JP2021050927A - Recognition device, vehicle control device, recognition method, and program - Google Patents

Abstract

To provide a recognition device, a vehicle control device, a recognition method, and a program capable of increasing the reliability of detecting a position of a target.SOLUTION: The recognition device is provided with: an acquisition unit that is mounted on a vehicle traveling on a road surface, irradiates electromagnetic waves in a plurality of directions including a direction downward rather than a horizontal direction, and analyzes the electromagnetic waves reflected from a target on the road surface to acquire distance measurement data representing a distance to the target; and a detection unit that detects the presence of the target on the road surface based on a change in the distance to the target acquired by the acquisition unit upon irradiating the electromagnetic waves in the direction downward rather than the horizontal direction at different timings.SELECTED DRAWING: Figure 2

Description

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

Conventionally, an invention relating to a device for recognizing a target around the own vehicle has been disclosed (see, for example, Patent Document 1). This device is a single contact object in which an obstacle contacts any of the four tires, or at least two, based on the path of the four tires of the own vehicle and the position information of the target in front of the own vehicle. It is determined whether or not the two tires are in contact with each other at almost the same time, and the determination threshold value for determining the running difficulty of the own vehicle is different depending on the determination result.

JP-A-2017-68340

However, in the device described in Patent Document 1, since the position of the target is detected by analyzing the image taken in front of the own vehicle, the position of the target may be detected depending on the external environment of the own vehicle, for example, in bad weather. It may be difficult to detect.

The present invention has been made in consideration of such circumstances, and provides a recognition device, a vehicle control device, a recognition method, and a program capable of increasing the reliability of detecting the position of a target. That is one of the purposes.

The recognition device, the vehicle control device, the recognition method, and the program according to the present invention have adopted the following configurations.
(1): The recognition device according to one aspect of the present invention is an acquisition unit mounted on a vehicle traveling on a road surface, and irradiates electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction to irradiate the road surface. An acquisition unit that analyzes the electromagnetic wave reflected by the above target and acquires distance measurement data representing the distance to the target, and the acquisition unit emits the electromagnetic wave in a direction offset from the horizontal direction at different timings. It is provided with a detection unit that detects the presence of the target on the road surface based on the change in the distance to the target obtained by irradiating.

(2): In the aspect of (1) above, the detection unit is a target on the road surface based on distance measurement data obtained by irradiating electromagnetic waves in the irradiation direction of the first group, which is upward from a predetermined depression angle. It detects the existence of.

(3): In the aspect of (2) above, the detection unit irradiates electromagnetic waves in the irradiation direction of the first group, which is upward from the predetermined depression angle within each predetermined range in the predetermined direction, and obtains distance measurement data. The number is set to be smaller than the number of distance measurement data obtained by irradiating the electromagnetic wave in the irradiation direction of the second group, which is downward from the predetermined depression angle, and the electromagnetic wave at the different timing is applied to the first group. It is used in combination.

(4): In the above aspects (1) to (3), the distance measuring data includes the height direction data seen from the acquisition unit, and the detection unit refers to the data in the height direction of the road surface. The position occupied by the distance measurement data including the height direction data higher than a predetermined value is detected as the position of the target on the road surface.

(5): In the above aspects (1) to (4), the detection unit is the distance measurement data periodically acquired by the acquisition unit and a plurality of distance measurement data continuous on the time axis within a predetermined time. Is used to detect the presence of a target on the road surface.

(6): In the aspects (1) to (5) above, the ranging data includes height direction data seen from the acquisition unit and horizontal direction data seen from the acquisition unit, and the detection unit. Uses the height direction data to identify the position of the target, and uses the horizontal data included in the distance measurement data used to specify the position of the target in the vehicle width direction of the vehicle. It specifies the length of the target.

(7): In the aspects (1) to (6) above, the acquisition unit is located on one side of the vehicle width direction and on the other side of the vehicle width direction. The detection unit includes the arranged second acquisition unit, and the detection unit uses the ranging data obtained in the range where the irradiation range of the electromagnetic wave by the first acquisition unit and the irradiation range of the electromagnetic wave by the second acquisition unit overlap. , Detects the presence of a target on the road surface.

(8): The vehicle control device according to another aspect of the present invention is a recognition device according to any one of the above (1) to (7) and a driving control unit that controls the speed or steering of the vehicle. It is provided with an operation control unit that suppresses the degree of control when it is determined by the recognition device that there is a target on the road surface.

(9): In the recognition method according to another aspect of the present invention, a computer irradiates electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction by an acquisition unit mounted on a vehicle traveling on a road surface. , The electromagnetic wave reflected by the target on the road surface is analyzed to acquire the distance measurement data representing the distance to the target, and the electromagnetic wave is irradiated in a direction offset from the horizontal direction at different timings. The presence of the target on the road surface is detected based on the change in the distance to the target.

(10): In the program according to another aspect of the present invention, the computer is made to irradiate electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction by an acquisition unit mounted on a vehicle traveling on a road surface. Obtained by analyzing the electromagnetic waves reflected by the target on the road surface and acquiring distance measurement data representing the distance to the target, and by irradiating the electromagnetic waves in a direction offset from the horizontal direction at different timings. Based on the change in the distance to the target, the process of detecting the presence of the target on the road surface is executed.

According to (1) to (10), it is possible to increase the reliability of detecting the position of the target.

It is a figure which shows an example of the installation position of a rider 10 and a control device 120. It is a figure which shows the internal structure, etc. of the recognition device 100 which concerns on 1st Embodiment. It is a figure which shows the camera image when the camera is mounted on the vehicle M. It is a figure which shows the three-dimensional reflection point distribution recognized from the output of a rider 10. It is a flowchart which shows an example of the flow of processing executed by the recognition apparatus 100 which concerns on 1st Embodiment. It is a figure for demonstrating the operation of the recognition apparatus 100 which concerns on 1st Embodiment. It is a figure for demonstrating the operation of the recognition apparatus 100 which concerns on 1st Embodiment. It is a figure which shows the internal structure, etc. of the recognition apparatus 100A which concerns on 2nd Embodiment. It is a figure which shows the structure of the automatic operation control device 400 which uses a recognition device, and the like.

Hereinafter, the recognition device, the vehicle control device, the recognition method, and the embodiment of the program of the present invention will be described with reference to the drawings.

<First Embodiment>
FIG. 1 is a diagram showing an example of installation of the recognition device 100 according to the first embodiment. The recognition device 100 includes, for example, a lidar (Light Detection and Ranging) 110 and a control device 120. The rider 110 is mounted at a position overlooking any direction of the vehicle M. In the example of FIG. 1, the rider 110 is mounted at a position where the height from the road surface at the front end of the vehicle M is h. The height h is, for example, about several tens [cm].

The rider 110 irradiates electromagnetic waves in a plurality of directions including a direction downward from the horizontal direction, analyzes the electromagnetic waves reflected by the target on the road surface, and acquires distance measurement data representing the distance to the target. The rider 110 is an example of the “acquisition unit”. The rider 110, for example, irradiates light to detect reflected light, and measures the time T from irradiation to detection to acquire the distance to the contour of the target. The rider 110 can change the light irradiation direction for both the elevation angle or the depression angle (vertical irradiation direction) and the azimuth angle (horizontal irradiation direction). For example, the rider 110 fixes the irradiation direction in the vertical direction and scans while changing the irradiation direction in the horizontal direction, then changes the irradiation direction in the vertical direction, and fixes the irradiation direction in the vertical direction at the changed angle. The operation of scanning while changing the irradiation direction in the horizontal direction is repeated. Hereinafter, the vertical irradiation direction is referred to as a "layer", and one scan performed while fixing the layer and changing the horizontal irradiation direction is referred to as a "cycle", and is the horizontal irradiation direction. Is called "azimuth". The layers are set with a finite number from L1 to Ln, for example (n is a natural number). The layer change is performed discontinuously with respect to the angle, for example, L0 → L4 → L2 → L5 → L1 ... So that the light emitted in the previous cycle does not interfere with the detection in this cycle. Not limited to this, the layer may be changed continuously with respect to the angle.

The rider 110 outputs distance measurement data including, for example, {layer, azimuth, time T, detected intensity of reflected light P} to the control device 120. The rider 110 has alignment information regarding attachment to the vehicle M, and uses the alignment information to recognize the direction seen from the rider 110. The rider 110 acquires a "layer" as height direction data as seen from the rider 110. The rider 110 acquires "azimuth" as horizontal data as seen from the rider 110. The control device 120 is installed at an arbitrary position in the vehicle M.

FIG. 2 is a diagram showing an internal configuration and the like of the recognition device 100 according to the first embodiment. In the recognition device 100, for example, the control device 120 performs recognition processing using the output from the rider 110, and outputs the recognition result to the output destination device 200. The recognition result includes the result of determining the existence of a target estimated by connecting the reflection points grasped from the distance measurement data input from the rider 110. The output destination device 200 is various driving support devices, automatic driving control devices, display devices, speakers, and the like.

The control device 120 includes, for example, a detection unit 122. This component is realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components are hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. It may be realized by (including circuits), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD (Hard Disk Drive) or a flash memory, or a removable storage device such as a DVD or a CD-ROM. It is stored in a medium (non-transient storage medium) and may be installed by mounting the storage medium in a drive device.

The detection unit 122 detects the presence of a target on the road surface by using the distance measurement data acquired by the rider 110. The detection unit 122 detects the presence of a target on the road surface by using, for example, a plurality of distance measurement data periodically acquired by the rider 110 and a plurality of distance measurement data continuous on the time axis within a predetermined time. The markings include, for example, vehicle M and road markings drawn or buried on the road. Road markings are drawn on the road surface in the form of solid or broken white or yellow lines, road markings buried in the road in the form of Bot's Dots or Cat's Eye, or legal speeds or pedestrian crossings drawn on the road surface. Road markings such as pedestrian crossings.

The detection unit 122 detects the presence of a target on the road surface by using the distance measurement data periodically acquired by the rider 110 when the vehicle M is traveling. The detection unit 122 detects the presence of the target on the road surface, for example, based on the change in the distance to the target acquired by the rider 110 irradiating the electromagnetic wave in a direction downward from the horizontal direction at different timings. Detect. For example, the detection unit 122 compares the distance measurement data acquired by the rider 110 at the first timing within the predetermined time with the distance measurement data acquired by the rider 110 at the second timing within the predetermined time, and obtains the distance measurement data. When the amount of change in the distance to the indicated target is equal to or greater than the threshold value, the presence of the target on the road surface is detected.

The detection unit 122 detects the presence of a target on the road surface, for example, based on distance measurement data when light is irradiated in a layer whose irradiation direction is lower than the horizontal direction. The layer whose irradiation direction is lower than the horizontal direction is, for example, the layer L0 shown in FIG. Not limited to this, the layer whose irradiation direction is lower than the horizontal direction may include a plurality of layers such as L0, L1 and L2. In the following description, "a layer whose irradiation direction is lower than the horizontal direction" is referred to as layer L0. For example, the detection unit 122 calculates the reflection position of the electromagnetic wave by using the layer, the azimuth, and the time T in the distance measurement data acquired by the rider 110, and the road surface is based on the intensity P of the reflected electromagnetic wave. The presence of the above target may be detected.

The detection unit 122 detects the presence of a target on the road surface, for example, based on the distance measurement data obtained in the irradiation direction of the first group in which the irradiation direction of the electromagnetic wave is upward from the predetermined depression angle. In the detection unit 122, for example, the number of distance measurement data obtained in the irradiation direction of the first group in which the irradiation direction of the electromagnetic wave is upward from the predetermined depression angle is the second group in which the irradiation direction of the electromagnetic wave is downward in the predetermined depression angle. When the number of distance measurement data is less than the number of distance measurement data obtained in the irradiation direction of, the presence of a target on the road surface is detected.

The detection unit 122 detects the position of the target on the road surface by using the height direction data higher than a predetermined value with respect to the data in the height direction of the road surface. For example, the detection unit 122 detects the position occupied by the distance measurement data including the height direction data higher than a predetermined value with respect to the data in the height direction of the road surface as the position of the target on the road surface. For example, the detection unit 122 identifies the position of the target using the height direction data, and uses the horizontal data included in the distance measurement data used to specify the position of the target in the vehicle width direction of the vehicle M. Identify the length of the target in.

3 and 4 are diagrams for explaining a mechanism by which the detection unit 122 identifies the existence of the road marking line. FIG. 3 shows a camera image when the camera is mounted on the vehicle M, and FIG. 4 is recognized from the output of the rider 110 when the vehicle M is present at the same position as in FIG. It shows a three-dimensional reflection point distribution. In the example of FIG. 3, the camera is attached to the upper part of the front windshield or the like. As shown in FIG. 3, when the road surface RF is visually recognized as a relatively dark color and the road marking line SL is a color clearly brighter than the road surface RF, the difference in color is the difference in light reflectance. There is a difference in the intensity P of the reflected light. For example, the detection unit 122 sets a reflection point where the absolute value of the intensity P is equal to or greater than the first threshold value and the difference in intensity P from the reflection point immediately adjacent to the reflection point in the azimuth direction is equal to or greater than the second threshold value. When the candidate points CP are arranged in a straight line on the road plane as candidates for SL (candidate point CP), the set of the arranged candidate point CPs is specified (estimated) as the road lane marking SL. Since the color of the road surface RF and the reflectance of the road lane SL vary from country to country, the road lane SL may be specified by an appropriate rule, not limited to the above.

Next, an example of the flow of processing executed by the recognition device 100 according to the first embodiment will be described. The processing of the flowchart of FIG. 5 is repeated, for example, at a predetermined cycle.

First, the detection unit 122 acquires distance measurement data from the rider 110 (step S100). Next, the detection unit 122 determines whether or not a predetermined number of ranging data required for processing has been stored in the memory (step S102). When a predetermined number of distance measurement data are collectively acquired from the rider 110, the determination in step S102 is unnecessary.

When a predetermined number of distance measurement data is stored in the memory, the detection unit 122 determines whether or not the amount of change in the distance measurement data is equal to or greater than the threshold value (step S104).

When the detection unit 122 determines that the amount of change in the distance measurement data is equal to or greater than the threshold value, the detection unit 122 detects the presence of a target on the road surface based on the distance measurement data (step S106). This completes the processing of this flowchart.

When the detection unit 122 determines that the amount of change in the ranging data is less than the threshold value, the processing of this flowchart ends without going through the processing of step S106.

Next, the operation of the recognition device 100 according to the first embodiment will be described.

The recognition device 100 periodically acquires distance measurement data by the rider 110 when the vehicle M is traveling. The recognition device 100 detects the presence of a target on the road surface when the amount of change in the distance measurement data acquired by the rider 110 is equal to or greater than the threshold value. When the recognition device 100 detects the presence of a target on the road surface, the recognition device 100 identifies the position of the target using the height direction data included in the distance measurement data, and the distance measurement used to specify the position of the target. The length of the target in the vehicle width direction of the vehicle M is specified by using the horizontal data included in the data.

FIG. 6 is a diagram for explaining the operation when the recognition device 100 identifies the position of the target.

As shown in FIG. 6, when specifying the position of the target on the road surface, the recognition device 100 first periodically acquires the ranging data while changing the irradiation direction of the electromagnetic wave. Then, the recognition device 100 has the number of distance measurement data obtained by irradiating the electromagnetic wave in the irradiation direction of the first group, which is upward from the predetermined depression angle within each predetermined range in the predetermined direction, and is downward from the predetermined depression angle. Compare with the number of ranging data obtained by irradiating electromagnetic waves in the irradiation direction of the second group. In the illustrated example, the number of distance measurement data obtained by irradiating the electromagnetic wave in the irradiation direction of the first group is set to be smaller than the number of distance measurement data obtained by irradiating the electromagnetic wave in the irradiation direction of the second group. ing. The recognition device 100 detects the presence of a target on the road surface by using a combination of electromagnetic waves irradiated at different timings with respect to the irradiation direction of the first group. In this case, the recognition device 100 includes distance measurement data including height direction data that is higher than a predetermined value with respect to the data in the height direction of the road surface among the distance measurement data obtained by irradiating the electromagnetic wave in the irradiation direction of the first group. The data is extracted, and the position occupied by the extracted distance measurement data is detected as the position of the target on the road surface. In the illustrated example, the number of electromagnetic waves within a predetermined range is different even in the irradiation direction of the first group. Therefore, among the irradiation directions of the first group, the first group 1-A (coarse region) in which the number of electromagnetic waves in the predetermined range is relatively large, and the first 1st group in which the number of electromagnetic waves in the predetermined range is relatively small. Group B (coarse region) may be set, and Group 1-B may use more electromagnetic waves for object recognition than Group 1-A. In particular, as the distance from the vehicle body increases, the area grouped by the amount of electromagnetic waves within a predetermined range becomes wider, so the farther the area from the vehicle body, the easier it is to detect the presence of a target on the road surface using electromagnetic waves. It becomes.

FIG. 7 is a diagram for explaining the operation when the recognition device 100 specifies the length of the target in the vehicle width direction of the vehicle M.

As shown in FIG. 7, when specifying the length of the target in the vehicle width direction of the vehicle M, the recognition device 100 first radiates electromagnetic waves from the rider 110 to acquire a plurality of distance measurement data. To do. In this case, the irradiation range of the electromagnetic wave from the rider 110 is a range extending on both sides of the vehicle M in the vehicle width direction with respect to the rider 110. Then, the rider 110 radiates electromagnetic waves in a plurality of irradiation directions included in the irradiation range of the electromagnetic waves to acquire a plurality of distance measurement data. Further, the recognition device 100 extracts distance measurement data including height direction data higher than a predetermined value with respect to the data in the height direction of the road surface from the plurality of distance measurement data. The distance measurement data including the height direction data higher than a predetermined value with respect to the data in the height direction of the road surface corresponds to the distance measurement data used for specifying the position of the target. The recognition device 100 uses the horizontal data included in the distance measurement data including the height direction data higher than a predetermined value with respect to the road surface height direction data to determine the length of the target in the vehicle width direction of the vehicle M. Identify. In the illustrated example, the recognition device 100 is located on one end side of the vehicle M in the vehicle width direction among the distance measurement data including the height direction data higher than a predetermined value with respect to the data in the height direction of the road surface. The distance L1 between the data and the distance measurement data located on the other end side in the same direction is specified as the length of the target in the vehicle width direction of the vehicle M.

According to the recognition device 100 according to the first embodiment described above, the reliability of detecting the position of the target can be improved. For example, when detecting the position of a target using an image taken by a camera mounted on the vehicle M, it may be difficult to detect the position of the target depending on the external environment of the own vehicle. there were. Therefore, according to the recognition device 100 according to the first embodiment, the position of the target is detected using the detection result of the rider 110, which is relatively unaffected by the external environment of the own vehicle. This makes it possible to increase the reliability of detecting the position of the target.

<Second Embodiment>
Hereinafter, the second embodiment will be described. Compared with the first embodiment, the second embodiment is processed in that riders are mounted on both sides in the vehicle width direction of the vehicle and the position of the target is detected using the distance measurement data acquired by these riders. The content is different. Hereinafter, this difference will be mainly described.

FIG. 8 is a diagram showing an internal configuration and the like of the recognition device 100A according to the second embodiment. The detection unit 122 of the recognition device 100A detects the position of the target on the road surface by using the output from the first rider 110A and the output from the second rider 110B. The first rider 110A is arranged on one side of the vehicle M in the vehicle width direction. The first rider 110A is an example of the "first acquisition unit". The second rider 110B is arranged on the other side of the vehicle M in the vehicle width direction. The second rider 110B is an example of the “second acquisition unit”. The detection unit 122 of the recognition device 100A detects the position of the target using, for example, the ranging data acquired from the range where the search range of the first rider 110A and the search range of the second rider 110B overlap.

According to the recognition device 100A according to the second embodiment described above, in addition to having the same effect as the recognition device 100 according to the first embodiment, an object using distance measurement data acquired by a plurality of riders 110A and 110B. Since the position of the target is detected, the reliability of detecting the position of the target can be further improved.

<Third Embodiment>
Hereinafter, the third embodiment will be described. In the third embodiment, the recognition device (100 or 100A) constitutes the vehicle control device together with the output destination device 200. Here, it is assumed that the device corresponding to the output destination device 200 is a control device for performing automatic operation.

FIG. 9 is a diagram showing a configuration and the like of an automatic operation control device 400 that uses the recognition device. The configuration shown in this figure is mounted on the vehicle. Vehicles include, for example, a camera 310, a radar device 312, a rider 314, an object recognition device 316, a communication device 320, an HMI (Human Machine Interface) 330, a vehicle sensor 340, a navigation device 350, and an MPU. (Map Positioning Unit) 360, a driving operator 380, an automatic driving control device 400, a traveling driving force output device 500, a braking device 510, and a steering device 520 are provided. These devices and devices are connected to each other 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. 9 is merely an example, and a part of the configuration may be omitted or another configuration may be added. In the configuration shown in FIG. 9, the object recognition device 316 or the recognition unit 430 has the same function as the control device 120 described in the first or second embodiment.

The camera 310 is, for example, a digital camera that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 310 is attached to an arbitrary position of the vehicle on which the vehicle system 1 is mounted (hereinafter referred to as the own vehicle M). When photographing the front, the camera 310 is attached to the upper part of the front windshield, the back surface of the rearview mirror, and the like. The camera 310 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 310 may be a stereo camera.

The rider 314 is similar to the riders 110, 110A, 110B in the first or second embodiment. The radar device 312 radiates radio waves such as millimeter waves around the own vehicle M, and detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object. The radar device 312 is attached to an arbitrary position of the own vehicle M.

The object recognition device 316 performs sensor fusion processing on the detection results of a part or all of the camera 310, the radar device 312, and the rider 314, and recognizes the position, type, speed, and the like of the target. The object recognition device 316 outputs the recognition result to the automatic operation control device 400. The object recognition device 316 may output the detection results of the camera 310, the radar device 312, and the rider 314 to the automatic driving control device 400 as they are. Further, the object recognition device 316 may be omitted.

The communication device 320 communicates with other vehicles existing in the vicinity of the own vehicle M, or communicates with various server devices via a radio base station, for example. The HMI 330 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 330 includes various display devices, speakers, buzzers, touch panels, switches, keys and the like. The vehicle sensor 340 includes a vehicle speed sensor that detects the speed of the own vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the own vehicle M, and the like.

The navigation device 350 includes, for example, a GNSS (Global Navigation Satellite System) receiver 351, a navigation HMI 352, and a routing unit 353. The navigation device 350 holds the first map information 354 in a storage device such as an HDD or a flash memory. The GNSS receiver 351 identifies the position of the own vehicle M based on the signal received from the GNSS satellite. The position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 340. The navigation HMI352 includes a display device, a speaker, a touch panel, keys, and the like. The route determination unit 353, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 351 to the destination input by the occupant using the navigation HMI352 (hereinafter, hereafter). The route on the map) is determined with reference to the first map information 354. The route on the map is output to MPU360. The navigation device 350 may provide route guidance using the navigation HMI352 based on the route on the map. The navigation device 350 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by an occupant. The navigation device 350 may transmit the current position and the destination to the navigation server via the communication device 320, and may acquire a route equivalent to the route on the map from the navigation server.

The MPU 360 includes, for example, a recommended lane determination unit 361, and holds the second map information 362 in a storage device such as an HDD or a flash memory. The recommended lane determination unit 361 divides the route on the map provided by the navigation device 350 into a plurality of blocks (for example, divides the route into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 362. Determine the recommended lane for each block. When a branch point exists on the route on the map, the recommended lane determination unit 361 determines the recommended lane so that the own vehicle M can travel on a reasonable route to proceed to the branch destination. The second map information 362 is map information with higher accuracy than the first map information 354.

The driver control 380 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a deformed steering wheel, a joystick and other controls. A sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation operator 380, and the detection result is the automatic operation control device 400, or the traveling driving force output device 500, the brake device 510, and the steering device. It is output to a part or all of 520.

The automatic operation control device 400 includes, for example, a first control unit 420 and a second control unit 460. The first control unit 420 and the second control unit 460 are realized by, for example, a hardware processor such as a CPU executing a program (software), respectively. Further, some or all of these components may be realized by hardware such as LSI, ASIC, FPGA, GPU (including circuit section; circuitry), or realized by collaboration between software and hardware. May be done. The program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 400, or is removable such as a DVD or a CD-ROM. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 400 by mounting the storage medium (non-transient storage medium) in the drive device.

The first control unit 420 includes, for example, a recognition unit 430 and an action plan generation unit 440. The first control unit 420, for example, realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection" is executed in parallel with the recognition of an intersection by deep learning or the like and the recognition based on predetermined conditions (there are signals that can be pattern matched, road markings, etc.), and both are executed. It may be realized by scoring and comprehensively evaluating. This ensures the reliability of autonomous driving. A combination of the action plan generation unit 440 and the second control unit 460 is an example of the "operation control unit".

The recognition unit 430 determines the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 310, the radar device 312, and the rider 314 via the object recognition device 316. recognize. The position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the own 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 a corner of the object, or may be represented by a represented area. The "state" of an object may include acceleration or jerk of the object, or "behavioral state" (eg, whether or not the vehicle is changing lanes or is about to change lanes).

Further, the recognition unit 430 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling. For example, the recognition unit 430 has a road marking line pattern (for example, an arrangement of a solid line and a broken line) obtained from the second map information 362 and a road marking line around the own vehicle M recognized from the image captured by the camera 310. By comparing with the pattern of, the driving lane is recognized. The recognition unit 430 may recognize the traveling lane by recognizing not only the road marking line but also the running road boundary (road boundary) including the road marking line, the shoulder, the curb, the median strip, the guardrail, and the like. .. In this recognition, the position of the own vehicle M acquired from the navigation device 350 and the processing result by the INS may be added. The recognition unit 430 also recognizes pause lines, obstacles, red lights, tollhouses, and other road events.

When recognizing the traveling lane, the recognition unit 430 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 430 determines, for example, the deviation of the reference point of the own vehicle M from the center of the lane and the angle formed by the center of the lane in the traveling direction of the own vehicle M with respect to the relative position of the own vehicle M with respect to the traveling lane. And may be recognized as a posture. Instead, the recognition unit 430 recognizes the position of the reference point of the own vehicle M with respect to any side end portion (road division line or road boundary) of the traveling lane as the relative position of the own vehicle M with respect to the traveling lane. You may.

In principle, the action plan generation unit 440 travels in the recommended lane determined by the recommended lane determination unit 361, and the own vehicle M automatically (driver) so as to be able to respond to the surrounding conditions of the own vehicle M. Generate a target track to run in the future (regardless of the operation of). The target trajectory includes, for example, a velocity element. For example, the target track is expressed as a sequence of points (track points) to be reached by the own vehicle M. The track point is a point to be reached by the own vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, for a predetermined sampling time (for example, about 0 comma [sec]). ) Target velocity and target acceleration are generated as part of the target trajectory. Further, the track point may be a position to be reached by the own vehicle M at the sampling time for each predetermined sampling time. In this case, the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.

The action plan generation unit 440 may set an event for automatic driving when generating a target trajectory. Autonomous driving events include constant speed driving events, low speed following driving events, lane change events, branching events, merging events, takeover events, and the like. The action plan generation unit 440 generates a target trajectory according to the activated event.

The second control unit 460 sets the traveling driving force output device 500, the brake device 510, and the steering device 520 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 440 at the scheduled time. Control.

In this way, the action plan generation unit 440 controls the speed or steering of the vehicle based on the recognition result of the recognition unit 430. Then, the action plan generation unit 440 has a target on the road surface of the road on which the vehicle is present by the object recognition device 316 or the recognition unit 430 having the same function as the recognition device described in the first or second embodiment. When it is determined, the degree of control related to automatic operation is suppressed. For example, the action plan generation unit 440 performs a process for switching from automatic driving to manual driving, or has a high degree of control (a state in which the duty of care imposed on the driver is low) to a low degree of control even in automatic driving. Switch to a state (a state in which the duty of care imposed on the driver is high). As a result, it is possible to prevent a situation in which unreasonable control is performed in a state where the target is present.

The embodiment described above can be expressed as follows.
A storage device that stores programs and
With a hardware processor,
When the hardware processor executes a program stored in the storage device,
An acquisition unit mounted on a vehicle traveling on the road surface irradiates electromagnetic waves in a plurality of directions including a direction downward from the horizontal direction, analyzes the electromagnetic waves reflected by the target on the road surface, and reaches the target. Obtain distance measurement data representing the distance of
The presence of the target on the road surface is detected based on the change in the distance to the target obtained by irradiating the electromagnetic wave in a direction downward from the horizontal direction at different timings.
A recognition device that is configured to.

<Modification example of each embodiment>
In the first and second embodiments, the detection unit 122 may specify the area of the target on the road surface using the detection result of the radar device instead of or in addition to the rider 110.

In the first to third embodiments, the rider 110 irradiates electromagnetic waves in a direction upward from the horizontal direction, analyzes the electromagnetic waves reflected by the target on the road surface, and measures the distance to the target. Data may be acquired. In this case, it is possible to grasp the exact position of the branches and signs that have jumped out on the road at an early stage.

Although the embodiments for carrying out the present invention have been described above using the embodiments, the present invention is not limited to these embodiments, and various modifications and substitutions are made without departing from the gist of the present invention. Can be added.

100, 100A ... recognition device, 110 ... rider, 110A ... first rider, 110B ... second rider, 120 ... control device, 122 ... detection unit, 316 ... object recognition device, 400 ... automatic operation control device, 430 ... recognition unit 440 ... Action plan generation unit.

Claims (10)

An acquisition unit mounted on a vehicle traveling on a road surface, which irradiates electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction, analyzes the electromagnetic waves reflected by a target on the road surface, and analyzes the above-mentioned object. An acquisition unit that acquires distance measurement data representing the distance to the target, and
A detection unit that detects the presence of a target on the road surface based on a change in the distance to the target acquired by the acquisition unit irradiating the electromagnetic wave in a direction offset from the horizontal direction at different timings. When,
A recognition device equipped with. The detection unit detects the presence of a target on the road surface based on distance measurement data obtained by irradiating electromagnetic waves in the irradiation direction of the first group, which is upward from a predetermined depression angle.
The recognition device according to claim 1. The number of distance measurement data obtained by irradiating the detection unit with electromagnetic waves in the irradiation direction of the first group, which is upward from the predetermined depression angle within each predetermined range in the predetermined direction, is downward from the predetermined depression angle. It is set less than the number of distance measurement data obtained by irradiating electromagnetic waves in the irradiation directions of the two groups.
Electromagnetic waves at different timings are combined and used with respect to the first group.
The recognition device according to claim 2. The distance measurement data includes height direction data as seen from the acquisition unit.
The detection unit detects the position occupied by the distance measurement data including the height direction data higher than a predetermined value with respect to the road surface height direction data as the position of the target on the road surface.
The recognition device according to any one of claims 1 to 3. The detection unit detects the presence of a target on the road surface by using the distance measurement data periodically acquired by the acquisition unit and a plurality of distance measurement data continuous on the time axis within a predetermined time.
The recognition device according to any one of claims 1 to 4. The ranging data includes height direction data seen from the acquisition unit and horizontal direction data seen from the acquisition unit.
The detection unit identifies the position of the target using the height direction data, and uses the horizontal data included in the ranging data used to specify the position of the target to drive the vehicle. Identify the length of the target in the width direction,
The recognition device according to any one of claims 1 to 5. The acquisition unit includes a first acquisition unit arranged on one side in the vehicle width direction of the vehicle and a second acquisition unit arranged on the other side in the vehicle width direction of the vehicle.
The detection unit detects the presence of a target on the road surface by using distance measurement data obtained in a range where the electromagnetic wave irradiation range by the first acquisition unit and the electromagnetic wave irradiation range by the second acquisition unit overlap. ,
The recognition device according to any one of claims 1 to 6. The recognition device according to any one of claims 1 to 7.
A driving control unit that controls the speed or steering of the vehicle, and a driving control unit that suppresses the degree of control when the recognition device determines that there is a target on the road surface.
Vehicle control device. The computer
An acquisition unit mounted on a vehicle traveling on the road surface irradiates electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction, analyzes the electromagnetic waves reflected by the target on the road surface, and reaches the target. Obtain distance measurement data representing the distance of
The presence of the target on the road surface is detected based on the change in the distance to the target obtained by irradiating the electromagnetic wave in a direction offset from the horizontal direction at different timings.
Recognition method. On the computer
An acquisition unit mounted on a vehicle traveling on the road surface irradiates electromagnetic waves in a plurality of directions including a direction offset from the horizontal direction, analyzes the electromagnetic waves reflected by the target on the road surface, and reaches the target. And the process of acquiring the distance measurement data representing the distance of
A process of detecting the presence of a target on the road surface based on a change in the distance to the target obtained by irradiating the electromagnetic wave in a direction offset from the horizontal direction at different timings.
A program that executes.

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