JP2019055748A - Vehicle control device, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle control device, a vehicle control method, and a program capable of determining whether another vehicle will start on the basis of a stated of the other vehicle which is stopping to control traveling of an own vehicle.SOLUTION: A vehicle control device includes: an other-vehicle recognition unit that recognizes another vehicle existing facing a road on which an own vehicle travels; a start determination unit that determines whether the other vehicle starts on the basis of a state of the other vehicle recognized by the other-vehicle recognition unit; and a driving control unit that controls one or both of steering and acceleration/deceleration of the own vehicle to cause the own vehicle to travel on the basis of determination result determined by the start determination unit.SELECTED DRAWING: Figure 1

Description

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

  In recent years, research has been conducted on automatically controlling vehicles. A technique for detecting the movement of another vehicle on a route during automatic driving and performing predetermined control on the own vehicle is known (see Patent Document 1).

JP 2017-35927 A

  However, the conventional technology does not determine the start of another vehicle by recognizing the state of the other vehicle being stopped.

  The present invention has been made in view of such circumstances, and can determine whether or not the other vehicle starts based on the state of the other vehicle that is stopped and control the traveling of the host vehicle. An object is to provide a vehicle control device, a vehicle control method, and a program.

(1): Whether the other vehicle starts based on the other vehicle recognition unit that recognizes another vehicle that faces the road on which the host vehicle travels and the state of the other vehicle recognized by the other vehicle recognition unit A start determination unit that determines whether or not, and a driving control unit that controls one or both of steering and acceleration / deceleration of the host vehicle based on a determination result by the start determination unit, and causes the host vehicle to travel. It is a vehicle control apparatus provided.

(2): The vehicle control device according to (1), wherein the operation control unit is configured such that a distance between the other vehicle determined to start by the start determination unit and the own vehicle is equal to or greater than a predetermined distance. The vehicle decelerates the host vehicle, and when the distance between the other vehicle and the host vehicle is less than a predetermined distance, the host vehicle detours the other vehicle.

(3): In the vehicle control device according to (1) or (2), the other vehicle recognition unit recognizes that a winker of the other vehicle is lit, and the start determination unit When the other vehicle recognition unit recognizes that the turn signal of the other vehicle is turned on, it is determined that the other vehicle starts.

(4): The vehicle control device according to any one of (1) to (3), wherein the other vehicle recognition unit recognizes that a door of the other vehicle is open, and The determination unit determines that the other vehicle does not start when the other vehicle recognition unit recognizes that the door of the other vehicle is open.

(5): The vehicle control device according to any one of (1) to (4), wherein the other vehicle recognition unit recognizes a color of a structure around the other vehicle and performs the start The determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes that at least a part of the color of the structure is a color reflected by a color of a brake lamp of the other vehicle. To do.

(6): The vehicle control device according to any one of (1) to (5), further including a sound collection unit that collects sounds around the host vehicle, wherein the start determination unit includes: Of the sounds collected by the sound collection unit, when the sound from the direction in which the other vehicle exists is an engine sound, it is determined that the other vehicle starts.

(7): The vehicle control device according to any one of (1) to (6), wherein the other vehicle recognition unit is a rotation angle of a wheel of the other vehicle or the wheel with respect to the host vehicle. The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes a rotation of a wheel of the other vehicle or a change in the relative angle. .

(8): The vehicle control device according to (7), wherein the start control unit recognizes a rotation of a wheel of the other vehicle or a change in the relative angle by the other vehicle recognition unit. Thus, when it is determined that the other vehicle starts, the host vehicle is stopped.

(9): The vehicle control device according to any one of (1) to (8), wherein the other vehicle recognition unit recognizes that a headlight of the other vehicle is lit, The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes that the headlight of the other vehicle is turned on.

(10): The vehicle control device according to any one of (1) to (9), further including a communication unit that communicates with the other vehicle, wherein the start determination unit is controlled by the communication unit. When the information indicating that the other vehicle notifies the seat belt reminder is received, it is determined that the other vehicle starts.

(11): The vehicle control device according to any one of (1) to (10), wherein the imaging unit that images the other vehicle and the other vehicle recognition unit are captured by the imaging unit. The amount of subsidence from the reference vehicle height of the other vehicle estimated by the other vehicle recognition unit is estimated by the start determination unit. When it is equal to or greater than the threshold value, it is determined that the other vehicle starts.

(12): The vehicle control device according to any one of (1) to (11), wherein the other vehicle recognition unit recognizes the presence of an occupant riding in the other vehicle, and The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes the presence of an occupant in the other vehicle.

(13): The vehicle control device according to (2), further including a communication unit that communicates with the other vehicle, wherein the operation control unit is configured such that the other vehicle is an autonomous driving vehicle by the communication unit. When the information indicating is received, the host vehicle is caused to travel without performing the deceleration or the detouring.

(14): The other vehicle recognizing unit recognizes the other vehicle existing facing the road on which the host vehicle travels, and the start determination unit is based on the state of the other vehicle recognized by the other vehicle recognizing unit. It is determined whether or not another vehicle starts, and the driving control unit controls one or both of steering and acceleration / deceleration of the host vehicle based on the determination result by the start determination unit and travels the host vehicle. This is a vehicle control method.

(15): The state of the other vehicle recognized by the other vehicle recognition unit in the computer mounted on the own vehicle provided with the other vehicle recognition unit that recognizes the other vehicle that faces the road on which the host vehicle is traveling. Whether or not the other vehicle starts, and based on the determination result, one or both of steering and acceleration / deceleration of the host vehicle is controlled to run the host vehicle.

According to (1), (14), and (15), it is possible to determine whether or not the other vehicle starts based on the state of the other vehicle that is stopped, and to control the traveling of the host vehicle.

According to (2), traveling control of the host vehicle can be performed according to the distance between the host vehicle and the other vehicle.

According to (3), (4), (7), (9), (11), and (12), the change of the state of the other vehicle recognized from the outside is recognized and the start of the other vehicle is determined. Can do.

According to (5), even if the brake lamp cannot be recognized directly, the start of the other vehicle can be recognized by recognizing the light of the brake lamp reflected on the surrounding wall of the other vehicle.

According to (6), the start of the other vehicle can be recognized by the sound emitted from the other vehicle.

According to (8), by recognizing the operation of the other vehicle, the traveling control of the host vehicle according to the operation of the other vehicle can be performed.

According to (10) and (13), by communicating with another vehicle capable of inter-vehicle communication, it is possible to acquire information on the state of the other vehicle and predict the start of the other vehicle.

It is a lineblock diagram of vehicle system 1 using a vehicle control device concerning an embodiment. 3 is a functional configuration diagram of a first control unit 120 and a second control unit 160. FIG. It is a figure which shows an example of the other vehicle which the other vehicle recognition part 131 recognizes. It is a figure which shows an example of the change of the vehicle height of the other vehicle m. 3 is a flowchart showing an example of a flow of processing executed in the automatic operation control apparatus 100. It is a flowchart which shows the flow of the process performed in step S110. It is a flowchart which shows the flow of the process performed in step S130. 2 is a diagram illustrating a plurality of configurations that can be used in the automatic operation control apparatus 100. FIG.

  Hereinafter, embodiments of a vehicle control device, a vehicle control method, and a program according to the present invention will be described with reference to the drawings. When there is another vehicle that is stopped on the route along which the autonomous driving vehicle is traveling, it is important to determine whether the other vehicle is about to start and to control the autonomous driving vehicle. If control such as temporary stop is executed every time a stopped vehicle is recognized, smooth running may be hindered. The vehicle control device determines whether or not to start based on the state of another vehicle that is stopped and controls the traveling of the host vehicle.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle system 1 using a vehicle control device according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. When the electric motor is provided, the electric motor operates using electric power generated by the electric generator connected to the internal combustion engine or electric discharge power of the secondary battery or the fuel cell.

  The vehicle system 1 includes, for example, a camera 10 (an example of an imaging unit), a radar device 12, a finder 14, an object recognition device 16, a communication device 20 (an example of a communication unit), and an HMI (Human Machine Interface) 30. A vehicle sensor 40, a navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100 (an example of a vehicle control device), a driving force output device 200, a brake A device 210 and a steering device 220 are provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. The configuration illustrated in FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.

  The camera 10 is a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). One or a plurality of cameras 10 are attached to any part of a vehicle (hereinafter referred to as the host vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly images the periphery of the host vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object. One or a plurality of radar devices 12 are attached to arbitrary locations of the host vehicle M. The radar apparatus 12 may detect the position and speed of an object by FM-CW (Frequency Modulated Continuous Wave) method.

  The finder 14 is LIDAR (Light Detection and Ranging). The finder 14 irradiates light around the host vehicle M and measures scattered light. The finder 14 detects the distance to the object based on the time from light emission to light reception. The irradiated light is, for example, pulsed laser light. One or a plurality of the finders 14 are attached to arbitrary locations of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the finder 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. Further, the object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 as they are to the automatic driving control device 100 as necessary.

  The communication device 20 communicates with other vehicles existing around the host vehicle M using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. It communicates with various server apparatuses via a base station.

  The HMI 30 presents various information to the occupant of the host vehicle M and accepts an input operation by the occupant. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.

  The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity around the vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding. The GNSS receiver 51 specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40. The navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above. The route determination unit 53 is, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52 (hereinafter, referred to as “route”). The route on the map is determined with reference to the first map information 54. The first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link. The first map information 54 may include road curvature and POI (Point Of Interest) information. The on-map route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the on-map route determined by the route determination unit 53. In addition, the navigation apparatus 50 may be implement | achieved by the function of terminal devices, such as a smart phone and a tablet terminal which a passenger | crew holds, for example. Further, the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire the on-map route returned from the navigation server.

  For example, the MPU 60 functions as the recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory. The recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane. The recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel. The recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable route for proceeding to the branch destination when there is a branch point or a merge point in the route.

  The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane. The second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like. The second map information 62 may be updated at any time by accessing another device using the communication device 20.

  The driving operation element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steer, a joystick, and other operation elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. 220 is output to one or both of 220.

  The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. Each of the first control unit 120 and the second control unit 160 is realized by a hardware processor such as a CPU (Central Processing Unit) executing a program (software), for example. In addition, some or all of these components include hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). Part (including circuit)), or may be realized by cooperation of software and hardware.

  FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120 implements, for example, a function based on AI (Artificial Intelligence) and a function based on a model given in advance. For example, the “recognize intersection” function executes recognition of an intersection by deep learning or the like and recognition based on a predetermined condition (such as a signal that can be matched with a pattern and road marking) in parallel. It is realized by scoring and comprehensively evaluating. This ensures the reliability of automatic driving.

  First, basic functions of the recognition unit 130 and the action plan generation unit 140 will be described. The recognition unit 130 recognizes the position of an object around the host vehicle M and the state such as speed and acceleration based on information input from the camera 10, the radar device 12, and the finder 14 through the object recognition device 16. To do. For example, the position of the object is recognized as a position on an absolute coordinate with the representative point (the center of gravity, the center of the drive shaft, etc.) of the host vehicle M as the origin, and is used for control. The position of the object may be represented by a representative point such as the center of gravity or corner of the object, or may be represented by a represented area. The “state” of the object may include acceleration or jerk of the object, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed). Further, the recognition unit 130 recognizes the shape of the curve through which the host vehicle M will pass based on the captured image of the camera 10. The recognizing unit 130 converts the shape of the curve from the captured image of the camera 10 to a real plane, and, for example, information representing the shape of the curve by using two-dimensional point sequence information or information equivalent to this model To the action plan generation unit 140.

  Further, the recognition unit 130 recognizes, for example, a lane (traveling lane) in which the host vehicle M is traveling. For example, the recognizing unit 130 has a road lane marking line around the host vehicle M recognized from the road lane marking pattern (for example, an array of solid lines and broken lines) obtained from the second map information 62 and an image captured by the camera 10. The driving lane is recognized by comparing with the pattern. Note that the recognition unit 130 may recognize a travel lane by recognizing not only a road lane line but also a road lane line (road boundary) including a road lane line, a road shoulder, a curb, a median strip, a guardrail, and the like. . In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account. In addition, the recognition unit 130 recognizes a stop line, an obstacle, a red light, a toll gate, another vehicle, and other road events.

  When recognizing the traveling lane, the recognizing unit 130 recognizes the position and posture of the host vehicle M with respect to the traveling lane. For example, the recognizing unit 130 determines the relative position of the host vehicle M with respect to the travel lane by making an angle between the deviation of the reference point of the host vehicle M from the center of the lane and the line connecting the center of the lane in the traveling direction of the host vehicle M And may be recognized as a posture. Instead of this, the recognition unit 130 determines the position of the reference point of the host vehicle M with respect to any side edge (road lane line or road boundary) of the travel lane, and the relative position of the host vehicle M with respect to the travel lane. You may recognize as.

  Moreover, the recognition part 130 may derive | lead-out recognition accuracy in said recognition process, and may output it to the action plan production | generation part 140 as recognition accuracy information. For example, the recognition unit 130 generates recognition accuracy information based on the frequency with which road lane markings can be recognized in a certain period.

  The recognizing unit 130 recognizes the state of the other vehicle that is stopped and determines whether or not the other vehicle starts. Recognition of other vehicles in the recognition unit 130 will be described later.

  In principle, the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and further, the host vehicle M is configured so that automatic driving corresponding to the surrounding situation of the host vehicle M is executed. Generate a target trajectory to travel in the future. The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) that the host vehicle M should reach.

  The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the travel driving force output device 200 or the brake device 210 based on a speed element associated with the target track stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feed-forward control corresponding to the curvature of the road ahead of the host vehicle M and feedback control based on deviation from the target track.

  In the automatic driving control apparatus 100, a combination of the action plan generation unit 140, the acquisition unit 162, the speed control unit 164, and the steering control unit 166 is an example of the “driving control unit”.

  The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling of the vehicle to driving wheels. The travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these. The ECU controls the above-described configuration according to information input from the second control unit 160 or information input from the driving operator 80.

  The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with the information input from the second control unit 160 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel. The brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder. The brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the second control unit 160 and transmits the hydraulic pressure of the master cylinder to the cylinder. There may be.

  The steering device 220 includes, for example, a steering ECU and an electric motor. For example, the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the driving operator 80, and changes the direction of the steered wheels.

[Starting judgment of other vehicles]
Next, the content of the process recognized by the recognition unit 130 will be described. The recognition unit 130 includes, for example, another vehicle recognition unit 131 and a start determination unit 132.

  The other vehicle recognition unit 131 recognizes, for example, the presence / absence of the other vehicle m present facing the road on which the host vehicle M travels and the state thereof based on the recognition result recognized by the object recognition device 16. . The start determination unit 132 determines whether or not the other vehicle m starts based on the recognition result of the other vehicle recognition unit 131.

  FIG. 3 is a diagram illustrating an example of another vehicle recognized by the other vehicle recognition unit 131. Although the case where the other vehicle m stops in the direction orthogonal to the own vehicle M is illustrated, the other vehicle m may be parked in parallel with the own vehicle M. The other vehicle recognition unit 131 recognizes, for example, a vehicle that faces the road as the other vehicle m.

  The other vehicle recognition unit 131 may recognize a vehicle parked with the majority of the vehicle body in a parking space that is not a road as the other vehicle m, and may include other vehicles including those parked on the alley. It may be recognized as m.

  Hereinafter, more specific processing will be described. The other vehicle recognition unit 131 recognizes the rotation angle of the wheel m4 of the other vehicle m, the relative angle of the wheel m4 with respect to the host vehicle M, or the amount of change thereof. The other vehicle recognition unit 131 compares, for example, a plurality of images of the other vehicle m output from the object recognition device 16 at a predetermined sampling interval, and recognizes whether or not the wheel m4 of the other vehicle m is rotating.

  The other vehicle recognition unit 131 compares the rotation angle estimated at a certain point in time with the rotation angle estimated after a predetermined time, and recognizes whether or not the wheel m4 of the other vehicle m is rotating. The rotation angle estimated at each time point is corrected so as to cancel the change accompanying the position change of the host vehicle M.

  The other vehicle recognition unit 131 generates, for example, a three-dimensional model indicating the relative positional relationship between the recognized other vehicle m and the own vehicle M at the position of the own vehicle M at a certain time. The other vehicle recognition unit 131, for example, the wheel m4 in the model of the other vehicle m in the three-dimensional space whose appearance changes from the own vehicle M after traveling to some extent, and the wheel m4 of the other vehicle m acquired from the camera 10 are displayed. When the appearance of the vehicle m4 in the image is different from the wheel m4 in the model, it is recognized that the wheel m4 has rotated.

  The start determination unit 132 determines that the other vehicle m starts, for example, when the other vehicle recognition unit 131 recognizes the rotation of the wheel m4 of the other vehicle m or a change in the relative angle. This is because when the rotation angle of the wheel m4 of the other vehicle m or the relative angle of the wheel with respect to the host vehicle M is changed, the other vehicle m is likely to start and come out to the lane L.

  Moreover, the other vehicle recognition part 131 may recognize that the door m2 of the other vehicle m is open. The other vehicle recognition unit 131 recognizes that the door m2 of the other vehicle m is open, for example, using a state determination algorithm using deep learning or the like. The other vehicle recognition unit 131 may recognize that any door m2 such as a front door or a rear door of the other vehicle m is open.

  For example, when the other vehicle recognition unit 131 recognizes that the door m2 of the other vehicle m is open, the start determination unit 132 determines that the other vehicle m does not start. This is because there is a high possibility that the vehicle will not start yet when the door m2 of the other vehicle m is open.

  Moreover, the other vehicle recognition part 131 may recognize that the winker m1 of the other vehicle m is blinking. For example, the other vehicle recognition unit 131 compares a plurality of images of the other vehicle m output from the object recognition device 16 at a predetermined sampling interval, and is turned off when the blinker m1 of the other vehicle m is blinking. When it is recognized that the state is repeated, the blinking is recognized. The winker m1 is any or all of the front winker, the side winker, the tail winker, etc. of the other vehicle m.

  The start determination unit 132 determines that the other vehicle m starts, for example, when the other vehicle recognition unit 131 recognizes that the winker m1 of the other vehicle m is turned on. The blinker m1 of the other vehicle m is blinking because there is a high possibility that the other vehicle m will start.

  Moreover, the other vehicle recognition part 131 may recognize lighting of the brake lamp m3 of the other vehicle m. However, if the brake lamp m3 cannot be directly recognized due to the positional relationship of the brake lamp m3 of the other vehicle m, the other vehicle recognition unit 131 recognizes the color change of the structure H around the brake lamp m3 of the other vehicle m. May be.

  The other vehicle recognition unit 131 turns on the brake lamp m3 by recognizing that the color of at least a part of the area such as the wall H1 around the other vehicle m has changed to the color of the brake lamp m3 of the other vehicle m. You may recognize it. The other vehicle recognition unit 131 compares, for example, images taken by the other vehicle m output from the object recognition device 16 at a predetermined sampling interval, and the color of the wall H1 of the structure H around the other vehicle m is a brake lamp. The lighting of the brake lamp m3 may be recognized based on the fact that the brightness has changed brightly.

  For example, when the other vehicle recognition unit 131 recognizes that the color of at least a part of the structure H is a color reflected by the brake lamp m3 of the other vehicle m, the start determination unit 132 determines that the other vehicle It is determined that m starts. The reason that the brake lamp m3 including the tail lamp and the high-mount stop lamp of the other vehicle m is lit is that the other vehicle m is likely to be in a state before starting.

  FIG. 4 is a diagram illustrating an example of a change in the vehicle height of the other vehicle m. The other vehicle recognition unit 131 may estimate the vehicle height of the other vehicle m. For example, the other vehicle recognizing unit 131 analyzes an image captured by the camera 10 and estimates a sinking amount (h0−h1) from the reference vehicle height (h0) of the other vehicle m.

  The reference vehicle height of the other vehicle m may be set by machine learning based on a past image captured by the camera 10 when the other vehicle m is parked in the residential premises. In addition, the reference vehicle height of the other vehicle m may be acquired from the other vehicle m by inter-vehicle communication via the communication device 20, or may be acquired from the network based on the recognized vehicle type information of the other vehicle m. May be. And the other vehicle recognition part 131 may set the reference vehicle height of the other vehicle m based on the acquired information.

  The start determination unit 132 determines that the other vehicle m starts, for example, when the sinking amount from the reference vehicle height of the other vehicle m estimated by the other vehicle recognition unit 131 is equal to or greater than a threshold value. This is because when the sinking amount of the other vehicle m from the reference vehicle height is equal to or greater than the threshold value, it is estimated that the passenger is in the vehicle, and the probability that the other vehicle m starts is increased.

  Further, the other vehicle recognition unit 131 may recognize the presence of an occupant riding in the other vehicle m. The start determination unit 132 determines that the other vehicle starts, for example, when the other vehicle recognition unit recognizes the presence of an occupant in the other vehicle. This is because when the occupant is in the other vehicle m, there is a high possibility that the other vehicle m will start.

  Further, the start determination unit 132 determines that the other vehicle m starts based on a change in the state of sound around the host vehicle M collected by the microphone 15 (see FIG. 1) provided in the host vehicle M. Also good. The other vehicle recognition unit 131 extracts, for example, engine sounds generated by the other vehicle m from the sound data around the host vehicle M collected by the microphone 15.

  And the other vehicle recognition part 131 recognizes the direction of the sound source of the extracted engine sound, for example. For example, the other vehicle recognition unit 131 estimates the direction in which the sound source of the engine sound exists based on the reception times of the engine sound collected by the microphones 15 provided at a plurality of positions of the host vehicle M. For example, when the engine sound is extracted from the direction in which the other vehicle m exists among the sounds collected by the microphone 15, the start determination unit 132 determines that the other vehicle m starts. This is because when the engine sound is emitted from the other vehicle m, the probability that the other vehicle m starts is increased.

  The other vehicle recognition unit 131 may recognize that the headlight m5 (see FIG. 3) of the other vehicle m is lit. The start determination unit 132 determines that the other vehicle m starts, for example, when the other vehicle recognition unit 131 recognizes that the headlight of the other vehicle m is turned on.

  For example, the other vehicle recognizing unit 131 compares the images of the other vehicle m output from the object recognition device 16 at a predetermined sampling interval, and the brightness of the image of the headlight m5 of the other vehicle m changes brightly. Based on this, the lighting of the headlight m5 may be recognized. This is because when the headlight m5 of the other vehicle m is turned on, there is a high possibility that the other vehicle m is in a state before starting.

  Moreover, the start determination part 132 determines with the other vehicle m starting based on the information acquired from the other vehicle m, for example as a result of communicating via the communication apparatus 20 with the other vehicle m. When the own vehicle M is a vehicle that can communicate with the other vehicle m, the host vehicle M may communicate with the other vehicle m and acquire information related to traveling of the other vehicle m. The other vehicle recognition unit 131 recognizes the presence of the other vehicle m and the state of the other vehicle m based on the acquired information.

  The other vehicle recognition unit 131 receives, for example, information indicating that a seat belt reminder for prompting the user to wear the seat belt is notified, and information indicating that the other vehicle m is an autonomous driving vehicle. The other vehicle recognition unit 131 recognizes whether or not a seat belt reminder has been notified based on the acquired information.

  For example, the start determination unit 132 determines that the other vehicle m starts when the communication device 20 receives information indicating that the other vehicle m has notified the seat belt reminder. This is because when the seat belt reminder is notified, the probability that the other vehicle m starts will increase.

  Further, the start determination unit 132 may change the determination criterion based on the location where the other vehicle m is parked. For example, when another vehicle m is parked in a residential premises, the probability that the same vehicle is parked is higher than a vehicle parked in a parking facility such as a so-called coin parking. Accordingly, since the accuracy of learning of the other vehicle m by the other vehicle recognition unit 131 is increased, the start determination unit 132 adjusts the threshold value and the number of conditions when determining the start so that the start is more easily determined. Also good. Thereby, the automatic driving | operation control apparatus 100 can determine the start of the other vehicle m parked in the residence site at an early stage.

  When the start determination unit 132 determines that the other vehicle m starts, the action plan generation unit 140 performs control in consideration of the other vehicle m as described below.

  (1) For example, when the start determination unit 132 determines that the other vehicle m starts, and the action plan generation unit 140 determines that the distance between the other vehicle m and the host vehicle is equal to or greater than a predetermined distance, the action plan generation unit 140 sets the speed control unit 164. The vehicle is controlled to decelerate and slow down. The predetermined distance is, for example, a distance that allows sufficient time for the action plan generation unit 140 to execute control according to the operation of the other vehicle m when the other vehicle m exits the lane L from the stop position. . The predetermined distance is estimated by the object recognition device 16 based on the output results of the camera 10, the radar device 12, and the finder 14, for example.

  (2) For example, if the start determination unit 132 determines that the other vehicle m starts and the action plan generation unit 140 determines that the distance between the other vehicle m and the host vehicle M is less than a predetermined distance, the speed control unit 164 And the steering control part 166 is controlled and the other vehicle m is detoured to the own vehicle M. For example, the action plan generation unit 140 generates a track in which the host vehicle M is separated from the other vehicle m in the lane L on which the host vehicle M travels, and causes the host vehicle M to travel.

  (3) For example, the action plan generation unit 140 stops the host vehicle when the other vehicle recognition unit 131 recognizes the rotation of the wheel of the other vehicle or the change in the relative angle.

  (4) For example, the action plan generation unit 140 communicates with the other vehicle m via the communication device 20 when the communication device 20 receives information indicating that the other vehicle m is an autonomous driving vehicle. You may adjust about mutual traveling control. This is because the other vehicle m and the own vehicle M, which are autonomous driving vehicles, perform traveling control that recognizes the existence of each other. For example, when the action plan generation unit 140 communicates with the other vehicle m and receives information from the other vehicle m that the communication result regarding the travel control is “transfer”, the action plan generation unit 140 does not decelerate or detour the vehicle M as it is. You may run. The information “to give” is, for example, information transmitted to the host vehicle M as a result of the other vehicle m recognizing the host vehicle M and determining that the host vehicle M is to be run preferentially.

  Next, the flow of processing executed in the automatic operation control apparatus 100 will be described. FIG. 5 is a flowchart illustrating an example of a flow of processing executed in the automatic driving control apparatus 100.

  The other vehicle recognition unit 131 recognizes another vehicle that faces the road on which the host vehicle M travels (step S100). The start determination unit 132 determines whether or not the other vehicle starts based on the state of the other vehicle m recognized by the other vehicle recognition unit 131 (step S110). When the start determination unit 132 determines that the other vehicle starts based on the state of the other vehicle m, the action plan generation unit 140 sends the speed control unit 164 and the steering control unit 166 based on the determination result by the start determination unit 132. One or both of steering and acceleration / deceleration of the host vehicle M is controlled to control the traveling of the host vehicle M (step S130).

  Next, the process for determining whether or not the other vehicle m started in step S110 will be described in detail. FIG. 6 is a flowchart showing the flow of processing executed in step S110.

  The other vehicle recognition unit 131 determines whether or not a change in the state of the wheel such as the rotation or relative angle of the wheel m4 of the other vehicle m has been recognized (step S111).

  The start determination unit 132 determines that the other vehicle m starts when the other vehicle recognition unit 131 recognizes the rotation of the wheel m4 of the other vehicle m or a change in the relative angle (step S128).

  The other vehicle recognition part 131 determines whether the door m2 of the other vehicle m is open, when rotation of the wheel m4 of the other vehicle m or the change of a relative angle is not recognized (step S112).

  When the other vehicle recognition unit 131 determines that the door m2 of the other vehicle m is open, the start determination unit 132 determines that the other vehicle m does not start (step S127).

  When the other vehicle recognition unit 131 determines that the door m2 of the other vehicle m is not open, it is determined whether or not the winker m1 of the other vehicle m is lit (step S113).

  The start determination unit 132 determines that the other vehicle m starts when the other vehicle recognition unit 131 recognizes that the winker m1 of the other vehicle m is lit (step S128).

  When it is not determined that the winker m1 of the other vehicle m is not lit, the other vehicle recognition unit 131 determines whether the brake lamp m3 is lit (step S114). The start determination unit 132 determines that the other vehicle m starts when the other vehicle recognition unit 131 recognizes that the brake lamp m3 is lit (step S128).

  When it is determined that the brake lamp m3 is not lit, the other vehicle recognition unit 131 determines whether or not the vehicle height of the other vehicle m has decreased (step S115). When the other vehicle recognition unit 131 determines that the vehicle height of the other vehicle m has decreased, the start determination unit 132 determines that the other vehicle m starts (step S128).

  When it is not determined that the vehicle height of the other vehicle m has decreased, the other vehicle recognition unit 131 determines whether or not an occupant is on the other vehicle m (step S116). The start determination unit 132 determines that the other vehicle m starts when the other vehicle recognition unit 131 determines that an occupant is on the other vehicle m (step S128).

  The other vehicle recognition part 131 determines whether the engine sound is generated from the direction of the other vehicle m, when it determines with the passenger | crew has not boarded the other vehicle m (step S117).

When the other vehicle recognition unit 131 determines that no engine sound is generated from the direction of the other vehicle m, the other vehicle recognition unit 131 determines whether the headlight m5 of the other vehicle m is lit (step S118).
When it is determined that the headlight m5 of the other vehicle m is not turned on, the other vehicle recognition unit 131 determines whether or not a seat belt reminder is notified in the other vehicle m (step S119). The start determination unit 132 determines that the other vehicle m does not start when it is determined that the seat belt reminder is not notified in the other vehicle m (step S127).

  In the flowchart described above, the order of steps S111 to S119 is not limited to this, and may be changed as appropriate. Further, in the flowchart described above, it is determined that the other vehicle m starts when one of the conditions is satisfied, but instead, it is determined that the other vehicle m starts when a plurality of conditions are satisfied. It is also good.

  Next, the process for controlling the host vehicle M according to the determination result executed in step S130 will be described in detail. FIG. 7 is a flowchart showing the flow of processing executed in step S130.

  The start determination unit 132 determines whether or not the other vehicle m starts (step S131).

  When the start determination unit 132 determines that the other vehicle m starts, the other vehicle recognition unit 131 determines whether or not the other vehicle m is an automatic driving vehicle (step S132).

  When the other vehicle recognizing unit 131 determines that the other vehicle m is an autonomous driving vehicle, the other vehicle recognizing unit 131 determines whether or not the information indicating “transfer” regarding the travel control is received from the other vehicle m ( Step S133).

  When it is determined that the other vehicle recognizing unit 131 has not received from the other vehicle m the information to “give” the travel control, or when the determination is negative in step S132, the start determining unit 132 It is determined whether or not m starts based on the state of the wheel m4 (step S134).

  When the start determination unit 132 determines that the other vehicle m does not start based on the state of the wheel m4, the action plan generation unit 140 determines that the host vehicle M and the other vehicle m are based on the estimation result of the object recognition device 16. It is determined whether or not the distance is greater than or equal to a predetermined value (step S135).

  When it is determined that the distance between the host vehicle M and the other vehicle m is greater than or equal to the predetermined value, the action plan generation unit 140 controls the speed control unit 164 to cause the host vehicle M to slow down (step S137).

  When the start determination unit 132 determines that the other vehicle m starts, and the action plan generation unit 140 determines that the distance between the other vehicle m and the host vehicle M is less than a predetermined distance, the action plan generation unit 140 The steering control unit 166 is controlled to cause the host vehicle M to bypass the other vehicle m (step S138).

  If the start determination unit 132 determines that the other vehicle m starts based on the state of the wheel m4 in step S134, the action plan generation unit 140 controls the speed control unit 164 and the steering control unit 166 to change the own vehicle M. Stop (step S136).

  If the start determination unit 132 does not determine that the other vehicle m starts in step S131, the action plan generation unit 140 controls the speed control unit 164 and the steering control unit 166 to drive the host vehicle M as it is (step S139). .

  In the flowchart described above, the order of each step from step S131 to step S135 is not limited to this, and may be appropriately changed. In the flowchart described above, step S134 and step S136 may be omitted.

  According to the embodiment described above, the vehicle system 1 can determine whether or not the other vehicle starts based on the state of the other vehicle that is stopped, and can control the traveling of the host vehicle.

  The embodiment described above can be expressed as follows. FIG. 8 is a diagram illustrating a plurality of configurations that can be used in the automatic operation control apparatus 100. The automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM 100-3 used as a working memory, a ROM 100-4 for storing a boot program, a storage device 100-5 such as a flash memory and an HDD, a drive The devices 100-6 and the like are connected to each other via an internal bus or a dedicated communication line.

  The communication controller 100-1 performs communication with components other than the automatic driving control apparatus 100 shown in FIG. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded in the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thereby, some or all of the recognition unit 130, the action plan generation unit 140, the acquisition unit 162, the speed control unit 164, and the steering control unit 166 are realized.

The embodiment described above can be expressed as follows.
A hardware processor;
A storage device;
A hardware processor for executing a program stored in the storage device,
The hardware processor executes the program,
Recognize other vehicles that face the road on which your vehicle runs,
Determining whether or not the other vehicle starts based on the recognized state of the other vehicle;
Based on the determination result, one or both of steering or acceleration / deceleration of the host vehicle is controlled to drive the host vehicle.
A vehicle control device configured as described above.

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

DESCRIPTION OF SYMBOLS 1 ... Vehicle system, 10 ... Camera, 12 ... Radar apparatus, 14 ... Finder, 15 ... Microphone, 16 ... Object recognition apparatus, 20 ... Communication apparatus, 40 ... Vehicle sensor, 50 ... Navigation apparatus, 51 ... GNSS receiver, 53 ... route determination unit, 54 ... first map information, 61 ... recommended lane determination unit, 62 ... second map information, 80 ... driving operator, 100 ... automatic driving control device 100-1, ... communication controller, 100-2 ... CPU , 103 ... RAM, 104 ... ROM, 100-5 ... storage device, 100-5a ... program, 100-6 ... drive device, 106 ... management unit, 108 ... operation control unit, 110 ... determination unit, 114 ... notification unit, DESCRIPTION OF SYMBOLS 120 ... 1st control part, 130 ... Recognition part, 131 ... Other vehicle recognition part, 132 ... Start determination part, 140 ... Action plan production | generation part, 160 ... 2nd control part, 162 ... Acquisition part 164: Speed control unit, 166: Steering control unit, 200: Travel driving force output device, 210: Brake device, 220: Steering device, M: Own vehicle, m: Other vehicle, m1: Winker, m2: Door, m3 ... Brake lamp, m4 ... wheel, m4a ... front wheel, m5 ... headlight

Claims (15)

An other vehicle recognition unit for recognizing other vehicles existing facing the road on which the host vehicle is traveling;
A start determination unit that determines whether or not the other vehicle starts based on a state of the other vehicle recognized by the other vehicle recognition unit;
Based on the determination result by the start determination unit, an operation control unit that controls one or both of steering or acceleration / deceleration of the host vehicle to drive the host vehicle;
A vehicle control device comprising: The driving control unit decelerates the host vehicle when the distance between the other vehicle determined to start by the start determination unit and the host vehicle is equal to or greater than a predetermined distance, and When the distance is less than the predetermined distance, the vehicle detours the other vehicle,
The vehicle control device according to claim 1. The other vehicle recognition unit recognizes that the blinker of the other vehicle is lit,
The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes that the winker of the other vehicle is lit.
The vehicle control device according to claim 1 or 2. The other vehicle recognition unit recognizes that the door of the other vehicle is open,
The start determination unit determines that the other vehicle does not start when the other vehicle recognition unit recognizes that the door of the other vehicle is open.
The vehicle control device according to any one of claims 1 to 3. The other vehicle recognition unit recognizes the color of a structure around the other vehicle,
When the other vehicle recognition unit recognizes that the color of at least a part of the structure is a color reflected by the color of a brake lamp of the other vehicle, the start determination unit starts the other vehicle. It is determined that
The vehicle control device according to any one of claims 1 to 4. A sound collecting unit for collecting sounds around the vehicle;
The start determination unit determines that the other vehicle starts when the sound from the direction in which the other vehicle exists is an engine sound among the sounds collected by the sound collection unit.
The vehicle control device according to any one of claims 1 to 5. The other vehicle recognition unit recognizes a rotation angle of a wheel of the other vehicle or a relative angle of the wheel with respect to the host vehicle,
The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes a rotation of a wheel of the other vehicle or a change in the relative angle.
The vehicle control device according to any one of claims 1 to 6. When the start determination unit determines that the other vehicle starts, when the start determination unit recognizes the rotation of the wheel of the other vehicle or the change in the relative angle by the other vehicle recognition unit, To stop,
The vehicle control device according to claim 7. The other vehicle recognition unit recognizes that a headlight of the other vehicle is lit,
The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes that a headlight of the other vehicle is lit.
The vehicle control device according to any one of claims 1 to 8. A communication unit for communicating with the other vehicle;
The start determination unit determines that the other vehicle starts when the communication unit receives information indicating that the other vehicle notifies a seat belt reminder.
The vehicle control device according to any one of claims 1 to 9. It further comprises an imaging unit that images the other vehicle,
The other vehicle recognition unit analyzes the image captured by the imaging unit and estimates a sinking amount from a reference vehicle height of the other vehicle,
The start determination unit determines that the other vehicle starts when a sinking amount from a reference vehicle height of the other vehicle estimated by the other vehicle recognition unit is greater than or equal to a threshold value.
The vehicle control device according to any one of claims 1 to 10. The other vehicle recognition unit recognizes the presence of an occupant riding in the other vehicle,
The start determination unit determines that the other vehicle starts when the other vehicle recognition unit recognizes the presence of an occupant in the other vehicle.
The vehicle control device according to any one of claims 1 to 11. A communication unit for communicating with the other vehicle;
The driving control unit causes the host vehicle to travel without performing the deceleration or the detour when the communication unit receives information indicating that the other vehicle is an autonomous driving vehicle.
The vehicle control device according to claim 2. The other vehicle recognition unit recognizes the other vehicle that faces the road on which the host vehicle runs,
A start determination unit determines whether or not the other vehicle starts based on a state of the other vehicle recognized by the other vehicle recognition unit;
A driving control unit that controls one or both of steering and acceleration / deceleration of the host vehicle based on a determination result by the start determination unit;
Vehicle control method. A computer mounted on the host vehicle including an other vehicle recognition unit that recognizes another vehicle that faces the road on which the host vehicle travels,
Determining whether or not the other vehicle starts based on the state of the other vehicle recognized by the other vehicle recognition unit;
Based on the determination result, one or both of steering or acceleration / deceleration of the host vehicle is controlled to drive the host vehicle.
program.

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