JP2019147459A - Vehicle travel control system - Google Patents

Abstract

To provide a technology for a vehicle that tows a towed vehicle to acquire information indicating the size of the towed vehicle.SOLUTION: A vehicle travel control system mounted on a vehicle includes: a size information acquisition device for acquiring size information indicating the size of a towed vehicle that is towed by the vehicle; and a control device for controlling the travel of the vehicle in consideration of the size of the towed vehicle when the vehicle tows the towed vehicle. The size information acquisition device includes a sensor for detecting the situation around the vehicle and acquires size information on the basis of a result of the detection of the towed vehicle by the sensor.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle travel control system mounted on a vehicle. In particular, the present invention relates to a vehicle travel control system mounted on a vehicle that pulls a towed vehicle.

  Patent document 1 is disclosing the control apparatus of a vehicle. The control device generates a planned road and causes the vehicle to travel along the planned road. During towing, the total weight of the vehicle and the towed vehicle is greater than the weight of the vehicle alone. Therefore, if the vehicle is driven with the same turning radius as in the case of non-traction traveling, the centrifugal force may be excessive. Therefore, during towing, the control device increases the turning radius in consideration of an increase in weight as compared with non-towing.

JP-A-2006-215921

  According to the prior art disclosed in Patent Document 1 above, the turning radius is determined in consideration of the weight increase during towing. However, in the prior art, the size of the towed vehicle is not considered. When vehicle travel control is performed without considering the size of the towed vehicle, the following problem occurs. For example, even if the vehicle does not collide with surrounding objects, the towed vehicle may collide with the object. As another example, even if the vehicle is traveling in a lane, the towed vehicle may protrude from the lane. That is, when vehicle travel control is performed without considering the size of the towed vehicle, the safety margin may not be satisfied.

  From the above viewpoint, it is important to consider the size of the towed vehicle in the vehicle travel control. For that purpose, it is necessary to acquire information on the size of the towed vehicle.

  One object of the present invention is to provide a technique that allows a vehicle towing a towed vehicle to acquire information indicating the size of the towed vehicle.

In one aspect of the present invention, a vehicle travel control system mounted on a vehicle is provided.
The vehicle travel control system includes:
A size information acquisition device for acquiring size information indicating the size of the towed vehicle to be pulled by the vehicle;
And a control device that controls travel of the vehicle in consideration of the size of the towed vehicle when the towed vehicle is towed.
The size information acquisition device includes a sensor that detects a situation around the vehicle, and acquires the size information based on a detection result of the towed vehicle by the sensor.

  The vehicle travel control system according to the present invention includes a size information acquisition device. Thereby, the vehicle travel control system can acquire size information indicating the size of the towed vehicle. Furthermore, when the vehicle pulls the towed vehicle, the vehicle travel control system performs vehicle travel control in consideration of the size of the towed vehicle. This makes it possible to appropriately perform vehicle travel control so that the safety margin is satisfied.

It is a conceptual diagram for demonstrating the vehicle travel control system which concerns on embodiment of this invention. It is a block diagram which shows the structural example of the vehicle travel control system which concerns on embodiment of this invention. It is a block diagram which shows the example of the driving environment information used in the vehicle travel control system which concerns on embodiment of this invention. It is a conceptual diagram for demonstrating the 1st example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 1st example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 1st example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 2nd example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 2nd example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 3rd example of the acquisition method of the size of the towed vehicle in embodiment of this invention. It is a conceptual diagram for demonstrating the 4th example of the acquisition method of the size of the towed vehicle in embodiment of this invention.

  Embodiments of the present invention will be described with reference to the accompanying drawings.

1. Overview FIG. 1 is a conceptual diagram for explaining a vehicle travel control system 10 according to the present embodiment. The vehicle travel control system 10 is mounted on the vehicle 1 and performs “vehicle travel control” for controlling the travel of the vehicle 1. For example, the vehicle travel control system 10 is an automatic driving system that controls automatic driving of the vehicle 1. The vehicle travel control system 10 may be a driving assistance system that performs driving assistance such as Lane Tracing Assist (LTA) and Lane Keeping Assist (LKA).

  Here, consider a case where the vehicle 1 tows a towed vehicle, trailer T. If vehicle travel control is performed without considering the size of the towed vehicle T, the following problem occurs. For example, when a position where the vehicle width or height is restricted is on a road, even if the vehicle 1 can pass through the position, the towed vehicle T may not pass through the position. As another example, since the difference between the inner wheels when turning is large, the towed vehicle T may collide with the wall even if the vehicle 1 does not collide with the wall. In generalization, even if the vehicle 1 does not collide with surrounding objects, the towed vehicle T may collide with the object. Even if the vehicle 1 is traveling in the lane, the towed vehicle T may protrude from the lane. That is, when vehicle travel control is performed without considering the size of the towed vehicle T, the safety margin may not be satisfied.

  From the above viewpoint, it is important to consider the size of the towed vehicle T in the vehicle travel control. Therefore, the vehicle travel control system 10 according to the present embodiment includes a size information acquisition device 100 that acquires size information indicating the size of the towed vehicle T. When the vehicle 1 pulls the towed vehicle T, the vehicle travel control system 10 refers to the acquired size information and performs vehicle travel control in consideration of the size of the towed vehicle T.

  For example, the vehicle travel control system 10 that controls automatic driving plans the travel route and target path that satisfy the safety margin in consideration of the sizes of the vehicle 1 and the towed vehicle T. As another example, the vehicle travel control system 10 considers the size of the vehicle 1 and the towed vehicle T, and prevents the vehicle 1 and the towed vehicle T from protruding from the lane. Provide driving assistance.

  As described above, the vehicle travel control system 10 according to the present embodiment includes the size information acquisition device 100. Thereby, the vehicle travel control system 10 can acquire size information indicating the size of the towed vehicle T. Furthermore, when the vehicle 1 tows the towed vehicle T, the vehicle travel control system 10 performs vehicle travel control in consideration of the size of the towed vehicle T. This makes it possible to appropriately perform vehicle travel control so that the safety margin is satisfied.

  Hereinafter, the vehicle travel control system 10 according to the present embodiment will be described in more detail.

2. Vehicle Travel Control System FIG. 2 is a block diagram showing a configuration example of the vehicle travel control system 10 according to the present embodiment. The vehicle travel control system 10 includes a GPS (Global Positioning System) receiver 20, a map database 30, a sensor group 40, a communication device 50, an HMI (Human Machine Interface) unit 60, a travel device 70, and a control device 80. .

  The GPS receiver 20 receives signals transmitted from a plurality of GPS satellites, and calculates the position and orientation of the vehicle 1 based on the received signals.

  Map information is recorded in the map database 30. The map information includes information such as lane arrangement and lane attributes.

  The sensor group 40 includes an ambient situation sensor that detects the situation around the vehicle 1. Examples of the ambient condition sensor include a rider (LIDAR: Laser Imaging Detection and Ranging), a radar, a stereo camera, and the like. The rider detects a target around the vehicle 1 using light. The radar detects a target around the vehicle 1 using radio waves. The stereo camera images the situation around the vehicle 1.

  The sensor group 40 includes a vehicle state sensor that detects the traveling state of the vehicle 1. Examples of the vehicle state sensor include a vehicle speed sensor and a steering angle sensor. The vehicle speed sensor detects the speed of the vehicle 1. The steering angle sensor detects the steering angle of the vehicle 1.

  The communication device 50 communicates with the outside of the vehicle 1. For example, the communication device 50 performs V2I communication (road-to-vehicle communication) with surrounding infrastructure. The communication device 50 may perform V2V communication (vehicle-to-vehicle communication) with surrounding vehicles.

  The HMI unit 60 is an interface for providing information to the driver and receiving information from the driver. Specifically, the HMI unit 60 has an input device and an output device. Examples of the input device include a touch panel, a switch, a microphone, and the like. Examples of the output device include a display device and a speaker.

  The traveling device 70 includes a steering device, a driving device, and a braking device. The steering device steers the wheels. The driving device is a power source that generates a driving force. Examples of the driving device include an electric motor and an engine. The braking device generates a braking force.

  The control device 80 controls the traveling of the vehicle 1. The control device 80 is a microcomputer including a processor and a storage device. The control device 80 is also called an ECU (Electronic Control Unit). When the processor executes the control program stored in the storage device, vehicle travel control by the control device 80 is realized.

  More specifically, the control device 80 acquires information necessary for vehicle travel control. Information necessary for vehicle travel control is information indicating the driving environment of the vehicle 1 and is hereinafter referred to as “driving environment information 90”. The driving environment information 90 is stored in a storage device and is read and used as appropriate.

  FIG. 3 shows an example of the operating environment information 90 in the present embodiment. The driving environment information 90 includes position / orientation information 92, map information 93, sensor detection information 94, distribution information 95, driver input information 96, and size information 97.

  The position / orientation information 92 indicates the position and orientation of the vehicle 1. The control device 80 acquires the position / orientation information 92 from the GPS receiver 20.

  The map information 93 includes information such as lane arrangement and lane attributes. The control device 80 acquires map information 93 to the surroundings of the vehicle 1 and the destination based on the position / orientation information 92 and the map database 30. The control device 80 can grasp lane merge, lane branch, intersection, lane curvature, and the like based on the lane arrangement and lane attributes indicated by the map information 93.

  The sensor detection information 94 is information obtained from the detection result by the sensor group 40. Specifically, the sensor detection information 94 includes target information related to targets around the vehicle 1. Examples of targets around the vehicle 1 include a towed vehicle T, surrounding vehicles, walls, white lines, roadside objects, and the like. The sensor detection information 94 includes vehicle state information indicating the state of the vehicle 1. Examples of the state of the vehicle 1 include vehicle speed and steering angle. The control device 80 acquires sensor detection information 94 based on the detection result by the sensor group 40.

  The distribution information 95 is information obtained through the communication device 50. The control device 80 acquires the distribution information 95 by communicating with the outside using the communication device 50.

  The driver input information 96 is information input through the HMI unit 60. The driver inputs necessary information using the HMI unit 60. The control device 80 acquires driver input information 96 through the HMI unit 60.

  The size information 97 indicates the size of the vehicle 1 and the size of the towed vehicle T. The size of the vehicle 1 is registered in advance. The size of the towed vehicle T is acquired by the size information acquisition device 100. Various examples of the size information acquisition apparatus 100 and the size acquisition method will be described later.

  The GPS receiver 20, the map database 30, the sensor group 40, the communication device 50, the HMI unit 60, the control device 80, and the size information acquisition device 100 constitute an “information acquisition device” that acquires the driving environment information 90. It can be said.

  The control device 80 performs vehicle travel control that controls the travel of the vehicle 1 based on the driving environment information 90. For example, the control device 80 generates a travel plan for the vehicle 1 based on the map information 93 and the sensor detection information 94 (eg, white line recognition result). The travel plan includes a travel route to the destination and the latest target path (target trajectory). And the control apparatus 80 operates the traveling apparatus 70 suitably, and makes the vehicle 1 drive | work according to a travel plan. It can be said that the control device 80 and the traveling device 70 constitute a “vehicle traveling control device” that controls the traveling of the vehicle 1.

3. Hereinafter, various examples of the method for acquiring the size of the towed vehicle T will be described.

3-1. First Example In the first example, ambient condition sensors included in the sensor group 40 are used. Specifically, the control device 80 detects the towed vehicle T using an ambient condition sensor. And the control apparatus 80 acquires the size information 97 which shows the size of the towed vehicle T based on the detection result (namely, sensor detection information 94) of the towed vehicle T. That is, in the first example, the ambient condition sensor and the control device 80 function as the size information acquisition device 100.

  FIG. 4 is a conceptual diagram for explaining an example of a method for calculating the width Wt of the towed vehicle T. The vehicle 1 is located in front of the towed vehicle T. A sensor 41 is provided on the rear surface of the vehicle 1. The towed vehicle T behind the vehicle 1 is detected as a target by the sensor 41. The width of the detected target is the width Wt of the towed vehicle T.

  For example, the sensor 41 is a rider. A set of detection points representing the same target is recognized by the clustering process. The detection point representing the end of the target in the set of detection points is hereinafter referred to as “detection end point”. From the measurement result by the rider, the relative distance and direction of each detection end point with respect to the rider position are calculated. In the example shown in FIG. 4, detection end points P1 and P2 exist. The width Wt can be calculated from the relative distances and directions of the detection end points P1 and P2.

  FIG. 5 is a conceptual diagram for explaining an example of a method for calculating the height Ht of the towed vehicle T. As in the case of FIG. 4 described above, the towed vehicle T is detected as a target by the sensor 41. The height of the detected target is the height Ht of the towed vehicle T. In the example shown in FIG. 5, the detection end point P3 exists. Further, the height of the sensor 41 from the ground can be known from the installation position of the sensor 41 in the vehicle 1. The width Ht can be calculated from the height of the sensor 41 from the ground and the relative distance and direction of the detection end point P3.

  FIG. 6 is a conceptual diagram for explaining an example of a method for calculating the length Lt of the towed vehicle T. The vehicle 1 is located on the side of the towed vehicle T. Sensors 42 and 43 are provided on the side surface of the vehicle 1. The towed vehicle T on the side of the vehicle 1 is detected as a target by the sensors 42 and 43. The length of the detected target is the width Lt of the towed vehicle T. Only one of the sensors 42 and 43 may be used.

  For example, the sensors 42 and 43 are riders. In the example shown in FIG. 6, detection end points P4 and P5 exist. Further, the positional relationship between the sensor 42 and the sensor 43 is known. The length Lt can be calculated from the positional relationship between the sensors 42 and 43 and the relative distances and directions of the detection end points P4 and P5.

  As explained above, according to the first example, it is possible to accurately grasp the size of the towed vehicle T by using the ambient condition sensor. In addition, the ambient condition sensor is originally provided for vehicle travel control, and it is not necessary to separately provide a dedicated device only for grasping the size of the towed vehicle T. This is preferable from the viewpoint of cost reduction.

3-2. Second Example Also in the second example, as in the case of the first example, an ambient condition sensor is used. That is, the ambient condition sensor and the control device 80 function as the size information acquisition device 100. However, in the second example, the size of the towed vehicle T is measured in a state where the vehicle 1 and the towed vehicle T are connected. The calculation method of the width Wt and the height Ht is the same as in the case of the first example.

  FIG. 7 is a conceptual diagram for explaining an example of a method for calculating the length Lt of the towed vehicle T. The vehicle 1 and the towed vehicle T are connected to each other at a connection point PC. The vehicle 1 is turning. At this time, the rear end of the towed vehicle T is detected as the detection end point P6 by the sensor 42 provided on the side surface of the vehicle 1.

  An angle α shown in FIG. 7 represents the inclination of the vehicle 1 with respect to the towed vehicle T. This angle α can be estimated from the steering angle of the vehicle 1. The steering angle of the vehicle 1 is detected by a vehicle state sensor (steering angle sensor) included in the sensor group 40. Further, the positional relationship between the sensor 42 and the connection point PC is known. The length Lt can be calculated from the angle α, the positional relationship between the sensor 42 and the connection point PC, the relative distance and direction of the detection end point P6.

  In the example shown in FIG. 8, detection end points P <b> 6 and P <b> 7 are detected by sensors 42 and 43 provided on the side surface of the vehicle 1. The positional relationship between the sensor 42 and the sensor 43 is known. The length Lt ′ corresponding to the length Lt can be calculated from the angle α, the positional relationship between the sensors 42 and 43, and the relative distances and directions of the detection end points P6 and P7.

  According to the second example, the same effect as in the first example can be obtained. Further, the size of the towed vehicle T can be acquired while the vehicle 1 is traveling.

3-3. Third Example FIG. 9 is a conceptual diagram for explaining a third example. The towed vehicle T includes size display means D that displays the size of the towed vehicle T. For example, the size display means D is a display device. The size display means D may be a plate on which the size is written. The size may be displayed in a text format or a two-dimensional code format.

  The vehicle 1 includes a camera 44 as one of the surrounding state sensors. The camera 44 images the size display means D of the towed vehicle T. The control device 80 reads the size of the towed vehicle T from the imaging result of the size display means D. Thus, also in the third example, the ambient condition sensor and the control device 80 function as the size information acquisition device 100.

3-4. Fourth Example FIG. 10 is a conceptual diagram for explaining a fourth example. In the fourth example, the external system 200 different from the vehicle 1 first acquires the size of the towed vehicle T. For example, the external system 200 is another vehicle. The external system 200 may be a traffic monitoring system. The external system 200 acquires the size of the towed vehicle T using the sensor 240. Then, the external system 200 transmits size information indicating the size of the towed vehicle T to the vehicle 1 through the communication device 250.

  The control device 80 of the vehicle 1 receives the size information transmitted from the external system 200 through the communication device 50. When the external system 200 is another vehicle, V2V communication (vehicle-to-vehicle communication) is performed. When the external system 200 is a traffic monitoring system, V2I communication (road-to-vehicle communication) is performed. In the fourth example, it can be said that the communication device 50 and the control device 80 function as the size information acquisition device 100.

3-5. Fifth Example In the fifth example, the driver of the vehicle 1 inputs the size information of the towed vehicle T using the HMI unit 60. The control device 80 receives size information from the HMI unit 60. In this case, the HMI unit 60 and the control device 80 function as the size information acquisition device 100.

  Alternatively, the driver of the vehicle 1 transmits size information of the towed vehicle T to the vehicle 1 using a mobile terminal. The control device 80 receives size information through the communication device 50. In this case, the communication device 50 and the control device 80 function as the size information acquisition device 100.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Vehicle travel control system 20 GPS receiver 30 Map database 40 Sensor group 50 Communication apparatus 60 HMI unit 70 Traveling apparatus 80 Control apparatus 90 Driving environment information 92 Location direction information 93 Map information 94 Sensor detection information 95 Distribution information 96 Driver input Information 97 Size information 100 Size information acquisition device 200 External system T Towed vehicle

Claims (1)

A travel control system mounted on a vehicle,
A size information acquisition device for acquiring size information indicating the size of the towed vehicle to be pulled by the vehicle;
A control device that controls travel of the vehicle in consideration of the size of the towed vehicle when the vehicle tows the towed vehicle; and
The size information acquisition device includes a sensor that detects a situation around the vehicle, and acquires the size information based on a detection result of the towed vehicle by the sensor.

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