JP2018199372A - Target track follow-up control device and target track follow-up control method - Google Patents

Abstract

To provide a target track follow-up control device and a target track follow-up control method that can suppress interruption of follow-up control and continuously execute follow-up control.SOLUTION: A target track follow-up control device 100 includes: a target object state amount acquisition part 1 for acquiring relative positions between an own vehicle and a target object; a target object state amount storage part 7 for storing the relative positions; a vehicle state amount acquisition part 2 for acquiring a vehicle state amount of the own vehicle; a target track calculation part 3 for calculating a target track based on the relative positions and the vehicle state amount; a control instruction generation part 4 for determining whether or not the relative position where the own vehicle has not passed exists of the relative positions stored in the target object state amount storage part 7, and, if the relative position where the own vehicle has not passed exists, generating a control continuation instruction; and a vehicle control part 5 for, upon reception of the control continuation instruction, controlling the own vehicle so that the own vehicle follows up the target track.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a target trajectory tracking control device and a target trajectory tracking control method.

  For the purpose of reducing the driving load on the driver, a target locus tracking control device that controls the vehicle speed and the steering amount of the host vehicle so as to travel following the set target locus has been proposed. As a specific example, in vehicle speed control, distance control (ACC: Adaptive Cruise Control) that controls the vehicle speed so as to keep the distance between vehicles constant according to the vehicle speed of the preceding vehicle, and in steering amount control, the lane on the road surface is recognized. Conventionally, lane keeping control for controlling the steering amount so as not to deviate from the traveling lane has been proposed. There is also a method of acquiring vehicle position information using satellite positioning information or a sensor such as a camera or a radar, and controlling the vehicle speed and steering amount so as to follow the trajectory that the vehicle has passed. Thus, the recognition performance of the target object is important in the control of recognizing the target object and following the target locus generated based on the recognition information.

  For example, in Patent Document 1, when a preceding vehicle is temporarily unrecognizable at the entrance of a curve, it is determined whether the re-recognized vehicle is the same as the preceding vehicle that has been recognized before. Techniques for reducing time and suppressing control instability are shown.

JP 2011-245949 A

  In the follow-up control in Patent Document 1, the follow-up control may be interrupted when the vehicle cannot be recognized temporarily, such as when a sensor is erroneously detected. Therefore, an operation unnecessary for the driver, such as an operation of restarting the tracking control, occurs.

  The present invention has been made to solve the above-described problems, and a target trajectory tracking control device and a target trajectory tracking that can suppress the tracking control from being interrupted and perform continuous tracking control. The purpose is to provide a control method.

  The target trajectory tracking control device according to the present invention includes a target target state quantity acquisition unit that acquires a relative position between the host vehicle and a target target, and a target target state quantity storage that stores the relative position acquired by the target target state quantity acquisition unit. , A vehicle state quantity acquisition unit that acquires the vehicle state quantity of the host vehicle, a target locus calculation part that calculates a target locus based on the relative position and the vehicle state quantity, and a target target state quantity storage unit. A control instruction generation unit that determines whether there is a relative position where the vehicle does not pass among the relative positions, and generates a control continuation instruction when there is a relative position where the vehicle does not pass, and a control instruction A vehicle control unit that receives the control continuation instruction from the generation unit and controls the vehicle so that the vehicle follows the target locus.

  The target trajectory tracking control method according to the present invention acquires a relative position between the host vehicle and a target target, stores the acquired relative position in a target target state quantity storage unit, acquires a vehicle state quantity of the host vehicle, A target trajectory is calculated based on the relative position and the vehicle state quantity, and it is determined whether there is a relative position where the own vehicle does not pass among the relative positions stored in the target target state quantity storage unit. When there is a relative position where the vehicle does not pass, a control continuation instruction is generated, and the vehicle is controlled so as to follow the target locus in response to the control continuation instruction.

  According to the target trajectory tracking control device and the target trajectory tracking control method according to the present invention, even when the relative position between the host vehicle and the target target cannot be temporarily acquired, the host vehicle stores the target target state quantity. Until all the relative positions stored in the section pass, control to follow the target locus is continued. Accordingly, since the tracking control is not immediately interrupted when the target object can no longer be recognized, the tracking control can be continued and stably performed. As a result, driver discomfort due to the interruption of the follow-up control can be reduced.

1 is a block diagram of a target locus tracking control device according to Embodiment 1. FIG. 3 is a block diagram of a target locus calculation unit of the target locus follow-up control apparatus according to Embodiment 1. FIG. FIG. 3 is a hardware configuration diagram of the target locus tracking control device according to the first embodiment. FIG. 3 is a hardware configuration diagram of the target locus tracking control device according to the first embodiment. 3 is a flowchart showing the operation of the target locus tracking control device according to the first embodiment. 3 is a flowchart illustrating an operation of calculating a target locus of the target locus tracking control device according to the first embodiment. FIG. 6 is a schematic diagram for explaining the operation of the target locus tracking control device according to the first embodiment. FIG. 6 is a schematic diagram for explaining the operation of the target locus tracking control device according to the first embodiment. FIG. 6 is a schematic diagram for explaining the operation of the target locus tracking control device according to the first embodiment. FIG. 10 is a block diagram of a target locus tracking control device according to a third embodiment. FIG. 10 is a block diagram of a target locus tracking control device according to a fourth embodiment.

<Embodiment 1>
<Configuration>
FIG. 1 is a block diagram of target trajectory tracking control apparatus 100 in the present embodiment. As shown in FIG. 1, the target trajectory tracking control device 100 includes a target target state quantity acquisition unit 1, a vehicle state quantity acquisition unit 2, a target target state quantity storage unit 7, a target trajectory calculation unit 3, a control instruction generation unit 4, and A vehicle control unit 5 is provided.

  The target target state quantity acquisition unit 1 acquires the relative position between the host vehicle and the target target. As a specific example, the front of the host vehicle is photographed by a front camera mounted on the host vehicle, and the relative position of the host vehicle and the preceding vehicle is acquired from the photographed image. You may acquire a relative position from the echo of the millimeter wave radar attached ahead of the own vehicle. Alternatively, the relative position may be acquired by using sensor information such as GPS that receives positioning information from a satellite and road surface map information acquired in advance. In addition, when the absolute position of the own vehicle and the target object can be acquired, the relative position with respect to the target object based on the own vehicle may be calculated and acquired from the acquired absolute position. Further, the target object is not limited to the preceding vehicle, and the target object may be a traveling lane on the road surface. In this case, for example, the front of the host vehicle is photographed by a front camera mounted on the host vehicle, the white line of the travel lane is recognized from the captured image, and the relative position of the host vehicle and the travel lane is acquired.

  The vehicle state quantity acquisition unit 2 acquires the vehicle state quantity of the host vehicle. Specific examples of the vehicle state amount include the speed of the own vehicle, the amount of movement of the own vehicle calculated by self-position estimation using the own vehicle yaw rate, and the like.

  The target target state quantity storage unit 7 stores a relative position between the host vehicle and the target target acquired by the target target state quantity acquisition unit 1. The target target state quantity acquisition unit 1 may acquire a plurality of relative positions between the host vehicle and the target target, and the target target state quantity storage unit 7 may store a plurality of relative positions.

  The target locus calculation unit 3 calculates a target locus based on the relative position stored in the target object state quantity storage unit 7 and the vehicle state quantity of the host vehicle. The calculation of the target locus will be described later.

  The control instruction generation unit 4 determines whether or not the own vehicle has passed all the relative positions stored in the target target state quantity storage unit 7, and when there is a relative position where the own vehicle has not passed, Is generated.

  The vehicle control unit 5 receives the control continuation instruction from the control instruction generation unit 4 and controls the own vehicle so that the own vehicle follows the target locus. Control is performed for at least one of steering and vehicle speed. Specific examples of target trajectory tracking control include target trajectory tracking steering control using an electric power steering device, vehicle speed control by controlling the accelerator and brake, and inter-vehicle distance control for controlling the inter-vehicle distance from the preceding vehicle, Further, there is a control for performing both steering and vehicle speed control. The specific examples shown here are merely examples, and other methods may be used. In the first embodiment, it is assumed that steering control is performed. The vehicle speed control will be described in the second embodiment.

  FIG. 2 is a block diagram of the target locus calculation unit 3. The target locus calculation unit 3 includes a target target state quantity acquisition determination unit 6, a target target state quantity storage unit 7, and a target target relative position coordinate conversion unit 8. The target target state quantity acquisition determination unit 6 determines whether the target target state quantity can be acquired based on the target target state quantity acquired by the target target state quantity acquisition unit 1. The target target state quantity storage unit 7 stores the acquired target target state quantity while the target target state quantity acquisition determination unit 6 determines that the target target state quantity has been acquired. However, in consideration of the capacity of the storage area and the like, the target target state quantity storage unit 7 stores a certain number of target target state quantities and discards them in order from the oldest acquired target target state quantity.

  The target target relative position coordinate conversion unit 8 updates the relative position between the host vehicle and the target target stored in the target target state quantity storage unit 7 based on the current vehicle state quantity acquired by the vehicle state quantity acquisition unit 2. . The update of the relative position will be described later. Furthermore, the target target relative position coordinate conversion unit 8 calculates a travel locus based on the updated relative position between the vehicle and the target target.

  When the relative position with the target object stored in the target object state quantity storage unit 7 becomes negative, the control instruction generation unit 4 determines that the relative position has been passed. The control instruction generation unit 4 generates a control continuation instruction when there is a relative position where the host vehicle does not pass among the relative positions stored in the target target state quantity storage unit 7. On the other hand, the control instruction generation unit generates a control stop instruction when it is determined that the vehicle has passed all the relative positions stored in the target target state quantity storage unit 7.

  Even after the target target state quantity acquisition determination unit 6 determines that the target target state quantity cannot be acquired, the control is performed until the vehicle passes all the relative positions stored in the target target state quantity storage unit 7. The instruction generation unit 4 generates a control continuation instruction. In other words, the tracking control is prevented from being interrupted at the moment when the target target state quantity acquisition unit 1 cannot acquire the relative position with the target target, and more continuous target trajectory tracking control is performed to reduce driver discomfort. can do.

  FIG. 3 is a hardware configuration diagram of the target trajectory tracking control device 100. The functions of the target object state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, the target locus calculation unit 3, the control instruction generation unit 4, and the vehicle control unit 5 in the target locus tracking control device 100 are realized by the processing circuit HW1. . The target target state quantity storage unit 7 is realized by the storage device HW4. That is, the target locus tracking control device 100 acquires the relative position between the host vehicle and the target object, stores the acquired relative position in the storage device HW4, acquires the vehicle state quantity of the host vehicle, and acquires the relative position and the vehicle state. The target trajectory is calculated based on the amount, and it is determined whether there is a relative position where the host vehicle does not pass among the relative positions stored in the storage device HW4, and the relative position where the host vehicle does not pass is determined. A processing device is provided for generating a control continuation instruction when present, receiving the control continuation instruction, and performing processing for controlling at least one of steering and vehicle speed so that the host vehicle follows the target locus. Even if the processing circuit HW1 is dedicated hardware, a CPU (Central Processing Unit, a central processing unit, a processing unit, a processing unit, a microprocessor, a microcomputer, a processor, a DSP (Digital) that executes a program stored in a memory Signal processor)).

  When the processing circuit HW1 is dedicated hardware, the processing circuit HW1 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, the target locus calculation unit 3, the control instruction generation unit 4, and the vehicle control unit 5 may be realized by a processing circuit. May be realized by a single processing circuit.

  When the processing circuit HW1 is a processor, the functions of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, the target locus calculation unit 3, the control instruction generation unit 4, and the vehicle control unit 5 are software or the like (software , Firmware or a combination of software and firmware). Software or the like is described as a program and stored in the memory HW3. As shown in FIG. 4, the processor HW2 applied to the processing circuit HW1 realizes the functions of the respective units by reading and executing the program stored in the memory HW3. That is, the display control device 100, when executed by the processing circuit HW1, acquires a relative position between the host vehicle and the target object, stores the acquired relative position in the storage device HW4, and the vehicle state of the host vehicle. A step of obtaining a quantity, a step of calculating a target trajectory based on the relative position and the vehicle state quantity, and a determination of whether there is a relative position where the host vehicle does not pass among the relative positions stored in the storage device HW4. A step of generating, a step of generating a control continuation instruction when there is a relative position where the host vehicle does not pass, and a steering continuation instruction or at least one of the vehicle speed so that the host vehicle follows the target locus in response to the control continuation instruction A memory HW3 is provided for storing a program whose control step is to be executed as a result. In addition, these programs cause the computer to execute the procedures and methods of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, the target locus calculation unit 3, the control instruction generation unit 4, and the vehicle control unit 5. It can be said. Each of the storage device HW4 and the memory HW3 includes, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), etc. It may be a non-volatile or volatile semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), or any other storage medium used in the future.

  A part of the functions of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, the target locus calculation unit 3, the control instruction generation unit 4, and the vehicle control unit 5 is realized by dedicated hardware. The unit may be realized by software or firmware. As described above, the processing circuit HW1 can realize the above-described functions by hardware, software, firmware, or a combination thereof.

  Here, the vehicle control unit 5 that has received the control stop instruction may not immediately stop the control but may gradually reduce the steering control amount with time.

<Operation>
FIG. 5 is a flowchart showing the operation of the target trajectory tracking control device 100. FIG. 6 is a flowchart showing an operation of calculating the target trajectory of the target trajectory tracking control device 100 (that is, the operation in step S5 in FIG. 5).

  In the flowchart shown in FIG. 5, it is assumed that a predetermined number of relative positions of target targets are already stored in the target target state quantity storage unit 7 and the target track tracking control is started from a state in which the calculated target track is being executed. (Step S1).

  First, the target target state quantity acquisition unit 1 acquires the relative position between the host vehicle and the target target (step S2). The acquired relative position between the host vehicle and the target object is stored in the target object state quantity storage unit 7 (step S3). At this time, the oldest relative position may be discarded according to the storage capacity of the target target state quantity storage unit 7. Moreover, the vehicle state quantity acquisition part 2 acquires the vehicle state quantity of the own vehicle (step S4).

  Next, the target locus calculation unit 3 calculates a target locus (step S5). Then, the control instruction generation unit 4 determines whether there is a relative position where the host vehicle does not pass among the relative positions stored in the target target state quantity storage unit 7 (step S6). When there is a relative position where the host vehicle has not passed, the control instruction generation unit 4 generates a control continuation instruction (step S7). Receiving the control continuation instruction, the vehicle control unit 5 controls the host vehicle so that the host vehicle follows the target locus (step S1).

  On the other hand, when the control instruction generation unit 4 determines in step S6 that there is no relative position where the host vehicle does not pass among the relative positions stored in the target target state quantity storage unit 7, that is, the target When the vehicle passes through all the relative positions stored in the target state quantity storage unit 7, the control instruction generation unit 4 generates a control stop instruction (step S8). Receiving the control stop instruction, the vehicle control unit 5 stops the control to follow the target locus (step S9). Here, the vehicle control part 5 which received the control stop instruction | indication reduces a control amount gradually with time.

  The operation for calculating the target locus in step S5 in FIG. 5 will be described with reference to FIG. The target target relative position coordinate conversion unit 8 updates the relative position stored in the target target state quantity storage unit 7 based on the current vehicle state quantity of the host vehicle (step S51). That is, the target target relative position coordinate conversion unit 8 converts the relative position stored in the target target state quantity storage unit 7 into a relative position based on the current vehicle position. The relative position stored in the target target state quantity storage unit 7 is moved by the own vehicle movement amount included in the vehicle state quantity of the own vehicle, and the front of the own vehicle is positive with the current own vehicle position as the origin. The coordinates are converted so as to be in the direction and stored as a new relative position.

  Further, the target target relative position coordinate conversion unit 8 calculates a travel locus based on the updated relative position with respect to the target target (step S52). When the target object is a preceding vehicle, the target locus is calculated so as to trace the relative position. When the target object is a travel lane on the road surface, the target trajectory is calculated so as to travel in the travel lane. In the calculation of the target locus, a database such as road surface map information acquired in advance may be referred to.

  7 to 9 are schematic diagrams for explaining the operation of the target locus tracking control apparatus 100. FIG. It is assumed that the target locus tracking control device 100 performs steering control so that the host vehicle V1 follows the preceding vehicle V2. 7 to 9, a range R1 indicates a range in which the host vehicle V1 can acquire the relative position of the preceding vehicle V2.

  First, in FIG. 7, the target locus tracking control device 100 acquires the relative position P1 between the host vehicle V1 and the preceding vehicle V2, and follows the target track L1 calculated based on the relative position P1. The steering is controlled.

  Next, in FIG. 8, when a curve exists between the own vehicle V1 and the preceding vehicle V2, the target locus following control device 100 cannot acquire the relative position between the own vehicle V1 and the preceding vehicle V2. The target trajectory tracking control device 100 does not directly follow the preceding vehicle V2, but performs steering control so as to follow the target trajectory L1 calculated based on the relative position P1, so even if the preceding vehicle V2 is lost. The follow-up control is not immediately interrupted.

  Next, in FIG. 9, it is assumed that the target locus tracking control device 100 can acquire the relative position P2 between the host vehicle V1 and the preceding vehicle V2 before the host vehicle passes the relative position P1. In this case, the target locus L1 is extended by calculating the target locus based on the relative position P2, and becomes the target locus L2. Then, the steering of the host vehicle V1 is controlled so as to follow the extended target locus L2. Thus, even if the preceding vehicle V2 is temporarily lost, the follow-up control can be continued.

<Effect>
The target locus tracking control device 100 according to the first embodiment stores a target target state quantity acquisition unit 1 that acquires a relative position between the host vehicle and the target target, and a relative position acquired by the target target state quantity acquisition unit 1. Target target state quantity storage unit 7, vehicle state quantity acquisition unit 2 that acquires the vehicle state quantity of the host vehicle, target path calculation unit 3 that calculates the target path based on the relative position and the vehicle state quantity, and target target state It is determined whether there is a relative position where the vehicle has not passed among the relative positions stored in the quantity storage unit 7, and a control continuation instruction is generated when there is a relative position where the vehicle has not passed And a vehicle control unit 5 that receives the control continuation instruction from the control instruction generation unit 4 and controls the host vehicle so that the host vehicle follows the target locus.

  According to the target trajectory tracking control device 100 and the target trajectory tracking control method in the first embodiment, even when the relative position between the host vehicle and the target target cannot be temporarily acquired, the host vehicle is the target target. Until all the relative positions stored in the state quantity storage unit 7 are passed, the control to follow the target locus is continued. Accordingly, since the tracking control is not immediately interrupted when the target object can no longer be recognized, the tracking control can be continued and stably performed. As a result, driver discomfort due to the interruption of the follow-up control can be reduced.

  Further, in the target locus following control apparatus 100 according to the first embodiment, the vehicle control unit 5 controls the steering so that the host vehicle follows the target locus. According to the target trajectory tracking control apparatus 100 according to the first embodiment, the steering control is not immediately interrupted when the target object can no longer be recognized, so that the steering control can be continuously performed stably. It is. Thereby, the driver's discomfort due to the interruption of the steering control can be reduced.

  In the target locus following control device 100 according to the first embodiment, the target object is a preceding vehicle that is traveling ahead of the host vehicle. Therefore, even when the preceding vehicle is temporarily lost due to a curve or the like, the follow-up control is not immediately interrupted, so that the follow-up control can be continued and performed stably.

  In the target locus tracking control device 100 according to the first embodiment, the target object is a traveling lane on the road surface. Therefore, even when there is a section where the white line display of the driving lane is disappearing, the tracking control is not immediately interrupted, so the tracking control can be continuously performed stably. is there.

  In the target locus tracking control device 100 according to the first embodiment, the target target state quantity acquisition unit 1 acquires a new relative position before the vehicle passes all the relative positions, and the target locus calculation unit 3 Extends the target trajectory based on the new relative position. Accordingly, as described with reference to FIGS. 7 to 9, the follow-up control can be continued even when the preceding vehicle is temporarily lost due to the presence of a curve, for example.

  Further, in the target locus tracking control device 100 according to the first embodiment, when the control instruction generation unit 4 determines that the vehicle has passed all the relative positions stored in the target target state quantity storage unit 7, A control stop instruction is generated, and upon receiving a control stop instruction from the control instruction generator 4, the vehicle controller 5 gradually reduces the control amount with time. Therefore, when the follow-up control is stopped, by gradually reducing the control amount with time, it is possible to smoothly switch to manual operation and to reduce the driver's burden.

<Embodiment 2>
The block diagram of the target trajectory tracking control device 200 in the second embodiment is the same as the block diagram (FIG. 1) of the target trajectory tracking control device 100. In the second embodiment, the target target state quantity acquisition unit 1 acquires speed information related to the target target in addition to the relative position between the host vehicle and the target target. When the target object is a preceding vehicle, the speed information regarding the target object is the speed of the preceding vehicle. The speed of the preceding vehicle is acquired based on a front camera mounted on the own vehicle, a millimeter wave radar attached in front of the own vehicle, or the like. When the target object is a travel lane on the road surface, the speed information related to the target object is a speed limit set in the travel lane. The speed limit of the travel lane is acquired by photographing the front of the host vehicle with a front camera mounted on the host vehicle and recognizing a speed sign and a sign from the captured image. Further, the speed limit of the travel lane may be acquired from a database such as road surface map information. The acquired speed information is stored in the target target state quantity storage unit 7.

  In the second embodiment, the vehicle control unit 5 controls the vehicle speed so that the host vehicle follows the target locus. The vehicle speed is controlled by setting the target speed based on the speed information stored in the target target state quantity storage unit 7. When the target object is a preceding vehicle, by setting the target speed to the speed of the preceding vehicle, it is possible to follow while keeping the distance between the host vehicle and the preceding vehicle constant. When the target object is a travel lane, the target speed is set to the speed limit set for the travel lane, so that travel at a speed suitable for the travel lane is possible.

  In the second embodiment, the vehicle control unit 5 may execute the steering control in the same manner as the first embodiment in addition to the vehicle speed control. Other configurations and operations of the target locus tracking control device 200 according to the second embodiment are the same as those of the target locus tracking control device 100, and thus description thereof is omitted.

<Effect>
In the target trajectory tracking control apparatus 200 according to the second embodiment, the target target state quantity acquisition unit 1 acquires the relative position of the target target and speed information related to the target target, and the target target state quantity storage unit 7 stores the target target state. The relative position and speed information acquired by the quantity acquisition unit 1 is stored, and the vehicle control unit 5 controls the vehicle speed based on the speed information so that the host vehicle follows the target locus.

  According to the target trajectory tracking control apparatus 200 in the second embodiment, when the target object cannot be recognized, the control of the vehicle speed is not immediately interrupted. Is possible. As a result, driver discomfort due to the suspension of vehicle speed control can be reduced.

  In the target locus tracking control device 200 according to the second embodiment, the vehicle control unit 5 controls steering in addition to the control of the vehicle speed. By controlling both the vehicle speed and the steering, it is possible to further reduce the burden on the driver.

  In the target locus tracking control apparatus 200 according to the second embodiment, the target object is a preceding vehicle that is traveling ahead of the host vehicle, and the speed information related to the target object is the speed of the preceding vehicle. Accordingly, it is possible to follow the preceding vehicle while keeping the distance between the host vehicle and the preceding vehicle constant.

  In the target locus tracking control apparatus 200 according to the second embodiment, the target object is a travel lane on the road surface, and the speed information related to the target object is a speed limit set in the travel lane. Therefore, it is possible to travel at a speed suitable for the travel lane.

  The target trajectory tracking control devices 100 and 200 according to the first and second embodiments described above are constructed not only as devices that can be mounted on a vehicle but also as a system that is appropriately combined with a communication terminal device, a server device, and the like. The present invention can be applied to a target trajectory tracking control system. The mobile communication device is, for example, a mobile phone, a smartphone, a tablet terminal device, or the like.

  As described above, when a target trajectory tracking control system is constructed by appropriately combining a device mounted on a vehicle, a communication terminal device, and a server device, each component of the target trajectory tracking control device The devices may be arranged in a distributed manner, or may be arranged in one device.

  The configuration in the case where the components of the target locus tracking control device are partially arranged in the server device will be described in the third embodiment below. Further, the configuration in the case where the elements provided in the target locus tracking control device are partially arranged in the mobile communication device will be described in the fourth embodiment below.

<Embodiment 3>
FIG. 10 is a block diagram of target trajectory tracking control apparatus 300 according to the third embodiment. As shown in FIG. 10, the target locus tracking control device 300 includes a target target state quantity acquisition unit 1, a vehicle state quantity acquisition unit 2, a vehicle control unit 5, and a server device 50. The server device 50 includes a target target state quantity storage unit 7, a target locus calculation unit 3, and a control instruction generation unit 4. Since target trajectory tracking control apparatus 300 in the third embodiment includes the same configuration as display control apparatuses 100 and 200 (FIG. 1) in the first and second embodiments, the same configuration is used. The same reference numerals are assigned and common descriptions are omitted.

  The server device 50 communicates with the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, and the vehicle control unit 5 mounted on the vehicle via a communication network such as the Internet. Note that the server device 50 may have a part or all of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, and the vehicle control unit 5.

  As described above, even in the configuration of the third embodiment in which some components of the target trajectory tracking control device 300 are arranged in the server device 50, the target trajectory tracking control in the first embodiment and the second embodiment described above. The same effect as the devices 100 and 200 can be obtained.

<Embodiment 4>
FIG. 11 is a block diagram of target trajectory tracking control apparatus 400 according to the fourth embodiment. As shown in FIG. 11, the target trajectory tracking control device 400 includes a target target state quantity acquisition unit 1, a vehicle state quantity acquisition unit 2, a vehicle control unit 5, and a mobile communication device 60. The mobile communication device 60 includes a target target state quantity storage unit 7, a target locus calculation unit 3, and a control instruction generation unit 4. Since target trajectory tracking control apparatus 400 in the fourth embodiment includes the same configuration as display control apparatuses 100 and 200 (FIG. 1) in the first and second embodiments, the same configuration is used. The same reference numerals are assigned and common descriptions are omitted.

  The portable communication device 60 communicates with the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, and the vehicle control unit 5 mounted on the vehicle via a communication network such as the Internet. In addition, the mobile communication device 60 includes a target target state quantity acquisition unit 1, a vehicle state quantity acquisition unit 2, a vehicle control unit 5 mounted on a vehicle, and Bluetooth (Bluetooth (registered trademark)) that is a short-range wireless communication standard, for example. Alternatively, communication may be performed wirelessly such as a wireless LAN. Further, the mobile communication device 60 may communicate with the vehicle by a wired line such as a USB (Universal Serial Bus) cable or a LAN cable. The mobile communication device 60 may have a configuration in which some or all of the target target state quantity acquisition unit 1, the vehicle state quantity acquisition unit 2, and the vehicle control unit 5 are provided.

  As described above, even in the configuration of the fourth embodiment in which some components of the target trajectory tracking control device 400 are arranged in the mobile communication device 60, the target trajectory tracking in the above-described first and second embodiments. The same effects as those of the control devices 100 and 200 can be obtained.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  DESCRIPTION OF SYMBOLS 1 Target object state quantity acquisition part, 2 Vehicle state quantity acquisition part, 3 Target locus | trajectory calculation part, 4 Control instruction generation part, 5 Vehicle control part, 6 Target object state quantity acquisition determination part, 7 Target object state quantity memory | storage part, 8 Target target relative position coordinate conversion unit, 50 server device, 60 portable communication device, 100, 200, 300, 400 target locus tracking control device, V1 own vehicle, V2 preceding vehicle, L1, L2 target locus, P1, P2 relative position, R1 range.

Claims (11)

A target target state quantity acquisition unit for acquiring a relative position between the host vehicle and the target target;
A target target state quantity storage unit for storing the relative position acquired by the target target state quantity acquisition unit;
A vehicle state quantity acquisition unit for acquiring a vehicle state quantity of the own vehicle;
A target locus calculation unit for calculating a target locus based on the relative position and the vehicle state quantity;
When the relative position stored in the target target state quantity storage unit determines whether or not the relative position where the host vehicle does not pass exists, and the relative position where the host vehicle does not pass exists A control instruction generation unit for generating a control continuation instruction;
A vehicle control unit that receives a control continuation instruction from the control instruction generation unit and controls the host vehicle so that the host vehicle follows the target locus;
Comprising
Target trajectory tracking control device. The vehicle control unit controls steering so that the host vehicle follows the target locus;
The target locus tracking control device according to claim 1. The target target state quantity acquisition unit acquires speed information related to the relative position of the target target and the target target,
The target target state quantity storage unit stores the relative position and the speed information acquired by the target target state quantity acquisition unit,
The vehicle control unit controls a vehicle speed based on the speed information so that the host vehicle follows the target locus;
The target locus tracking control device according to claim 1. The vehicle control unit controls steering in addition to the control of the vehicle speed;
The target locus tracking control device according to claim 3. The target object is a preceding vehicle traveling ahead of the host vehicle,
The target locus tracking control device according to any one of claims 1 to 4. The target object is a driving lane on the road surface,
The target locus tracking control device according to any one of claims 1 to 4. The target object is a preceding vehicle traveling ahead of the host vehicle,
The speed information regarding the target object is a speed of the preceding vehicle.
The target locus follow-up control device according to claim 3 or 4. The target object is a traveling lane on the road surface,
The speed information related to the target object is a speed limit set in the travel lane.
The target locus follow-up control device according to claim 3 or 4. The target target state quantity acquisition unit acquires the new relative position before the vehicle passes all the relative positions,
The target trajectory calculation unit extends the target trajectory based on the new relative position.
The target locus tracking control device according to any one of claims 1 to 8. The control instruction generation unit generates a control stop instruction when it determines that the host vehicle has passed all the relative positions stored in the target target state quantity storage unit,
In response to a control stop instruction from the control instruction generator, the vehicle controller gradually reduces the control amount with time.
The target locus tracking control device according to any one of claims 1 to 9. Obtain the relative position of the vehicle and the target object,
Storing the acquired relative position in the target target state quantity storage unit;
Get the vehicle state quantity of your vehicle,
A target locus is calculated based on the relative position and the vehicle state quantity,
When the relative position stored in the target target state quantity storage unit determines whether or not the relative position where the host vehicle does not pass exists, and the relative position where the host vehicle does not pass exists Generate a control continuation instruction in
In response to the control continuation instruction, the vehicle is controlled so that the vehicle follows the target locus.
Target trajectory tracking control method.

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