JP2019087188A - Vehicle controller, vehicle control method, and program - Google Patents

Abstract

To provide a vehicle controller, a vehicle control method, and a program which are capable of selecting an exit/entrance that allow a vehicle to easily enter and exit from a plurality of exits/entrances of a facility.SOLUTION: A vehicle controller comprises: a recognition unit that recognizes a position of an entrance/exit which a vehicle can pass through from the entrances/exits to/from a facility; and a driving control unit that makes the vehicle to travel by controlling one or both of steering and acceleration/deceleration of an own vehicle without relying on an operation of an occupant of the own vehicle, and that makes the own vehicle to progress to an entrance/exit farther from an intersection when there are a plurality of entrances/exits through which the vehicle recognized by the recognition unit can pass.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. Related to this, a technique for navigating a vehicle to an entrance of a facility is known (see, for example, Patent Document 1).

JP, 2016-223823, A

  However, the prior art does not select the entrance where the entry and exit of the own vehicle becomes easy when there are a plurality of entrances in the facility.

  The present invention has been made in consideration of such circumstances, and a vehicle control apparatus and vehicle control method capable of selecting an entrance through which entrance and exit of a vehicle can be more easily performed from among a plurality of entrances and exits of a facility. And one of the purposes is to provide a program.

(1): One or both of steering and acceleration / deceleration of the host vehicle regardless of the operation of the occupant of the host vehicle and the recognition unit for recognizing the position of the portal through which the vehicle can pass among the portals to the facility A driving control unit that causes the vehicle to travel by control, and when there are a plurality of entrances through which the vehicle recognized by the recognition unit can pass, the host vehicle is caused to enter the entrance that is farther from the intersection. And a driving control unit.

(2): The vehicle control device according to (1), wherein the operation control unit has an entrance with a signboard urging entry when there are a plurality of entrances through which the vehicle recognized by the recognition unit can pass. Prioritized, the host vehicle is made to enter.

(3): The vehicle control device according to (1) or (2), wherein the recognition unit recognizes that another vehicle has come out from an entrance where the own vehicle is to be approached, and the driving is The control unit is configured to cause the vehicle to enter the other entrance through which the vehicle can pass when it is recognized by the recognition unit that the other vehicle has come out of the entrance where the vehicle is to be approached. is there.

(4) The vehicle control device according to any one of (1) to (3), wherein the driving control unit has a plurality of entrances through which the vehicle recognized by the recognition unit can pass. In addition, the host vehicle is made to enter with priority given to the entrance where the host vehicle can enter by turning left.

(5): The vehicle control device according to any one of (1) to (4), wherein the operation control unit has a plurality of entrances through which the vehicle recognized by the recognition unit can pass. By turning left after leaving the entrance, the vehicle can be made to use preferentially the entrance which can go to a preset destination.

(6): The recognition unit recognizes the position of the entrance through which the vehicle can pass among the entrances to the facility, and the operation control unit steers or accelerates or slows the host vehicle regardless of the operation of the occupant of the host vehicle. In the vehicle control method, one or both of them are controlled to travel the vehicle, and when there are a plurality of entrances through which the vehicle can pass, the vehicle control method causes the vehicle to enter the entrance which is farther from the intersection.

(7): Allowing the computer mounted on the vehicle to recognize the position of the passage through which the vehicle can pass among the entrances to the facility, and steering or adding the vehicle without depending on the operation of the occupant of the vehicle. One or both of the decelerations are controlled to travel the vehicle, and when there are a plurality of entrances through which the vehicle can pass, the vehicle is caused to enter the entrance at a longer distance from the intersection.

According to (1), (6), and (7), it is possible to select an entrance at which a vehicle can be more easily entered and exited out of the plurality of entrances and exits of the facility.

According to (2), among the plurality of entrances and exits of the facility, the entrance where the vehicle can easily enter can be selected.

According to (3), when the other vehicle m is coming out from the entrance, it is possible to prevent the vehicle from waiting excessively in front of the entrance by entering the vehicle from the other entrance.

According to (4), it is possible to select an entrance which can enter the facility more easily, and to shorten the time required for entering the facility.

According to (5), when participating from a facility, it is possible to select an entrance at which the participation is easily performed, and it is possible to shorten the time to reach a destination.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the vehicle system 1 using the vehicle control apparatus which concerns on embodiment. FIG. 2 is a functional configuration diagram of a first control unit 120 and a second control unit 160. It is a figure which shows an example of the plant | facility C located in an intersection. It is a figure showing an example of institution C in which a plurality of entrances G exist. It is a figure which shows an example of the state in which the other vehicle m participates from the entrance G. FIG. FIG. 6 is a diagram showing an example of a route of a host vehicle M participating from a facility C. 5 is a flowchart showing an example of the flow of processing executed in the automatic driving control device 100. FIG. 2 shows a plurality of configurations that can be used in the automatic driving control device 100.

  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.

[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-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and a driving 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 motor is provided, the motor operates using the power generated by the generator connected to the internal combustion engine or the discharge power of the secondary battery or the fuel cell.

  The vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, and a navigation device 50; The system includes an MPU (Map Positioning Unit) 60, a drive operator 80, an automatic drive control device 100 (vehicle control device), a traveling drive force output device 200, a brake device 210, and a steering device 220. These devices and devices are mutually connected by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network or the like. The configuration shown 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, for example, a digital camera using a solid-state imaging device such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). One or more cameras 10 are attached to any part of a vehicle (hereinafter referred to as a host vehicle M) on which the vehicle system 1 is mounted. When imaging the front, the camera 10 is attached to the top of the front windshield, the rear surface of the rearview mirror, or the like. For example, the camera 10 periodically and repeatedly captures the periphery of the vehicle M. The camera 10 may be a stereo camera.

  The radar device 12 emits radio waves such as millimeter waves around the host vehicle M and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object. One or more of the radar devices 12 are attached to any part of the host vehicle M. The radar device 12 may detect the position and the velocity of the object by a frequency modulated continuous wave (FM-CW) method.

  The finder 14 is a light detection and ranging (LIDAR). 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 light to be irradiated is, for example, pulsed laser light. One or more finders 14 are attached to any part of the host vehicle M.

  The object recognition device 16 performs sensor fusion processing on the detection result of a part or all of the camera 10, the radar device 12, and the finder 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition result to the automatic driving control device 100. In addition, the object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the finder 14 to the automatic driving control device 100 as it is, as necessary.

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

  The HMI 30 presents various information to the occupant of the host vehicle M, and accepts input operation by the occupant. The HMI 30 includes various display devices, speakers, a buzzer, a touch panel, 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, and an azimuth sensor that detects the direction of the host vehicle M.

  The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a path determination unit 53, and stores the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Hold 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 identified 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 partially or entirely shared with the above-described HMI 30. The route determination unit 53, for example, a route from the position of the host vehicle M specified by the GNSS receiver 51 (or an arbitrary position input) to the destination input by the occupant using the navigation HMI 52 (hereinafter referred to as The route on the map is determined with reference to the first map information 54. The first map information 54 is, for example, information in which a road shape is represented by a link indicating a road and a node connected by the link. The first map information 54 may include road curvature, POI (Point Of Interest) information, and the like. The on-map route determined by the route determination unit 53 is output to the MPU 60. In addition, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the direction on the map determined by the route determination unit 53. The navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by a passenger. In addition, 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.

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

  The second map information 62 is map information that is more accurate 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. Further, the second map information 62 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. The second map information 62 may be updated as needed by accessing another device using the communication device 20.

  The operating element 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a modified steering wheel, a joystick and other operating elements. A sensor for detecting the amount of operation or the presence or absence of an operation is attached to the driving operation element 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. It is output to part or all of 220.

  The automatic driving 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, for example, when a hardware processor such as a central processing unit (CPU) executes a program (software). In addition, some or all of these components may be hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. Circuit (including circuitry) or may be realized by cooperation of software and hardware.

  FIG. 2 is a functional block diagram of the first control unit 120 and the second control unit 160. As shown in FIG. 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 by artificial intelligence (AI) and a function by a predetermined model in parallel. For example, in the “identify intersection” function, recognition of an intersection by deep learning etc. and recognition based on predetermined conditions (a signal capable of pattern matching, road marking, etc.) are executed in parallel, and both are performed. It is realized by scoring against and comprehensively evaluating. This ensures the reliability of automatic driving.

  The recognition unit 130 detects the position of an object in the vicinity of the host vehicle M, the state of the velocity, the acceleration, and the like based on information input from the camera 10, the radar device 12, and the finder 14 via the object recognition device 16. recognize. The position of the object is recognized as, for example, a position on an absolute coordinate with a representative point (such as the center of gravity or the center of the drive axis) of the host vehicle M as an 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 a corner of the object, or may be represented by a represented region. The "state" of an object may include the acceleration or jerk of the object, or "action state" (e.g. whether or not you are changing lanes or trying to change). Further, the recognition unit 130 recognizes the shape of a curve through which the host vehicle M passes from now on the basis of the captured image of the camera 10. The recognition unit 130 converts the shape of the curve from the captured image of the camera 10 to a real plane, and for example, information indicating the shape of the curve which is expressed using two-dimensional point sequence information or a model equivalent thereto. Output to the action plan generation unit 140.

  The recognition unit 130 also recognizes, for example, a lane in which the host vehicle M is traveling (traveling lane). For example, the recognition unit 130 may use a pattern of road division lines obtained from the second map information 62 (for example, an array of solid lines and broken lines) and road division lines around the host vehicle M recognized from an image captured by the camera 10 The traveling lane is recognized by comparing with the pattern of. The recognition unit 130 may recognize the traveling lane by recognizing a runway boundary (road boundary) including not only road division lines but also road division lines, road shoulders, curbs, median dividers, guard rails and the like. . In this recognition, the position of the host vehicle M acquired from the navigation device 50 or the processing result by the INS may be added. The recognition unit 130 also recognizes a stop line, an obstacle, a red light, a toll booth, a facility entrance, a signboard, and other road events.

  The recognition unit 130 recognizes the position and orientation of the host vehicle M with respect to the traveling lane when recognizing the traveling lane. The recognition unit 130 is, for example, a deviation of the reference point of the host vehicle M from the center of the lane, and an angle formed by a line connecting the center of the lane in the traveling direction of the host vehicle M It may be recognized as an attitude. Also, instead of this, the recognition unit 130 sets the position of the reference point of the host vehicle M with respect to any one side end (road segment or road boundary) of the travel lane relative to the host vehicle M with respect to the travel lane. It may be recognized as

  In addition, the recognition unit 130 may derive recognition accuracy in the above-described recognition processing, and output the recognition accuracy to the action plan generation unit 140 as recognition accuracy information. For example, the recognition unit 130 generates recognition accuracy information based on the frequency at which a road marking can be recognized in a fixed period. Also, the function of the entrance recognition unit 131 included in the recognition unit 130 will be described later.

  The action plan generation unit 140 basically travels in the recommended lane determined by the recommended lane determination unit 61, and further determines events to be sequentially executed in automatic driving so as to correspond to the surrounding situation of the host vehicle M. Do. The action plan generation unit 140 generates a target track along which the vehicle M travels in the future, in accordance with the activated event. In addition, the function of the facility approach control unit 141 included in the action plan generation unit 140 will be described later.

  The second control unit 160 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target trajectory generated by the action plan generation unit 140 as scheduled. Control.

  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 the information in a memory (not shown). The speed control unit 164 controls the traveling drive power output device 200 or the brake device 210 based on the speed component 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 track 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 combines feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on the deviation from the target track.

  The traveling driving force output device 200 outputs traveling driving force (torque) for the vehicle to travel to the driving wheels. The traveling 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 configuration in accordance with the information input from the second control unit 160 or the information input from the drive 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 drive operator 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 for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the drive operator 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 the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder It is also good.

  The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with the information input from the second control unit 160 or the information input from the drive operator 80.

[About recognition processing of the entrance of the facility]
Next, the contents of the process performed by the action plan generation unit 140 based on the process recognized by the recognition unit 130 and the recognized process will be described. Hereinafter, the case where the left-hand traffic regulations are applied will be described. On the road to which the right-hand traffic regulations apply, the left and right are reversed in the following description.

  The recognition unit 130 includes, for example, an entrance recognition unit 131 (see FIG. 2). The action plan generation unit 140 includes, for example, a facility approach control unit 141. Here, what combined the navigation apparatus 50, the action plan production | generation part 140, and the 2nd control part is an example of a "operation control part."

  FIG. 3 is a diagram showing an example of the facility C located at an intersection. Facility C is, for example, a store facing road L where intersection X is present. In the premises of the facility C, for example, a parking space P is provided. At the boundary between the site of the facility C and the road L, for example, a plurality of entrances and exits Gn (n is an arbitrary natural number) are provided in order to guide the vehicle to the parking space P. Hereinafter, when the entrance and exit are generically referred to as the entrance and exit G.

  The action plan generation unit 140, for example, based on the route guidance of the navigation device 50, when the host vehicle M is located a predetermined distance in front of the facility C set as a destination or a transit point, to start. When the action plan generation unit 140 activates an event for entering the facility C, the action plan generation unit 140 requests the entrance recognition unit 131 or the like to perform processing.

  In response to the request, the entrance recognition unit 131 starts recognition processing of the entrance G for entering and exiting the facility C. For example, based on the recognition result of the object recognition device 16, the entrance recognition unit 131 recognizes the position of the entrance G through which the vehicle can pass among the entrance G to the facility C. The entrance G through which the vehicle can pass is provided at a location facing the road L on the site of the facility C, and for a vehicle provided with a width sufficiently wider than the vehicle width to allow passage of the vehicle. It is a passage space of

  The facility approach control unit 141 controls one or both of steering or acceleration / deceleration of the own vehicle M to control the own vehicle M based on the recognition result by the entrance recognition unit 131 without depending on the operation of the occupant of the own vehicle M. Run The facility approach control unit 141 controls, for example, one or both of the speed control unit 164 and the steering control unit 166.

  Next, specific recognition processing of the entrance of the facility will be described. The entrance recognition unit 131 recognizes, for example, a road boundary W between the road L and the site of the facility C. The entrance recognition unit 131 determines, for example, whether there is an entrance G to the facility C along the recognized road boundary W.

  The entrance recognition unit 131 includes, for example, a cut of a guardrail extending along the road boundary W, a cut such as tree planting arranged along the road boundary W, a slope provided for a vehicle, a vehicle guidance drawn on the ground The recognition object regarding the entrance G, such as markings for promoting the entry of vehicles, etc., is recognized. In addition to this, the entrance recognition unit 131 performs recognition processing for the entrance G by combining information on the facility C stored in the second map information 62 (for example, information on the position of the entrance G of the entrance C, etc.) Good.

  The entrance recognition unit 131 recognizes the recognition target existing in the site of the facility C as the entrance G based on the recognition result of the recognition target of the entrance G. In addition, the entrance recognition unit 131 may recognize another vehicle m entering and exiting in a direction crossing the road boundary W, and may recognize a position at which the other vehicle m crosses the road boundary W as the entrance G.

  The facility entry control unit 141 determines whether or not the entrance G recognized by the entrance recognition unit 131 can be approached by turning left. When the facility entry control unit 141 determines that the entrance G can not enter due to a left turn, the facility entry control unit 141 requests the route determination unit 53 to perform processing for rerouting a route set in advance. In response to the request, the route determination unit 53 reroutes a route that can be entered into the facility C by turning left. When it is determined that the entrance G can be approached by turning left, the facility entry control unit 141 determines whether there are a plurality of entrances G.

  In the example of FIG. 3, the host vehicle M is located a predetermined distance in front of the facility C set as the destination from the intersection X in the traveling lane L1. Facility C is located at the corner of intersection X. Facility C faces lane L1 and lane L5 intersecting lane L1. Crossing the lane L1 in which the host vehicle M travels, there are opposite lanes L4 and L5 of left lanes L2 and L3. The facility C is provided with a plurality of entrances G1 and G2.

  The entrance G1 faces the lane L1. The entrance G2 faces L5. The host vehicle M recognizes the entrances G1 and G2 of the facility C. The entrance recognition unit 131 determines whether or not the recognized entrances G1 and G2 can be approached by a left turn. In order to enter the entrance G2, the host vehicle M travels in the lane L3 after turning left in the lane L1, and turns right so as to cross lanes L4 and L5 which are opposite lanes of the lane L3 in which the host vehicle M is traveling. It is necessary to enter Facility C.

  Therefore, the facility entry control unit 141 selects the entrance G1 which the host vehicle M can enter by turning left, among the plurality of entrances G1 and G2, with priority given to the entrance G2 which needs to be approached by turning right and selects the entrance G1. Make the host vehicle M enter. The facility entry control unit 141 performs such processing because, when the host vehicle M tries to enter the facility C by turning to the right, it is necessary to stay in the traveling lane until traffic in the opposite lanes L4 and L5 is interrupted. This is because it takes time and may hinder the following traffic.

  FIG. 4 is a diagram showing an example of a facility C in which a plurality of entrances G exist. The example of FIG. 4 differs in the arrangement | positioning in the intersection of the installation C shown in FIG. In the example of FIG. 4, the entrances G3 and G4 are disposed facing the lane L7 in which the host vehicle M travels. Entrances G5 and G6 are disposed facing the left lane L8 which intersects the lane L7. When the host vehicle M travels in the lane L7 on the facility C side, the entrance recognition unit 131 recognizes a plurality of entrances G3 to G6 facing the lanes L2 and L3 on the site of the facility C. Distance A1 from intersection X of entrance G3 is longer than distance A2 from intersection X of entrance G4.

  That is, the distance from the intersection X to the entrance G3 is longer than the entrance G4. Furthermore, when the entrance recognition unit 131 recognizes that there is a signboard S that urges the entrance of the vehicle at the entrance G, the facility approach control unit 141 selects the entrance G according to the signboard S. For example, when the entrance recognition unit 131 recognizes the signboard S, the entrance recognition unit 131 outputs the selection result of the entrance G to the facility approach control unit 141. The facility approach control unit 141 preferentially selects the entrance G3 in which the signboard S is installed with respect to the entrance G4.

  When the entrance recognition unit 131 does not recognize the signboard S, the facility entry control unit 141 selects the entrance G3 having a distance from the intersection X among the entrances G3 and G4 in the traveling lane L2. The facility approach control unit 141 causes the host vehicle M to enter the facility C from the entrance G3 where the distance from the intersection X is far in the lane in which the vehicle is traveling, based on the selection result. The facility entry control unit 141 performs such processing because a plurality of other vehicles m waiting for a signal are present in the lane L2 facing the entrance G4 near the intersection X, and the own vehicle M is sent to the facility from the entrance G4. This is because it may take time to enter.

  FIG. 5 is a diagram showing an example of a state in which another vehicle m participates from the entrance G. The example of the facility C of FIG. 5 is the same as that of FIG. The entrance recognition unit 131 recognizes the other vehicle m entering and exiting at the recognized entrance G. The facility approach control unit 141 determines, based on the recognition result of the entrance recognition unit 131, whether or not the other vehicle m is coming out from the selected entrance G.

  When it is determined that the other vehicle m does not come out from the selected entrance G, the facility entry control unit 141 causes the host vehicle M to enter from the selected entrance G based on the determination result. When the facility approach control unit 141 determines that the other vehicle m is coming out from the entrance G, the facility entrance control section 141 requests the entrance recognition unit 131 to perform processing for recognizing the other entrance G. The entrance recognition unit 131 receives the request and starts recognition processing of another entrance G. The facility approach control unit 141 determines whether there is another entrance G based on the recognition result of the entrance recognition unit 131.

  If it is determined that there is another entrance G, the facility approach control unit 141 selects the other entrance G. When the facility entry control unit 141 determines that there is no other entrance G, the facility entry control unit 141 causes the host vehicle M to enter and leave the facility. The facility approach control unit 141 causes the host vehicle M to stand by until another vehicle m participates before the entrance G. The facility approach control unit 141 causes the host vehicle M to enter the entrance G after another vehicle m has participated.

  In the example of FIG. 5, when another vehicle m comes out from the entrance G3 when the host vehicle M tries to enter the entrance G3, the facility approach control unit 141 selects the other entrance G4. The facility approach control unit 141 causes the host vehicle M to approach the other entrance G4 that has been selected. Such processing prevents the host vehicle M from waiting excessively in front of the entrance G3 to enter the entrance G3.

  FIG. 6 is a diagram showing an example of the route of the host vehicle M participating from the facility C. As shown in FIG. In the example of FIG. 6, in the facility C located at the intersection X, the entrance G 8 is disposed facing the lane L 9, and the entrance G 7 is disposed in the lane 10 intersecting the lane 9. When the host vehicle M competes from the facility C, the entrance recognition unit 131 recognizes the entrances G7 and G8. The facility approach control unit 141 selects the entrance G at the time of participation based on the direction of the destination preset by the route determination unit 53. The facility approach control unit 141 determines whether or not the multiple entrances G can go to the destination by turning left after leaving the facility C based on the direction of the destination set by the route determination unit 53. Do.

  When it is determined that it can go to the destination by turning left after leaving the facility C, the facility entry control unit 141 preferentially selects the entrance G that can go to the destination by turning left. The facility approach control unit 141 causes the host vehicle M to participate in the facility C using the selected entrance G.

  In the example of FIG. 6, it is assumed that there is a destination ahead in the traveling direction of the lane L9. When the own vehicle M leaves the facility C, the facility entry control unit 141 is based on the direction of the destination preset by the route determination unit 53, rather than the entrance G7 where the entrance G8 which can be exited by turning left is competed Select preferentially. The facility approach control unit 141 causes the host vehicle M to participate by turning left from the facility C using the selected entrance G8.

  The facility entry control unit 141 performs such processing because the host vehicle M joins the lane L6 when using the entrance G8 that can participate by turning left, as compared to using the entrance G7 that participates by turning right. It is because the time to go to the destination can be shortened and the time to the destination can be shortened.

  Next, the flow of processing executed in the automatic driving control device 100 will be described. FIG. 7 is a flow chart showing an example of the flow of processing executed in the automatic driving control device 100. The entrance recognition unit 131 recognizes the entrance G to the facility C when the host vehicle M is located a predetermined distance before the facility C (step S100). The facility approach control unit 141 determines whether or not the entrance G recognized by the entrance recognition unit 131 can be approached by turning left (step S102).

  If a positive determination is obtained in step S102, the facility approach control unit 141 determines whether there are a plurality of entrances G recognized by the entrance recognition unit 131 (step S104). If a negative determination is obtained in step S102, the facility approach control unit 141 requests the route determination unit 53 to perform processing for rerouting to a route for entering the facility C by turning left. The route determination unit 53 performs rerouting to a route that can enter the facility C by turning left (step S106). After performing the rerouting, the path determination unit 53 returns the process to step S102.

  When an affirmative determination is obtained in step S104, the facility approach control unit 141 determines whether there is a signboard S prompting entry of a vehicle at the entrance G based on the recognition result of the entrance recognition unit 131 (step S108). If a negative determination is obtained in step S104, the facility approach control unit 141 advances the process to step S112. If a negative determination is obtained in step S108, the facility approach control unit 141 selects the entrance G farther from the intersection X (step S110), and the process proceeds to step S112.

  If a positive determination is obtained in step S108, the facility approach control unit 141 selects the entrance G according to the signboard S (step S109), and the process proceeds to step S112. The facility approach control unit 141 determines whether the other vehicle m is coming out of the selected entrance G based on the recognition result of the entrance recognition unit 131 (step S112). If a positive determination is obtained in step S112, the facility approach control unit 141 determines whether there is another entrance G based on the recognition result of the entrance recognition unit 131 (step S116).

  If a positive determination is obtained in step S116, the facility approach control unit 141 selects another entrance G (step S118), and returns the process to step S104. If a negative determination is obtained in step S116, the facility approach control unit 141 causes the host vehicle M to stand by until another vehicle m participates before the entrance G (step S120), and returns the process to step S112. When negative determination is obtained by step S112, the facility approach control part 141 makes the own vehicle M approach from the selected entrance G (step S114).

  When the host vehicle M exits the facility C, the facility entry control unit 141 turns left after the plurality of entrances G exit from the facility C based on the direction of the destination preset by the route determination unit 53. It is determined whether or not it is possible to go to the destination (step S122).

  If a positive determination is obtained in step S122, the facility entry control unit 141 gives priority to selecting an entrance G that can be competed by turning left. The facility approach control unit 141 causes the host vehicle M to participate from the selected entrance G, and ends the processing of the flowchart (step S124). If a negative determination is obtained in step S122, the entrance recognition unit 131 requests the route determination unit 53 to perform processing, and the route determination unit 53 receives the request, and participates in the left turn from the facility C to the destination Reroute routes that can be directed. Then, the facility approach control unit 141 participates in the left turn from the facility C, and controls the host vehicle M to travel to the destination on the rerouted route (step S126). Thus, the process of this flowchart ends. The above steps may be switched in order as appropriate. Further, in the flowchart, the process of entrance and participation is described in one flow, but may be different from each other.

  According to the embodiment described above, the vehicle system 1 can select the entrance G at which entry / exit of the host vehicle M is more easily performed among the plurality of entrances G of the facility C. In this way, the vehicle system 1 can reduce excessive waiting of the host vehicle M when entering and exiting the facility C. Furthermore, the vehicle system 1 can cause the vehicle M to enter and leave the facility C without disturbing the traffic of the other vehicle m passing the road.

  Hereinafter, hardware aspects of the embodiment will be described. FIG. 8 is a diagram showing a plurality of configurations that can be used in the automatic driving control device 100. The automatic operation control apparatus 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, etc., a storage device 100-5 such as a flash memory or HDD, a drive The devices 100-6 are mutually connected by an internal bus or a dedicated communication line.

  The communication controller 100-1 communicates with components other than the automatic driving control device 100 shown in FIG. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded on the RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like and executed by the CPU 100-2. Thus, part 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 is realized.

The embodiment described above can be expressed as follows.
Storage device,
A hardware processor that executes a program stored in the storage device;
The hardware processor executes the program to
Recognize the position of the entrance through which the vehicle can pass among the entrances to the facility,
Regardless of the operation of the occupant of the host vehicle, one or both of the steering and acceleration / deceleration of the host vehicle are controlled to travel the host vehicle, and when there are a plurality of entrances through which the vehicle can pass, from the intersection The host vehicle is made to enter the entrance at the far distance.
A vehicle control device that is configured to:

  As mentioned above, although the form for carrying out the present invention was explained using an embodiment, the present invention is not limited at all by such an embodiment, and various modification and substitution within the range which does not deviate from the gist of the present invention Can be added.

Reference Signs List 1 vehicle system 10 camera 12 radar device 14 finder 16 object recognition device 20 communication device 40 vehicle sensor 50 navigation device 51 GNSS receiver 53 route determination unit , 54: first map information, 61: recommended lane determining unit, 62: second map information, 80: driving operation element, 100: automatic operation control device, 100-1: communication controller, 100-2: CPU, 100- 3 RAM, 100-4 ROM, 100-5 storage device 100-5a program 100-6 drive device 120 first control unit 130 recognition unit 131 entrance recognition unit 140 Action plan generation unit, 141: Facility entry control unit, 160: Second control unit, 162: Acquisition unit, 164: Speed control unit, 166: Steering control unit, 200: Running driving force output device 210 ... the brake system, 220 ... steering device

Claims (7)

A recognition unit that recognizes the position of the entrance through which the vehicle can pass among the entrances to the facility;
A driving control unit that controls one or both of steering and acceleration / deceleration of the own vehicle to travel the vehicle regardless of the operation of the occupant of the own vehicle, and the vehicle recognized by the recognition unit passes A driving control unit for causing the host vehicle to enter an entrance which is farther from the intersection when there are a plurality of possible entrances;
A vehicle control device comprising: When there are a plurality of entrances through which the vehicle recognized by the recognition unit can pass, the operation control unit gives priority to the entrance having a sign promoting entry, and causes the vehicle to enter.
The vehicle control device according to claim 1. The recognition unit recognizes that another vehicle has come out of an entrance where the vehicle is about to enter.
The operation control unit causes the vehicle to enter the other entrance through which the vehicle can pass when it is recognized by the recognition unit that the other vehicle has come out of the entrance where the vehicle is to be approached. ,
The vehicle control device according to claim 1. When there are a plurality of entrances through which the vehicle recognized by the recognition unit can pass, the operation control unit causes the host vehicle to enter with priority given to the entrance to which the vehicle can approach by turning left.
The vehicle control device according to any one of claims 1 to 3. When there are a plurality of entrances through which the vehicle recognized by the recognition unit can pass, the operation control unit gives priority to the entrance which can go to a predetermined destination by turning left after leaving the entrance. To use the vehicle
The vehicle control device according to any one of claims 1 to 4. The recognition unit recognizes the position of the entrance through which the vehicle can pass among the entrances to the facility,
The operation control unit controls one or both of steering and acceleration of the host vehicle without depending on the operation of the occupant of the host vehicle to travel the host vehicle, and there are a plurality of entrances through which the vehicle can pass Make the host vehicle approach the entrance where the distance from the intersection is far,
Vehicle control method. The computer mounted on the host vehicle
Of the entrances and exits to the facility, the position of the entrance through which the vehicle can pass is recognized.
Controlling one or both of the steering and the acceleration / deceleration of the own vehicle to travel the own vehicle regardless of the operation of the occupant of the own vehicle;
When there are a plurality of entrances through which a vehicle can pass, the host vehicle is made to enter the entrance at a distance from the intersection.
program.

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