JP2018203142A - Travel support system and travel support method - Google Patents

Abstract

To provide a travel support system capable of reducing a burden to an occupant by inhibiting a vehicle from being upwardly pushed up.SOLUTION: A travel support system includes: a detection part for detecting peripheral information being information of the periphery of a vehicle; an object specification part for specifying the shape and the position of an object around the vehicle on the basis of the peripheral information; and a vehicle control part for decelerating the vehicle before a wheel of the vehicle reaches an object having height which is equal to or less than a first height threshold during control over the driving of the vehicle.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a driving support system and a driving support method.

  A vehicle system that supports parking or the like is known. In such a system, the vehicle is driven in consideration of the correspondence to the object such as a step on the set route. For example, a system for controlling the speed after overcoming a step is known.

JP 2013-49389 A

  However, in the above-described system, there is a problem that the vehicle may be pushed upward when crossing the level difference, which places a heavy burden on the passenger.

  The present invention has been made in view of the above, and an object of the present invention is to provide a travel support system and a travel support method that can suppress a vehicle from being pushed upward and reduce a burden on an occupant.

  In order to solve the above-described problems and achieve the object, the driving support system of the present invention includes a detection unit that detects peripheral information that is peripheral information of the vehicle, and the peripheral of the vehicle based on the peripheral information. An object specifying unit for specifying a shape and a position of the object, and the vehicle before the wheel of the vehicle reaches the object having a height equal to or lower than a first height threshold during the control of the driving of the vehicle; A vehicle control unit for decelerating.

  As described above, the driving support system of the present invention decelerates the vehicle before the wheels reach the object having the first height threshold value or less, so that the vehicle is prevented from being pushed up by the object, The burden can be reduced.

  The vehicle control unit of the above-described driving support system has a first level difference in which the object is higher than a first height threshold and higher than a second height threshold smaller than the first height threshold. In this case, the vehicle may be decelerated before the wheels reach the first step.

  As described above, the driving support system of the present invention suppresses the vehicle from being pushed up by the target object because the vehicle is decelerated before the wheel reaches the first step that is likely to be pushed up but is likely to be pushed up. Thus, the burden on the passenger can be reduced.

  The vehicle control unit of the travel support system described above may stop the vehicle at a stop position before the wheels of the vehicle exceed the first step.

  Thus, since the driving assistance system of the present invention stops the vehicle at the stop position before exceeding the first step, it is possible to further suppress the vehicle from being pushed up when it gets over the first step.

  The vehicle control unit of the above-described travel support system may accelerate the vehicle after the deceleration to get over the first step.

  As described above, when the object is the first step, the driving support system of the present invention allows the vehicle to get over the first step after deceleration, and thus can continue the automatic driving while suppressing the vehicle from being pushed up. .

  The vehicle control unit of the above-described travel support system may start deceleration of the vehicle before any of the wheels of the vehicle reaches the first step.

  Thus, since the driving assistance system of this invention starts deceleration of a vehicle before any wheel reaches a 1st level | step difference, it can suppress pushing up of a vehicle more reliably.

  The vehicle control unit of the driving support system described above, after one of the front wheel and the rear wheel of the vehicle gets over the first step, until the other of the front wheel and the rear wheel of the vehicle reaches the first step, The vehicle may be accelerated.

  As described above, the driving support system according to the present invention accelerates the vehicle when one of the front wheels and the rear wheel gets over the first step, so that the driving time can be shortened while suppressing the pushing-up of the vehicle at the first step. .

  If the object is an obstacle higher than the first height threshold, the vehicle control unit of the driving support system described above stops the vehicle at a position farther from the object than the stop position. May be.

  Thus, if the object is an obstacle, the driving support system of the present invention stops the vehicle at the second stop position that is farther from the object than the first stop position, so that the vehicle collides with the obstacle. This can be suppressed.

  When the object is the obstacle, the vehicle control unit of the driving support system described above may pass the authority to drive the vehicle to the driver after stopping the vehicle.

  As described above, the driving support system according to the present invention is a case where, when the object is an obstacle, the driving authority is handed over to the driver after stopping the vehicle, so that it is difficult to perform the automatic driving where the obstacle exists. However, obstacles can be avoided by the driver.

  The vehicle control unit of the above-described driving support system may cause the vehicle to exceed the second step without decelerating the vehicle if the object is a second step that is lower than the second height threshold.

  As described above, when the object is the second step with a small push-up, the driving support system of the present invention can overcome the second step without decelerating the vehicle, so that the traveling time can be shortened.

  The vehicle of the above-described driving support system includes an internal combustion engine and an electric motor, and the vehicle control unit is configured such that the wheel of the vehicle has a height equal to or lower than the first height threshold during the control of the vehicle. Before reaching the object, the internal combustion engine may be switched to the electric motor.

  As described above, the driving support system of the present invention switches the drive source from the internal combustion engine to the electric motor having a high torque at a low speed before the wheel reaches the object having a height equal to or lower than the first height threshold. Can be stabilized.

  The driving support method of the present invention detects surrounding information that is surrounding information of the vehicle, identifies the shape and position of the surrounding object of the vehicle based on the surrounding information, and is controlling the driving of the vehicle In addition, the vehicle is decelerated before the wheel of the vehicle reaches the object having a height equal to or lower than a first height threshold.

  Thus, the driving support method of the present invention suppresses the vehicle from being pushed up by the object because the vehicle decelerates before the wheel reaches the object having the first height threshold value or less. The burden on passengers can be reduced.

FIG. 1 is a plan view of a vehicle on which the driving support system of the embodiment is mounted. FIG. 2 is a block diagram illustrating an overall configuration of the driving support system according to the embodiment. FIG. 3 is a functional block diagram illustrating functions of the driving support device. FIG. 4 is a plan view for explaining a set route set by the route calculation unit. FIG. 5 is a longitudinal sectional view for explaining the object and the height threshold. FIG. 6 is a plan view for explaining a method for calculating the distance to the object. FIG. 7 is a side view of a wheel for explaining a method of calculating the distance P in consideration of the size of the wheel. FIG. 8 is a plan view for explaining the control when the front wheels and the rear wheels get over the first step as the object. FIG. 9 is a plan view for explaining the control when the front wheels and the rear wheels get over the first step as the object. FIG. 10 is a flowchart of the driving support process executed by the processing unit. FIG. 11 is a flowchart of the object handling process. FIG. 12 is a plan view for explaining the situation around the vehicle. FIG. 13 is a diagram of a captured image captured by the imaging unit. FIG. 14 is a diagram of a corrected image obtained by performing distortion correction on a captured image. FIG. 15 is a diagram for explaining edge detection in a corrected image. FIG. 16 is a diagram illustrating straight line detection in a corrected image.

  Common constituent elements such as the following exemplary embodiments are denoted by common reference numerals, and redundant descriptions are omitted as appropriate.

<Embodiment>
FIG. 1 is a plan view of a vehicle 10 on which the travel support system of the embodiment is mounted. The vehicle 10 may be, for example, an automobile (for example, a hybrid vehicle) that uses an internal combustion engine (for example, an engine) and an electric motor (for example, a motor) as driving sources. Further, the vehicle 10 can be equipped with various transmissions, and various devices necessary for driving the internal combustion engine and the electric motor. In addition, the method, number, layout, and the like of devices related to driving of the wheels 13 in the vehicle 10 can be set in various ways.

  As shown in FIG. 1, the vehicle 10 includes a vehicle body 12, four wheels 13, one or more (four in the present embodiment) imaging units 14 a, 14 b, 14 c, 14 d, and one or more (books). In the embodiment, two detection units 16a and 16b are provided. When there is no need to distinguish between the imaging units 14a, 14b, 14c, and 14d, they are referred to as the imaging unit 14. When it is not necessary to distinguish between the detection units 16a and 16b, the detection units 16a and 16b are referred to as detection units 16.

  The vehicle body 12 constitutes a passenger compartment in which passengers get on. The vehicle body 12 houses or holds the wheel 13, the imaging unit 14, the detection unit 16, and the like.

  The four wheels 13 are provided on the front, rear, left and right of the vehicle body 12. For example, the two front wheels 13 function as steered wheels, and the two rear wheels 13 function as drive wheels.

  The imaging unit 14 is a digital camera that incorporates an imaging element such as a charge coupled device (CCD) or a CMOS image sensor (CIS). The imaging unit 14 outputs moving image or still image data including a plurality of frame images generated at a predetermined frame rate as captured image data. The imaging units 14 each have a wide-angle lens or a fisheye lens, and can capture a horizontal range of 140 ° to 190 °. The optical axis of the imaging unit 14 is set obliquely downward. Therefore, the imaging unit 14 outputs captured image data obtained by capturing the periphery of the vehicle 10 including the road surface.

  The imaging unit 14 is provided around the vehicle body 12. For example, the imaging unit 14 a is provided in a central portion (for example, a front bumper) in the left-right direction of the front end of the vehicle body 12. The imaging unit 14 a generates a captured image that captures the periphery in front of the vehicle 10. The imaging unit 14b is provided in a central portion (for example, a rear bumper) in the left-right direction of the rear end portion of the vehicle body 12. The imaging unit 14 b generates a captured image that captures the periphery of the rear of the vehicle 10. The imaging unit 14c is provided at the center in the front-rear direction of the left end of the vehicle body 12 (for example, the left side mirror 12a). The imaging unit 14 c generates a captured image that captures the left periphery of the vehicle 10. The imaging unit 14d is provided at the center in the front-rear direction of the right end of the vehicle body 12 (for example, the right side mirror 12b). The imaging unit 14d generates a captured image that captures the right periphery of the vehicle 10.

  The detection unit 16 is, for example, a laser radar that outputs a detection wave such as a laser beam and captures a detection wave reflected by an object such as an obstacle or a step existing around the vehicle 10. The detection unit 16 is preferably configured to capture detection waves from a wide range of objects by scanning the detection waves in the vertical and horizontal directions. The detection unit 16 may be a sonar that outputs a detection wave such as an ultrasonic wave. The detection unit 16 detects and outputs surrounding information that is surrounding information of the vehicle 10. For example, the detection unit 16 uses the direction of the object around the vehicle 10 and the transmission / reception time, which is the time from when the detection wave is transmitted to when it is received, to specify the position and shape of the object. Detect as information. The detector 16 is provided on the outer periphery of the vehicle 10. Specifically, the detection unit 16a is provided at a central portion (for example, a front bumper) in the left-right direction of the front end portion of the vehicle body 12. The detection unit 16 a detects peripheral information for specifying an object in front of the vehicle 10. The detection part 16b is provided in the center part (for example, rear bumper) of the left-right direction of the rear-end part of the vehicle body 12. As shown in FIG. The detection unit 16 b detects peripheral information for specifying an object behind the vehicle 10.

  FIG. 2 is a block diagram illustrating an overall configuration of the driving support system 20 according to the embodiment. The driving support system 20 is mounted on the vehicle 10 and supports driving of the vehicle 10 by automatic driving (including partially automatic driving) according to objects around the vehicle 10.

  As shown in FIG. 2, the driving support system 20 includes an imaging unit 14, a detection unit 16, a braking system 22, an acceleration system 24, a steering system 26, a transmission system 28, a vehicle speed sensor 30, and a monitor device. 32, a driving support device 34, a switching unit 35, and an in-vehicle network 36.

  The braking system 22 controls the deceleration of the vehicle 10. The braking system 22 includes a braking unit 40, a braking control unit 42, and a braking unit sensor 44.

  The braking unit 40 includes, for example, a brake and a brake pedal, and is a device for decelerating the vehicle 10.

  The braking control unit 42 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The braking control unit 42 controls the braking unit 40 based on an instruction from the driving support device 34 to control deceleration of the vehicle 10.

  The braking unit sensor 44 detects the state of the braking unit 40. The brake unit sensor 44 is, for example, a position sensor, and detects the position of the brake unit 40 as the state of the brake unit 40 when the brake unit 40 is a brake pedal. The braking unit sensor 44 outputs the detected state of the braking unit 40 to the in-vehicle network 36.

  The acceleration system 24 controls the acceleration of the vehicle 10. The acceleration system 24 includes an acceleration unit 46, an acceleration control unit 48, and an acceleration unit sensor 50.

  The acceleration unit 46 includes, for example, an accelerator pedal and the like, and is a device for accelerating the vehicle 10.

  The acceleration control unit 48 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The acceleration control unit 48 controls the acceleration unit 46 based on an instruction from the travel support device 34 to control acceleration of the vehicle 10.

  The acceleration unit sensor 50 detects the state of the acceleration unit 46. The acceleration unit sensor 50 is, for example, a position sensor, and detects the position of the acceleration unit 46 as the state of the acceleration unit 46 when the acceleration unit 46 is an accelerator pedal. The acceleration unit sensor 50 outputs the detected state of the acceleration unit 46 to the in-vehicle network 36.

  The steering system 26 controls the traveling direction of the vehicle 10. The steering system 26 includes a steering unit 52, a steering control unit 54, and a steering unit sensor 56.

  The steering unit 52 includes, for example, a handle or a steering wheel, and is a device that steers the steered wheels of the vehicle 10.

  The steering control unit 54 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The steering control unit 54 controls the steering unit 52 based on an instruction from the travel support device 34 to control the traveling direction of the vehicle 10.

  The steering unit sensor 56 detects the state of the steering unit 52. The steering unit sensor 56 is, for example, an angle sensor including a hall element or the like, and detects the rotation angle of the steering unit 52 as the state of the steering unit 52. The steering unit sensor 56 outputs the detected state of the steering unit 52 to the in-vehicle network 36.

  The transmission system 28 controls the transmission ratio of the vehicle 10. The transmission system 28 includes a transmission unit 58, a transmission control unit 60, and a transmission unit sensor 62.

  The transmission 58 is a device that includes a shift lever or the like and changes the transmission ratio of the vehicle 10.

  The shift control unit 60 is a computer such as a microcomputer having a hardware processor such as a CPU (Central Processing Unit). The transmission control unit 60 controls the transmission unit 58 based on an instruction from the travel support device 34 to control the transmission ratio of the vehicle 10.

  The transmission unit sensor 62 detects the state of the transmission unit 58. The transmission unit sensor 62 is, for example, a position sensor, and detects the position of the transmission unit 58 as the state of the transmission unit 58 when the transmission unit 58 is a shift lever. The transmission unit sensor 62 outputs the detected state of the transmission unit 58 to the in-vehicle network 36.

  The vehicle speed sensor 30 is, for example, a sensor that includes a hall element provided in the vicinity of the wheel 13 of the vehicle 10 and detects the amount of rotation of the wheel 13 or the number of rotations per unit time. The vehicle speed sensor 30 outputs a wheel speed pulse number indicating the detected rotation amount or rotation speed to the in-vehicle network 36 as a sensor value for calculating the vehicle speed.

  The monitor device 32 is provided on a dashboard or the like in the passenger compartment of the vehicle 10. The monitor device 32 includes a display unit 64, an audio output unit 66, and an operation input unit 68.

  The display unit 64 displays an image based on the image data transmitted by the driving support device 34. The display unit 64 is a display device such as a liquid crystal display (LCD) or an organic electroluminescent display (OELD). The display unit 64 displays, for example, an image that accepts an operation instruction that instructs switching between manual operation and automatic operation.

  The voice output unit 66 outputs voice based on the voice data transmitted by the driving support device 34. The audio output unit 66 is, for example, a speaker. The voice output unit 66 outputs, for example, a voice related to an operation instruction that instructs switching between manual driving and automatic driving.

  The operation input unit 68 receives an occupant input. The operation input unit 68 is, for example, a touch panel. The operation input unit 68 is provided on the display screen of the display unit 64. The operation input unit 68 is configured to transmit an image displayed on the display unit 64. Thereby, the operation input unit 68 can make the occupant visually recognize the image displayed on the display screen of the display unit 64. The operation input unit 68 receives an instruction input by the occupant touching a position corresponding to the image displayed on the display screen of the display unit 64 and transmits the received instruction to the driving support device 34. The operation input unit 68 is not limited to a touch panel, and may be a push button type hard switch.

  The driving support device 34 is a computer including a microcomputer such as an ECU (Electronic Control Unit). The driving support device 34 acquires captured image data from the imaging unit 14. The driving support device 34 transmits data related to an image or sound generated based on the captured image or the like to the monitor device 32. The driving support device 34 transmits data related to an image or sound such as an instruction to the driver and a notification to the driver to the monitor device 32, and receives an instruction from the driver from the monitor device 32. The driving support device 34 acquires the direction of the object and the transmission / reception time of the detection wave from the detection unit 16. The driving support device 34 specifies the distance to the object around the vehicle 10 such as an obstacle and a step, the position and shape of the object, and the like based on the direction and the transmission / reception time. The driving support device 34 supports driving of the vehicle 10 by automatic driving of the vehicle 10 by controlling at least one of the systems 22, 24, 26, and 28 according to the specified object. The driving support device 34 includes a CPU (Central Processing Unit) 34a, a ROM (Read Only Memory) 34b, a RAM (Random Access Memory) 34c, a display control unit 34d, an audio control unit 34e, an SSD (Solid State Drive). ) 34f. The CPU 34a, ROM 34b, and RAM 34c may be integrated in the same package.

  The CPU 34a is an example of a hardware processor, reads a program stored in a nonvolatile storage device such as the ROM 34b, and executes various arithmetic processes and controls according to the program. For example, the CPU 34a performs driving support by automatic driving of the vehicle 10.

  The ROM 34b stores each program and parameters necessary for executing the program. The RAM 34c temporarily stores various types of data used in computations by the CPU 34a. The display control unit 34 d mainly performs image processing of an image obtained by the imaging unit 14, data conversion of a display image to be displayed on the display unit 64, and the like among the arithmetic processing in the driving support device 34. The voice control unit 34e mainly executes voice processing to be output to the voice output unit 66 among the arithmetic processing in the driving support device 34. The SSD 34f is a rewritable nonvolatile storage device, and maintains data even when the driving support device 34 is powered off.

  The switching unit 35 switches the driving source for rotating the wheels 13 between the internal combustion engine EN such as an engine and the electric motor MT such as a motor based on a switching instruction from the travel support device 34.

  The in-vehicle network 36 includes, for example, a CAN (Controller Area Network) and a LIN (Local Interconnect Network). The in-vehicle network 36 includes an acceleration system 24, a braking system 22, a steering system 26, a transmission system 28, a detection unit 16, a vehicle speed sensor 30, an operation input unit 68 of the monitor device 32, and a driving support device 34. Are connected to each other so that information can be transmitted and received.

  FIG. 3 is a functional block diagram illustrating functions of the driving support device 34. As illustrated in FIG. 3, the travel support device 34 includes a processing unit 70 and a storage unit 72.

  The processing unit 70 is realized as a function of the CPU 34a, for example. The processing unit 70 includes an object specifying unit 74, a host vehicle position calculation unit 76, a route calculation unit 78, and a vehicle control unit 80. The processing unit 70 functions as the object specifying unit 74, the vehicle position calculation unit 76, the route calculation unit 78, and the vehicle control unit 80, for example, by reading the driving support program 72a stored in the storage unit 72. Part or all of the object specifying unit 74, the vehicle position calculating unit 76, the route calculating unit 78, and the vehicle control unit 80 may be configured by hardware such as a circuit including an ASIC (Application Specific Integrated Circuit). Part or all of the object specifying unit 74, the vehicle position calculating unit 76, the route calculating unit 78, and the vehicle control unit 80 is any one of the control units 42, 48, 54, 60 of the systems 22, 24, 26, 28. You may disperse and provide.

  The object specifying unit 74 obtains peripheral information including the direction of the object and the transmission / reception time of the detection wave up to the object from the detection unit 16, and based on the peripheral information, the shape of the object around the vehicle 10 and Identify the location. Specifically, the object specifying unit 74 calculates the distance to the object based on the transmission / reception time and the speed of the detection wave. The object specifying unit 74 specifies the shape including the height and width of the object and the position of the object based on the direction of the object and the calculated distance. The object includes a step where the vehicle 10 can get over, an obstacle that the vehicle 10 may collide and cannot get over. The object specifying unit 74 outputs object information including information regarding the shape and position of the specified object to the route calculating unit 78.

  The own vehicle position calculation unit 76 calculates the own vehicle position during automatic driving based on the object information, the vehicle speed, and the steering angle. The own vehicle position calculation unit 76 outputs own vehicle position information indicating the own vehicle position to the route calculation unit 78.

  The route calculation unit 78 acquires the object information of the surrounding objects from the object specifying unit 74 and also acquires the vehicle position information from the vehicle position calculation unit 76. The route calculation unit 78 calculates and sets a route to the target position (hereinafter, set route). An example of the target position is a parking target position set in the parking frame of the parking lot. For example, the route calculation unit 78 detects a parking area between another vehicle and a wall serving as an obstacle in a parking lot or the like based on the object information, and sets a target position in the parking area. The route calculation unit 78 sets a set route to the target position so as to avoid an obstacle. The route calculation unit 78 may reset the set route when the own vehicle position indicated by the own vehicle position information acquired during the automatic driving of the vehicle 10 is deviated from the set route. The route calculation unit 78 outputs the set route set together with the object information to the vehicle control unit 80.

  The vehicle control unit 80 controls the braking unit 40, the acceleration unit 46, the steering unit 52, and the transmission unit 58 via the control units 42, 48, 54, and 60 and follows the set route set by the route calculation unit 78. The vehicle 10 is automatically driven and guided to the target position. Further, the vehicle control unit 80 controls the switching unit 35 to switch the drive source for rotating the wheels 13 between the internal combustion engine EN and the electric motor MT.

  Here, when there is an object such as an obstacle or a step on the set route during the control of the driving of the vehicle 10, the vehicle control unit 80 controls the vehicle 10 based on the target information as follows. .

  The vehicle control unit 80 decelerates the vehicle 10 and controls the vehicle 10 when the object on the set route is an obstacle higher than the preset first height threshold during the control of the driving of the vehicle 10. Stop. The first height threshold may be set based on, for example, whether or not the vehicle body 12 contacts the object based on the height of the bottom of the vehicle body 12 and is, for example, 8 cm. Here, when the object is an obstacle, the vehicle control unit 80 sets the position where the vehicle 10 is stopped as the first stop position. For example, the first stop position may be set in advance based on the length from the wheel 13 to the end of the vehicle 10 or the like so that the vehicle 10 does not contact an obstacle. After stopping the vehicle 10 at the first stop position, the vehicle control unit 80 may transfer the authority for driving the vehicle 10 to the driver and end the automatic driving.

  When the vehicle control unit 80 controls the driving of the vehicle 10 and the object on the set route has a first step height higher than the first height threshold and higher than the second height threshold, the vehicle 10 Before any one of the plurality of wheels 13 reaches the first step as the object, the vehicle 10 starts to decelerate. For example, the vehicle control unit 80 decelerates the vehicle 10 so as to stop the vehicle 10 at a position before the wheel 13 of the vehicle 10 exceeds the first step. The second height threshold is a preset value, which is smaller than the first height threshold, for example, 4 cm.

  Here, when the object is the first step, the position where the vehicle control unit 80 stops the vehicle 10 is set as the second stop position. The second stop position is an example of a stop position. The second stop position is a position before the wheel 13 closest to the first step among the plurality of wheels 13 of the vehicle 10 exceeds the first step, for example, a position at which the wheel 13 contacts the first step. It is. The second stop position is closer to the object than the first stop position. Therefore, when the target object is the first step, the vehicle control unit 80 stops the vehicle 10 at a position closer to the target object than when the target object is an obstacle. In other words, when the object is an obstacle, the vehicle control unit 80 stops the vehicle 10 at a position farther from the object than the second stop position.

  If the object is the first step, the vehicle control unit 80 stops the vehicle 10 and then continues automatic driving. Specifically, the vehicle control unit 80 controls the switching unit 35 to set the drive source to the internal combustion engine before the wheels 13 of the vehicle 10 reach an object (for example, the first step) that is equal to or lower than the first height threshold. While switching from EN to electric motor MT, the acceleration part 46 is controlled, the vehicle 10 is accelerated, and a 1st level | step difference is overcome.

  Further, the vehicle control unit 80 detects the front wheel and the rear wheel of the vehicle 10 after one of the front wheel (that is, the front wheel 13) and the rear wheel (that is, the rear wheel 13) of the vehicle 10 has overcome the first step. The vehicle 10 may be accelerated until the other of the two reaches the first step. Even in this case, the vehicle control unit 80 decelerates the accelerating vehicle 10 again so that the other of the front wheels and the rear wheels can stop at the second stop position before reaching the first step, and the second After stopping at the stop position, the other of the front wheel and the rear wheel may be moved over the first step. When all the wheels 13 of the vehicle 10 get over the first step, the vehicle control unit 80 continues the automatic operation of the vehicle 10 and causes the vehicle 10 to travel to the target position.

  The vehicle control unit 80 controls the vehicle 10 without decelerating the vehicle 10 when the object on the set route is the second step having a height equal to or lower than the second height threshold during the driving control of the vehicle 10. Get over the second step. The vehicle control unit 80 continues the automatic operation of the vehicle 10 after traveling over the second step and causes the vehicle 10 to travel to the target position.

  The storage unit 72 is realized as a function of at least one of the ROM 34b, the RAM 34c, and the SSD 34f. The storage unit 72 stores a program executed by the processing unit 70, data necessary for executing the program, data generated by executing the program, and the like. For example, the storage unit 72 stores a travel support program 72a executed by the processing unit 70. The storage unit 72 stores numerical data 72b including a height threshold, a stop position, and the like necessary for the execution of the driving support program 72a. The storage unit 72 temporarily stores generation data 72c such as object information, set route, and own vehicle position information generated by the execution of the driving support program 72a.

  FIG. 4 is a plan view for explaining the set route SR set by the route calculation unit 78.

  As shown in FIG. 4, the vehicle position calculation unit 76 calculates an initial position DP that is one of the vehicle positions SP. The initial position DP may be, for example, the vehicle position SP of the vehicle 10 when an operation instruction such as parking assistance is received from an occupant. The host vehicle position SP may be the center of the rear wheel shaft of the vehicle 10, for example. The object specifying unit 74 detects the shape and position of an object such as another vehicle OC parked in the parking lot based on information such as the transmission / reception time acquired from the detection unit 16.

  The route calculation unit 78 detects a parking area PA where the vehicle 10 can be parked based on the shape and position of an object such as another vehicle OC specified by the object specifying unit 74. The route calculation unit 78 sets the target position TP in the parking area PA. The target position TP is a position that finally matches the vehicle position SP of the vehicle 10. The route calculation unit 78 sets a route from the initial position DP to the target position TP as the set route SR. Thereafter, the vehicle control unit 80 automatically drives the vehicle 10 to travel along the set route SR. The own vehicle position calculation unit 76 calculates the own vehicle position SP of the vehicle 10 traveling on the set route SR. When the host vehicle position SP deviates from the set route SR, the route calculation unit 78 recalculates the set route SR to the target position TP based on the host vehicle position SP. The vehicle control unit 80 automatically drives the vehicle 10 along the recalculated setting route SR. Thereby, the processing unit 70 causes the vehicle 10 to travel to the target position TP.

  FIG. 5 is a longitudinal sectional view for explaining the object 90 and the height threshold. As shown in FIG. 5, the first height threshold value HTh1 is set to a value larger than the second height threshold value HTh2. As illustrated in FIG. 5, the vehicle control unit 80 determines an object 90 that is equal to or lower than the first height threshold value HTh1 and higher than the second height threshold value HTh2 as the first step.

  FIG. 6 is a plan view for explaining a method for calculating the distance p to the object 90. In the example illustrated in FIG. 6, the object 90 is a first step. The route shown in FIG. 6 is an example, and the method for calculating the distance p shown below is an example. For example, in FIG. 6, a part of the route is a stationary circle, but the distance p may be calculated based on a complicated route that is not a stationary circle.

  Calculation of the distance p that the target wheel 13 moves before the vehicle 10 at the vehicle position SP1 shown in FIG. 6 reaches the target object 90 will be described. The target wheel 13 is the wheel 13 that first contacts the object 90 among the four wheels 13. Therefore, in the example illustrated in FIG. 6, the target wheel 13 is the left rear wheel 13. For example, the vehicle width CW of the vehicle 10 is 1.8 m, and the vehicle length CL is 4.5 m. For example, the turning radius R is 8 m.

A turning angle θ that is an angle of turning from the own vehicle position SP1 to the own vehicle position SP2 reaching the object 90 can be expressed by the following equation (1).
θ = cos ⁻¹ (r _G / r) (1)
r _G : Distance from the turning center TC to the object 90 r: Distance from the turning center TC to the center of the target wheel 13 (= R−CW / 2)
For example, when r _G = 4.0 m and r = 7.1 m (= R−CW / 2), the turning angle θ is 0.97 rad (= 55.7 degrees).

The distance p that the wheel 13 moves from the host vehicle position SP1 until the center of the target wheel 13 reaches the object 90 can be expressed by the following equation (2).
p = rθ (2)
In the case of each value described above, the distance p is 6.9 m. Here, since the distance p is based on the center of the target wheel 13, if the distance p is moved from the own vehicle position SP <b> 1 by the distance p, the target wheel 13 already rides on the target 90. Therefore, it is necessary to further consider the size of the wheel 13.

  FIG. 7 is a side view of the wheel 13 for explaining a method for calculating the distance P in consideration of the size of the wheel 13. The distance P is the distance that the target wheel 13 moves from the own vehicle position SP1 until it contacts the target object 90. As shown in FIG. 7, description will be made based on a state in which the target wheel 13 is in contact with the target object 90.

The distance d in the horizontal direction between the object 90 and the center of the wheel 13 can be expressed by the following equation (3) from the three-square theorem.
^{_{d = (r T 2 - (}} r T -h G) 2) 1/2 ··· (3)
r _T : radius of the wheel 13 h _G : height of the object 90 For example, when r _T = 310 mm and h _G = 50 mm, the distance d is 169 mm. Therefore, the distance P that the target wheel 13 moves can be expressed by the following equation (4).
P = p−d (4)
In the case of the above values, the distance P is 6.731 m. Therefore, the vehicle control unit 80 may decelerate the vehicle 10 so that the target wheel 13 can be stopped at the position traveled by the distance P from the own vehicle position SP1. The vehicle control unit 80 stops the vehicle 10 and then accelerates it to get over the object 90 that is the first step and travel to the own vehicle position SP3.

  FIGS. 8 and 9 are plan views for explaining the control when the front wheels and the rear wheels get over the first step as the object 90.

  As illustrated in FIG. 8, the vehicle control unit 80 causes the vehicle 10 to move over the object 90 on the wheel 13 on the traveling direction side (the rear wheel when reversing illustrated in FIG. 8) among the plurality of wheels 13 of the vehicle 10. Accelerate. Thereafter, as shown in FIG. 9, the vehicle control unit 80 decelerates and stops the vehicle 10 before the wheel 13 on the side opposite to the traveling direction (the front wheel when moving backward shown in FIG. 9) reaches the object 90. Let The vehicle control unit 80 accelerates the stopped vehicle 10 again to get over the object 90 on the wheel 13 opposite to the traveling direction. Accordingly, the vehicle control unit 80 causes all the wheels 13 to get over the object 90.

  FIG. 10 is a flowchart of the driving support process executed by the processing unit 70. For example, when the vehicle 10 falls below a preset vehicle speed, the processing unit 70 reads the driving support program 72a and executes a driving support process that is an example of a driving support method.

  As illustrated in FIG. 10, in the driving support process, the shape and position of the object 90 around the vehicle 10 are determined based on the surrounding information including the transmission / reception time of the detection wave acquired by the object specifying unit 74 from the detection unit 16. Is specified (S102). The object specifying unit 74 generates object information indicating the shape and position of the specified object 90 and outputs the object information to the route calculation unit 78.

  The own vehicle position calculation unit 76 calculates the own vehicle position based on the vehicle speed and the steering angle. The own vehicle position calculation unit 76 outputs the calculated information of the own vehicle position to the route calculation unit 78 (S104).

  The route calculation unit 78 sets the set route SR based on the object information acquired from the object specifying unit 74 and the vehicle position SP acquired from the vehicle position calculation unit 76 (S106). Specifically, the route calculation unit 78 sets the parking area PA in an area where the own vehicle where there is no other vehicle OC or the like can be parked based on the object information. The route calculation unit 78 sets the target position TP in the parking area PA, and sets the set route SR from the current vehicle position SP to the target position TP. The route calculator 78 outputs the object information, the vehicle position, and the set route information to the vehicle controller 80.

  When the vehicle control unit 80 acquires the object information, the vehicle position, and the set route information, the vehicle control unit 80 controls the control units 42, 48, 54, and 60 of the systems 22, 24, 26, and 28 to reach the target position TP. The automatic operation is started (S108). In addition, the vehicle control unit 80 displays an image obtained by superimposing the parking area PA or the like on the peripheral image acquired from the imaging unit 14 on the display unit 64, from a passenger such as a driver via the operation input unit 68. Automatic operation may be started after receiving an operation instruction for driving support.

  The vehicle control unit 80 determines whether there is an object 90 on the set route SR based on the object information (S110).

  When determining that there is no object 90 on the set route SR (S110: No), the vehicle control unit 80 determines whether the vehicle 10 has reached the target position TP (S112). If it judges with vehicle control part 80 not reaching target position TP (S112: No), processing after Step S102 will be repeated. Therefore, the object specifying unit 74 specifies the object 90 again based on information such as the transmission / reception time from the detection unit 16. The own vehicle position calculation unit 76 calculates the own vehicle position SP based on the vehicle speed calculated from the sensor value acquired from the vehicle speed sensor 30, the steering angle of the steering unit 52 acquired from the steering unit sensor 56, and the like. When the host vehicle position SP is deviated from the set route SR that has been set, the route calculation unit 78 calculates a new set route SR based on the host vehicle position SP. The vehicle control unit 80 automatically drives the vehicle 10 based on the newly set route SR.

  When it is determined that the vehicle 10 has reached the target position TP (S112: Yes), the vehicle control unit 80 ends the automatic driving and transfers the control of the vehicle 10 to the driver (S114). Thereby, the process part 70 complete | finishes a driving assistance process.

  On the other hand, when the vehicle control unit 80 determines that the object 90 is on the set route SR (S110: Yes), the object handling process (S116), which will be described later, and step S112 and subsequent processes are performed in parallel to perform the driving support process. finish.

  FIG. 11 is a flowchart of the object handling process in step S116.

As shown in FIG. 11, in the object handling process, the vehicle control unit 80 determines whether or not the height h _G of the object 90 is equal to or less than the second height threshold (S202). If the vehicle control unit 80 determines that the object 90 is the second step and the height h _G of the object 90 is equal to or less than the second height threshold (S202: Yes), the vehicle 10 is not decelerated. Then, the object handling process is terminated, and step S112 and subsequent steps of the driving support process are executed.

When the vehicle control unit 80 determines that the height h _G of the object 90 is greater than the second height threshold value HTh2 (S202: No), the height h _G of the object 90 is equal to or less than the first height threshold value HTh1. Is determined (S204). When determining that the object 90 is the first step and the height h _G of the object 90 is equal to or less than the first height threshold value HTh1 (S204: Yes), the vehicle control unit 80 determines whether or not the non-deceleration mode is set. (S206).

  For example, the non-deceleration mode is a mode that is selected when an occupant such as a driver is in a hurry while traveling on an arterial road, or when the driver does not care about a push-up due to a level difference. The vehicle control unit 80 may receive the non-deceleration mode from the occupant via the operation input unit 68 when receiving a driving support instruction.

  When determining that the vehicle control unit 80 is in the non-deceleration mode (S206: Yes), the vehicle control unit 80 ends the object handling process without decelerating the vehicle 10, and executes step S112 and subsequent steps of the driving support process.

  When the vehicle control unit 80 determines that the mode is not the non-deceleration mode (S206: No), the vehicle control unit 80 calculates the second stop position based on the position of the object 90 (S208). The second stop position may be, for example, a position where the inner ring in the traveling direction contacts the first step.

  The vehicle control unit 80 calculates a deceleration start position for stopping the vehicle 10 at the second stop position (S210). The vehicle control unit 80 determines whether or not the vehicle 10 is the deceleration start position based on the own vehicle position SP calculated by the own vehicle position calculation unit 76 (S212). The vehicle control unit 80 repeats Step S212 until the vehicle 10 reaches the deceleration start position (S212: No).

  When the vehicle control unit 80 determines that the vehicle 10 has reached the deceleration start position (S212: Yes), the vehicle control unit 80 controls the acceleration unit 46 or the braking unit 40 to start deceleration of the vehicle 10 (S214). When the vehicle 10 reaches the second stop position, the vehicle control unit 80 controls the braking unit 40 to stop the vehicle 10 (S216). The vehicle control unit 80 outputs a switching instruction to the switching unit 35 to switch the drive source from the internal combustion engine EN to the electric motor MT (S217). Note that the vehicle control unit 80 may switch the drive source to the electric motor MT when it is determined that the mode is not the non-deceleration mode.

  The vehicle control unit 80 starts acceleration of the stopped vehicle 10 (S218). Based on the position of the wheel 13 of the vehicle 10 (or the moving distance of the wheel 13), the vehicle control unit 80 determines whether or not the wheel 13 of the vehicle 10 has overcome the first step (S220). Note that the wheel 13 to be determined in the first step S218 is the wheel 13 on the traveling direction side (for example, the rear wheel at the time of reverse movement) of the front wheels and the rear wheels, and the wheel that first gets over the first step. 13 things. After this, step S218 is executed again, but the determination target wheel 13 in the second step S218 is the wheel 13 on the opposite side of the traveling direction (for example, the front wheel at the time of reverse) of the front wheels and the rear wheels. And it is the wheel 13 which gets over the first step later.

  The vehicle control unit 80 maintains the traveling state until it gets over the first step (S220: No). When the vehicle control unit 80 determines that the wheel 13 on the traveling direction side has overcome the first step (S220: Yes), the vehicle control unit 80 determines that all the wheels 13 have the first step based on the vehicle position SP. It is determined whether or not the vehicle has been overcome (S222). When only the wheels 13 on the traveling direction side are over the first step, the vehicle control unit 80 determines that all the wheels 13 are not over the first step (S222: No), and further accelerates the vehicle 10. (S224). Thereafter, the vehicle control unit 80 executes step S208 and the subsequent steps, similarly, decelerates the wheel 13 on the side opposite to the traveling direction before reaching the first step, stops the vehicle 10 once, and then accelerates. The wheel 13 is moved over the first step. As a result, the vehicle control unit 80 determines in the second step S222 that all the wheels 13 have overcome the first step (S222: Yes), ends the object handling process, and proceeds to step S112 of the driving support process. Perform the following.

When the vehicle control unit 80 determines that the object 90 is an obstacle and the height h _G of the object 90 is larger than the first height threshold value HTh1 (S204: No), the position of the object 90 is used as a reference. The first stop position is calculated (S230). The vehicle control unit 80 calculates a deceleration start position for stopping the vehicle 10 at the first stop position (S232). The vehicle control unit 80 determines whether or not the vehicle 10 is the deceleration start position based on the host vehicle position SP calculated by the host vehicle position calculation unit 76 (S234). The vehicle control unit 80 repeats Step S234 until the vehicle 10 reaches the deceleration start position (S234: No).

  When the vehicle control unit 80 determines that the vehicle 10 has reached the deceleration start position (S234: Yes), the vehicle control unit 80 controls the acceleration unit 46 or the braking unit 40 to start deceleration of the vehicle 10 (S236). When the vehicle 10 reaches the first stop position, the vehicle control unit 80 controls the braking unit 40 to stop the vehicle 10 (S238). The vehicle control unit 80 ends the automatic driving and transfers the driving authority to the driver (S240). Thereby, the process part 70 complete | finishes a driving assistance process (refer A in a circle).

  As described above, in the driving support system 20 of the first embodiment, when there is a first step that is the target 90 that is higher than the second height threshold value HTh2 and less than or equal to the first height threshold value HTh1 on the set route SR. The vehicle control unit 80 decelerates the vehicle 10 during automatic driving. As a result, the driving support system 20 suppresses the vehicle 10 from being pushed upward when the vehicle 10 gets over the first step where the vehicle 10 can get over but has a high possibility of being pushed up. Can be reduced.

  In particular, in the driving support system 20, in the case of the first step, the vehicle control unit 80 stops the vehicle 10 at the first stop position before the first step, so that the vehicle 10 is pushed up when overcoming the first step. This can be further suppressed.

  In the driving support system 20, in the case of the first step, the vehicle control unit 80 decelerates the vehicle 10 and then gets over the first step, so that the automatic driving is continued while suppressing the pushing up of the vehicle 10, The vehicle 10 can travel to the target position TP.

  In the driving support system 20, since the vehicle control unit 80 starts the deceleration of the vehicle 10 before any of the wheels 13 reaches the first step, the vehicle 10 is more reliably stopped before the first step, Pushing up can be suppressed.

  In the driving support system 20, the vehicle control unit 80 accelerates the vehicle 10 when one of the front wheels and the rear wheels of the vehicle 10 (that is, the wheel 13 on the traveling direction side) gets over the first step. The time to reach the target position TP can be shortened while suppressing the vehicle 10 from being pushed up. Furthermore, in the driving support system 20, after acceleration, the vehicle 10 decelerates before the other of the front and rear wheels of the vehicle 10 gets over the first step, so that it is possible to suppress the thrust at the time of getting over the first step on both the front wheel and the rear wheel. .

  In the driving support system 20, when an obstacle that is the object 90 that is higher than the first height threshold value HTh1 is present on the set route SR, the vehicle control unit 80 causes the second stop position before the first stop position. Therefore, the vehicle 10 can be stopped from colliding with the obstacle.

  In the driving support system 20, when there is an obstacle on the set route SR, the vehicle control unit 80 passes the driving authority to the driver after stopping the vehicle 10, so that it is difficult to perform automatic driving with an obstacle. Even a simple route can be avoided by the driver.

  In the driving support system 20, when there is a second step that is the object 90 that is equal to or less than the second height threshold value HTh <b> 2 on the set route SR, the vehicle control unit 80 does not decelerate the vehicle 10 and reduces the second step. Get over it. Thereby, the driving assistance system 20 can shorten the time required for driving to the target position TP when the influence of the pushing up by the second step is small.

  In the driving support system 20, the vehicle control unit 80 sets the drive source from the internal combustion engine EN at a low speed before the wheels 13 of the vehicle 10 reach an object (for example, the first step) having a first height threshold value or less. Since it switches to the high electric motor MT, even if the vehicle 10 is a small powerless vehicle, the traveling of the vehicle 10 can be stabilized.

  The function, connection relationship, number, arrangement, numerical value, and the like of the configuration of each embodiment described above may be changed or deleted as appropriate within the scope of the invention and the scope equivalent to the scope of the invention. You may combine each embodiment suitably. You may change the order of each step of each embodiment suitably.

  For example, the driving support system 20 may cause the imaging unit 14 to function as a detection unit that detects peripheral information of the vehicle 10 including the object 90. In this case, the object may be detected by using the imaging unit 14 and the detection unit 16 together. A method for detecting an object by the imaging unit 14 will be described with reference to FIGS. FIG. 12 is a plan view for explaining the situation around the vehicle 10. FIG. 13 is a diagram of a captured image PG captured by the imaging unit 14. FIG. 14 is a diagram of a corrected image AP obtained by performing distortion correction on the captured image PG. FIG. 15 is a diagram for explaining edge detection in the corrected image AP. FIG. 16 is a diagram illustrating straight line detection in the corrected image AP.

  As shown in FIG. 12, the case where the vehicle 10 parks in the parking area PA between the division lines PL and PL is assumed. The object specifying unit 74 acquires a captured image PG as shown in FIG. 13 from the imaging unit 14b provided at the rear end of the vehicle body 12. The target object specifying unit 74 performs distortion correction on the captured image PG to generate a corrected image AP shown in FIG. The object specifying unit 74 performs edge detection on the corrected image AP, and as shown in FIG. 15, the lower and upper edges ED1 and ED2 of the object 90 which are steps, the edge ED3 indicating the back of the parking lot, and the like Is detected. As shown in FIG. 16, the object specifying unit 74 detects straight lines SL1, SL2, and SL3 based on the detected edges ED1, ED2, and ED3. The object specifying unit 74 calculates the distance to the object 90 based on the position of the straight line SL1 indicating the lower end of the object 90 in the corrected image AP and preset internal parameters. The object specifying unit 74 calculates the height of the object 90 based on the straight line SL1 at the lower end and the straight line SL2 at the upper end of the object 90, and preset internal parameters. The object specifying unit 74 generates and outputs object information indicating the height and position of the object 90.

  The vehicle control unit 80 decelerates and stops before the wheel 13 reaches the first step, but the control of the vehicle 10 is not limited to this. The vehicle control unit 80 may control the vehicle 10 so as to decelerate before the vehicle 10 reaches the first step and overcome the first step without stopping. In this case, processing such as step S216 may be omitted.

  The second height threshold value HTh2 described above may not be present. In this case, the vehicle control unit 80 decelerates the vehicle 10 before the wheel 13 reaches the object 90 having the first height threshold value HTh1 or less during the control of the driving of the vehicle 10. Thus, the vehicle control unit 80 of the driving support system 20 suppresses the vehicle 10 from being pushed up by decelerating the wheel 13 before reaching the object 90 that is equal to or lower than the first height threshold value HTh1, thereby occupant. Can be reduced.

  The first height threshold and the second height threshold may be configured to be changeable by an occupant such as a driver. For example, the object specifying unit 74 may accept and change the values of the first height threshold value HTh1 and the second height threshold value HTh2 from the occupant via the operation input unit 68.

  In the above-described embodiment, the four-wheel vehicle 10 has been described as an example. However, the vehicle on which the travel support system 20 of the embodiment is mounted is not limited to four wheels. For example, the above-described travel support system 20 may be mounted on a vehicle having two wheels, three wheels, and five or more wheels.

  In the above-described embodiment, the vehicle 10 having the internal combustion engine EN and the electric motor MT as the drive source is taken as an example. However, the traveling support system 20 of the embodiment is mounted on the vehicle 10 having either the internal combustion engine EN or the electric motor MT. May be.

  In the above-described embodiment, an example has been given in which acceleration occurs between when the rear wheel exceeds the step and when the front wheel exceeds the step. You may accelerate between the time of the other wheel 13 exceeding a level | step difference.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 13 ... Wheel 14 ... Imaging part 16 ... Detection part 20 ... Travel support system 34 ... Travel support device 74 ... Target object specific part 76 ... Own vehicle position calculation part 78 ... Route calculation part 80 ... Vehicle control part 90 ... Target Item EN ... Internal combustion engine MT ... Electric motor HTh1 ... First height threshold value HTh2 ... Second height threshold value

Claims (11)

A detection unit for detecting peripheral information which is information around the vehicle;
An object specifying unit for specifying the shape and position of the object around the vehicle based on the surrounding information;
A vehicle control unit configured to decelerate the vehicle before the vehicle wheel reaches the object having a height equal to or lower than a first height threshold during the control of the driving of the vehicle;
A driving support system comprising: The vehicle control unit, when the object is a first step higher than a first height threshold and lower than a second height threshold smaller than the first height threshold, The travel support system according to claim 1, wherein the vehicle is decelerated before reaching the first step. The travel support system according to claim 2, wherein the vehicle control unit stops the vehicle at a stop position before the wheels of the vehicle exceed the first step. The travel support system according to claim 2 or 3, wherein after the deceleration, the vehicle control unit accelerates the vehicle to get over the first step. The vehicle control unit according to any one of claims 2 to 4, wherein the vehicle control unit starts deceleration of the vehicle before any of the plurality of wheels of the vehicle reaches the first step. Driving support system. The vehicle control unit accelerates the vehicle after one of the front and rear wheels of the vehicle gets over the first step and before the other of the front and rear wheels of the vehicle reaches the first step. Item 6. The driving support system according to item 5. 4. The vehicle control unit according to claim 3, wherein if the object is an obstacle higher than the first height threshold, the vehicle control unit stops the vehicle at a position farther from the object than the stop position. Driving support system. The travel support system according to claim 7, wherein, when the object is the obstacle, the vehicle control unit hands over the driving authority of the vehicle to the driver after stopping the vehicle. The vehicle control unit causes the vehicle to exceed the second step without decelerating if the object is a second step lower than the second height threshold. The driving support system described in 1. The vehicle has an internal combustion engine and an electric motor,
2. The vehicle control unit switches from the internal combustion engine to the electric motor during the control of the vehicle before the wheels of the vehicle reach the object having a height equal to or lower than the first height threshold. The driving support system according to any one of 1 to 9. Detect the surrounding information that is the information around the vehicle,
Identify the shape and position of the surrounding objects of the vehicle based on the surrounding information,
A driving support method for decelerating the vehicle before the wheel of the vehicle reaches the object having a height equal to or lower than a first height threshold during the driving control of the vehicle.

Images