when the driving mode executed by the vehicle control system 100 is the manual driving mode, the vehicle occupant operates the driving operation system of the HMI 70 (for example, the accelerator pedal 71, the brake pedal 74, the shift lever 76, the steering wheel 78, etc.). To do. Further, when the operation mode executed by the vehicle control system 100 is the mode B, the mode C, or the like of the automatic operation mode, the vehicle occupant is obliged to monitor the periphery of the own vehicle M. In such a case, in order to prevent distraction (driver distraction) due to actions other than driving of the vehicle occupant (for example, operation of the HMI 70), the HMI control unit 170 is one of the non-driving operation systems of the HMI 70. Control is performed so as not to accept operations on all or part of the document. At this time, the HMI control unit 170 displays on the display device 82 the presence of the surrounding vehicle of the own vehicle M recognized by the external recognition unit 142 and the state of the surrounding vehicle in order to perform the surrounding monitoring of the own vehicle M. The confirmation operation according to the scene when the host vehicle M is traveling may be received by the HMI 70.

  Further, when the driving mode is the mode A of the automatic driving, the HMI control unit 170 relaxes the restriction of the driver distraction and performs control for accepting the operation of the vehicle occupant for the non-driving operation system that has not accepted the operation. For example, the HMI control unit 170 causes the display device 82 to display video, causes the speaker 83 to output sound, and causes the content reproduction device 85 to reproduce content from a DVD or the like. Note that the content played back by the content playback device 85 may include, for example, various contents related to entertainment and entertainment such as a TV program in addition to the content stored on the DVD or the like. Further, the “content reproduction operation” shown in FIG. 11 may mean such a content operation related to entertainment and entertainment.

[Control based on detected state]
Hereinafter, vehicle control based on the detection result of the detected state detection device 65 will be described. The automatic operation control unit 120 refers to the detection result by the detected state detection device 65 and determines an automatic operation plan. The automatic driving plan may be an event at each stage of the above-described action plan, or may be a driving mode according to the event.

  FIG. 12 is a diagram illustrating an example of a scene in which vehicle control based on the detection result of the detected state detection device 65 is performed. In the figure, the host vehicle M is planning to overtake the surrounding vehicle m traveling immediately before the host vehicle M in the own lane L1 and change the lane to the adjacent lane L2. In the figure, DL1 indicates a rear detection distance of a detection unit (for example, a radar device) of the surrounding vehicle m, and KM indicates a trajectory generated by the trajectory generation unit 146.

  The host vehicle M recognizes the surrounding vehicle m by the detection device DD and the external environment recognition unit 142, but has not yet entered the range of the rear detection distance of the surrounding vehicle m. In this case, the detected state detection device 65 does not detect that the host vehicle M is in the detected state, and therefore does not output a signal indicating that the detected state has been detected to the vehicle control system 100.

  In this case, the automatic driving control unit 120 reduces the speed of the host vehicle M by a predetermined amount until a signal indicating that the detected state is detected is input from the detected state detection device 65. As a result, it is possible to reduce the risk when the surrounding vehicle m does not detect the behavior of the host vehicle M and unexpectedly changes to the adjacent lane L2. Note that the same control may be performed when the host vehicle M is traveling in the adjacent lane L2.

  Further, when a signal indicating that the detected state is detected is input from the detected state detection device 65 to the vehicle control system 100, the communication control unit 155 uses the communication device 55 to transmit the information on the host vehicle M to the periphery. Send to vehicle m. FIG. 13 is a diagram illustrating an example of information transmitted to surrounding vehicles. For example, information such as the position information of the host vehicle M and the latest action plan is transmitted to the surrounding vehicle m. In response to this, when similar information is returned from the surrounding vehicle m, the communication device 55 receives the information.

  FIG. 14 is a flowchart illustrating an example of a flow of processing executed by the automatic operation control unit 120. The processing of this flowchart is repeatedly executed at a predetermined cycle, for example. First, the automatic driving control unit 120 determines whether or not the host vehicle M has a plan to overtake surrounding vehicles based on the action plan and the traveling mode that have already been determined (step S100). When the host vehicle M does not plan to overtake surrounding vehicles, the process of one routine of this flowchart is terminated.

  When the host vehicle M is scheduled to overtake surrounding vehicles, the automatic driving control unit 120 determines whether or not a signal indicating that the detected state is detected is input from the detected state detection device 65 (step S102). ). Here, it may be confirmed that the surrounding vehicle that is detecting the host vehicle M is the overtaking target surrounding vehicle. In this case, for example, it is confirmed by communication with the surrounding vehicle that the surrounding vehicle that has detected the host vehicle M afterwards is the overtaking target surrounding vehicle. Specifically, the host vehicle M is detected when the position of the surrounding vehicle recognized by the detection device DD and the external field recognition unit 142 matches the position information included in the information received by the communication device 55. It is confirmed that the surrounding vehicle is a passing vehicle. Only when the surrounding vehicle to be overtaken is detecting the host vehicle M, a positive determination is made in this step.

  When the signal indicating that the detected state is detected is not input from the detection state detection device 65, the automatic driving control unit 120 decreases the speed when overtaking the surrounding vehicle (step S104).

  On the other hand, when a signal indicating that the detected state has been detected is input from the detection state detection device 65, the communication control unit 155 transmits the information of the host vehicle M to the surrounding vehicles using the communication device 55 (step). S106). Then, the automatic driving control unit 120 determines whether or not the communication device 55 has received information from the surrounding vehicle to be overtaken (step S108). When the communication device 55 has not received information from the surrounding vehicle to be overtaken, the process proceeds to step S104.

  When the communication device 55 has received information from the surrounding vehicle to be overtaken, the received information is referred to and it is determined whether or not there is no lane change plan in the surrounding vehicle (step S110). If the lane change is scheduled for the surrounding vehicle, the process proceeds to step S104.

  When there is no plan to change lanes in the surrounding vehicle, the automatic driving control unit 120 restores the speed reduced in step S104 (step S112). Thereby, the process of one routine of this flowchart is completed.

  FIG. 15 is a diagram illustrating another example of a scene in which vehicle control based on the detection result of the detected state detection device 65 is performed. In the figure, the host vehicle M is traveling immediately before the surrounding vehicle m, and is within the forward detection distance DL2 of the surrounding vehicle m. In this case, the detected state detection device 65 detects that the host vehicle M is in the detected state, and outputs a signal indicating that the detected state has been detected to the vehicle control system 100.

  In this case, the communication control unit 155 transmits information about the host vehicle M to the surrounding vehicle m using the communication device 55. In response to this, when similar information (see FIG. 13) is returned from the surrounding vehicle m, the communication device 55 receives the information.

  The automatic driving control unit 120 refers to the information received from the surrounding vehicle m and determines whether or not the surrounding vehicle m has a plan to follow the host vehicle M. When the surrounding vehicle m has a plan to follow (or is following) the host vehicle M, the lane change is suppressed in the host vehicle M or the speed change is moderated. Performs control to make tracking easier. Thereby, it is possible to realize an automatic driving that is friendly to the surrounding vehicle m.

  FIG. 16 is a flowchart illustrating another example of the flow of processing executed by the automatic operation control unit 120. The processing of this flowchart is repeatedly executed at a predetermined cycle, for example. First, the automatic driving control unit 120 determines whether or not the host vehicle M is in a state (detected state) detected from a surrounding vehicle existing behind the host vehicle M (step S200). If the host vehicle M is not in a state of being detected from a surrounding vehicle existing behind the host vehicle M, the process of one routine of this flowchart ends.

  When the host vehicle M is in a state detected from a surrounding vehicle existing behind the host vehicle M, the communication control unit 155 transmits information on the host vehicle M to the surrounding vehicle using the communication device 55 (step S202). ). And the automatic driving | operation control part 120 determines whether the communication apparatus 55 received the information from the surrounding vehicle which exists behind the own vehicle M (step S204). When the communication device 55 has not received information from a surrounding vehicle existing behind the host vehicle M, the process of one routine of this flowchart ends.

  When the communication device 55 receives information from a surrounding vehicle existing behind the host vehicle M, the automatic driving control unit 120 refers to the received information, and the surrounding vehicle existing behind the host vehicle M is the own vehicle. It is determined whether or not there is a plan to follow (or follow) (step S206). When the surrounding vehicle existing behind the host vehicle M does not have a plan to follow the host vehicle and does not follow the host vehicle, the process of one routine of this flowchart ends.

  When the surrounding vehicle existing behind the own vehicle M has a plan to follow (or follows) the own vehicle, the automatic driving control unit 120 causes the surrounding vehicle to follow the own vehicle M as described above. Control for facilitating the control is performed (step S208).

  Note that the vehicle control system 100 may not perform communication with surrounding vehicles. In this case, for example, in the scene shown in FIG. 12, the control may be simply performed, “If the detected state is not detected, the overtaking speed is reduced, and if the detected state is not detected, the overtaking speed is not reduced (returns to the original value)”. Good.

  According to the vehicle control system 100 of the embodiment described above, a detection unit (detection device DD, external recognition unit 142) that detects the position and state of another vehicle that travels around the host vehicle, and a detection result of the detection unit. Based on the automatic driving control unit (120) that performs automatic driving that automatically performs at least one of speed control and steering control, and the state in which the host vehicle is detected by the detecting unit of another vehicle (peripheral vehicle) A detected state detection unit (65) that detects whether or not the vehicle is in use, and the automatic driving control unit refers to the detection result of the detected state detection unit to determine the plan for automatic driving. Based on the presence or absence of detection from the automatic operation can be suitably performed.

  As mentioned above, although the form for implementing this invention was demonstrated using embodiment, this invention is not limited to such embodiment at all, In the range which does not deviate from the summary of this invention, various deformation | transformation and substitution Can be added.

  DESCRIPTION OF SYMBOLS 20 ... Finder, 30 ... Radar, 40 ... Camera, DD ... Detection device, 50 ... Navigation device, 60 ... Vehicle sensor, 65 ... Detected state detection device, 70 ... HMI, 100 ... Vehicle control system, 110 ... Target lane determination , 120 ... automatic driving control unit, 130 ... automatic driving mode control unit, 140 ... own vehicle position recognition unit, 142 ... external environment recognition unit, 144 ... action plan generation unit, 146 ... track generation unit, 146A ... running mode determination unit 146B: Trajectory candidate generation unit, 146C ... evaluation / selection unit, 150 ... control switching unit, 155 ... communication control unit 160 ... travel control unit, 180 ... storage unit, 200 ... travel drive force output device, 210 ... steering device, 220 ... Brake device, M ... Own vehicle

Claims (6)

A detection unit that detects the position and state of another vehicle traveling around the host vehicle;
Based on the detection result of the detection unit, an automatic driving control unit that performs automatic driving that automatically performs at least one of speed control and steering control, and
A detected state detection unit that detects whether or not the host vehicle is being detected by a detection unit of another vehicle,
The automatic operation control unit refers to a detection result by the detected state detection unit, and determines the plan for the automatic operation.
Vehicle control system. The detected state detection unit detects whether or not the host vehicle is being detected by the detection unit of the other vehicle by detecting an electromagnetic wave emitted by the detection unit of the other vehicle.
The vehicle control system according to claim 1. A communication unit that communicates with other vehicles;
In the state where the subject vehicle is detected by the detection unit of the other vehicle by the detected state detection unit, an automatic driving executed in the other vehicle is performed from the other vehicle using the communication unit. A communication control unit for receiving the contents of the plan;
The vehicle control system according to claim 1, further comprising: The automatic driving control unit determines an automatic driving plan to be executed in the host vehicle based on the content of the automatic driving plan to be executed in the other vehicle received from the other vehicle by the communication unit.
The vehicle control system according to claim 3. In-vehicle computer
Detect the position and status of other vehicles that run around your vehicle,
Based on the result of the detection, automatic operation for automatically performing at least one of speed control and steering control is performed,
Detecting whether or not the host vehicle is being detected by a detection unit of another vehicle,
Determining the automatic driving plan based on whether or not the own vehicle is being detected by the detection unit of the other vehicle;
Vehicle control method. On-board computer
Detect the position and status of other vehicles traveling around the vehicle,
Based on the result of the detection, to perform automatic driving that automatically performs at least one of speed control and steering control,
Detecting whether or not the host vehicle is being detected by a detection unit of another vehicle,
Based on whether or not the host vehicle is being detected by the detection unit of the other vehicle, the automatic driving plan is determined.
Vehicle control program.

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