JP2021124891A - Vehicle control device, vehicle control method, and program - Google Patents

Abstract

To allow a vehicle to travel more smoothly.SOLUTION: A vehicle control device includes: a recognition unit that recognizes the surroundings of a self vehicle; a setting unit that sets a virtual line corresponding to a first road separation line that separates a first lane and a second lane so as to be smoothly connected to a reference line of a division target for separating the first lane and the second lane in the vicinity of a start point of a specific area recognized by the recognition unit, based on information on a road near the specific area, when the vehicle plans to change lanes, the recognition unit recognizes the specific area where the vehicle can change lanes from the first lane where the vehicle travels to the second lane to which the vehicle changes lanes, and the first road separation line is not recognized in the specific area; and a control unit that controls the vehicle based on the virtual line set by the setting unit.SELECTED DRAWING: Figure 1

Description

The present invention relates to vehicle control devices, vehicle control methods, and programs.

Conventionally, there is known a lane change control device characterized in that when a blinker blinking signal is input, the vehicle changes lanes to a lane different from the lane in which the own vehicle is located while maintaining driving in the lane (. For example, see Patent Document 1). It is disclosed that this lane change control device provides a virtual white line between the current traveling lane and the lane change destination to control a lane change across the actual white line.

International Publication No. 2017/047261 Japanese Patent No. 6369390

However, the above device may not be able to properly control the vehicle depending on the road environment.

The present invention has been made in consideration of such circumstances, and one of the objects of the present invention is to provide a vehicle control device, a vehicle control method, and a program capable of running a vehicle more smoothly.

The vehicle control device, the vehicle control method, and the program according to the present invention have adopted the following configurations.
(1): The vehicle control device has a recognition unit that recognizes the periphery of the own vehicle, and when the own vehicle makes a plan to change lanes, the recognition unit starts from the first lane in which the own vehicle travels. The specific area where the own vehicle can change lanes is recognized in the second lane of the lane change destination, and the first road lane dividing the first lane and the second lane is not recognized in the specific area. In that case, based on the information about the road in the vicinity of the specific area, the reference line for the division target that divides the first lane and the second lane in the vicinity of the start point of the specific area recognized by the recognition unit is smoothed. A setting unit for setting a virtual line corresponding to the first road lane marking line and a control unit for controlling the own vehicle based on the virtual line set by the setting unit are provided.

(2): In the aspect of (1) above, the setting unit is substantially parallel to the second road lane marking that separates the third lane opposite to the second lane adjacent to the first lane. When the virtual line is connected to the reference line of the division target and the angle formed by the reference line of the division target and the virtual line is equal to or less than a predetermined angle, the angle formed by the reference line and the virtual line is a predetermined angle. The connection state between the reference line and the virtual line is corrected so as not to be as follows, and the control unit controls the own vehicle based on the corrected connection state.

(3): In the aspect of (2) above, when the angle formed by the virtual line and the reference line is equal to or less than a predetermined angle, the setting unit has a curved line at the connection point between the virtual line and the reference line. The connection state between the virtual line and the reference line is corrected so as to be.

(4): In the aspect of (2) or (3) above, when the angle formed by the reference line forming the partition target and the virtual line is equal to or less than a predetermined angle, the setting unit sets the reference line. The connection state between the virtual line and the reference line is corrected so that the first position and the second position of the virtual line are connected by a curve, and the first position is the reference line of the reference line. It is a position at a predetermined distance in the second direction opposite to the first direction from the end in the first direction which is the traveling direction of the own vehicle, and the second position is the second position of the virtual line in the virtual line. It is a position at a predetermined distance in the first direction from the ends in the two directions.

(5): In any of the above aspects (1) to (4), the section target is a headrace zone marked on the road.

(6): In any of the above aspects (1) to (5), when the setting unit makes a plan to change lanes of the own vehicle, the first recognition unit causes the own vehicle to travel. A specific area where the own vehicle can change lanes is recognized from the lane to the second lane to which the own vehicle changes lanes, and the first road lane dividing the first lane and the second lane in the specific area. Is not recognized and the division target that divides the first lane and the second lane, which is the end point of the specific area, is not recognized, a virtual line corresponding to the first road lane is set.

(7): The vehicle control method according to one aspect of the present invention is described by the recognition unit when the computer makes a process of causing the recognition unit to recognize the vicinity of the own vehicle and a plan for the own vehicle to change lanes. A specific area in which the own vehicle can change lanes is recognized from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes, and in the specific area, the first lane and the second lane When the first road lane marking that divides the road is not recognized, the first lane and the second lane are located near the start point of the specific area recognized by the recognition unit based on the information about the road near the specific area. The own vehicle is set based on the process of setting a virtual line corresponding to the first road lane marking and the set virtual line so as to be smoothly connected to the reference line of the section target for partitioning the lane. It is a vehicle control method including a process for controlling.

(8): The program according to one aspect of the present invention is a process of causing a recognition unit to recognize the surroundings of the own vehicle, and when the own vehicle makes a plan to change lanes, the recognition unit causes the own vehicle. A specific area in which the own vehicle can change lanes is recognized from the first lane in which the vehicle travels to the second lane to which the own vehicle changes lanes, and the first lane and the second lane are divided in the specific area. When the first road lane marking is not recognized, the first lane and the second lane are located near the start point of the specific area recognized by the recognition unit based on the information about the road near the specific area. The own vehicle is controlled based on the process of setting a virtual line corresponding to the first road lane marking and the set virtual lane so as to be smoothly connected to the reference line of the division target. It is a program that executes processing.

According to (1) to (8), the vehicle control device can run the vehicle more smoothly by controlling the own vehicle based on the virtual line set by the setting unit. For example, the vehicle control device smoothly connects the reference line and the virtual line, and controls the own vehicle based on the smoothly connected virtual line, so that the own vehicle runs smoothly. As a result, the vehicle control device can further improve the riding comfort of the occupants of the own vehicle and suppress the feeling of discomfort to the occupants.

It is a block diagram of the vehicle system 1 using the vehicle control device which concerns on embodiment. It is a functional block diagram of the 1st control unit 120 and the 2nd control unit 160. It is a figure (the 1) for demonstrating the process which the own vehicle M sets a virtual line. It is a figure (No. 2-1) for explaining the process of setting a virtual line by own vehicle M. It is a figure (2-2) for explaining the process of setting a virtual line by own vehicle M. It is a figure (the 3-1) for demonstrating the process which the own vehicle M sets a virtual line. It is a figure which shows an example of the corrected virtual line IM2. It is a figure which shows an example of the scene in which the own vehicle travels based on a road lane marking Ds and a virtual line IM1. It is a figure which shows an example of the scene in which the own vehicle travels based on a road lane marking Ds and a virtual line IM2. It is a figure for demonstrating an example in which a virtual line is connected to a road lane marking line in the Y direction. It is a flowchart which shows an example of the flow of the process executed by the automatic operation control device 100. It is a figure (the 1) for demonstrating the process which the own vehicle M of the modified example sets a virtual line. It is a figure (the 2) for demonstrating the process which the own vehicle M of the modified example sets a virtual line. It is a figure (the 3) for demonstrating the process which the own vehicle M of the modified example sets a virtual line. It is a figure which shows an example of the hardware composition of the automatic operation control device 100 of an embodiment.

Hereinafter, embodiments of the vehicle control device, vehicle control method, and program of 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 the vehicle control device according to the 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 the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.

The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, and a vehicle sensor 40. , A navigation device 50, an MPU (Map Positioning Unit) 60, a driving operator 80, an automatic driving control device 100, a traveling driving force output device 200, a braking device 210, and a steering device 220. These devices and devices are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, and 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 image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to an arbitrary position of the vehicle on which the vehicle system 1 is mounted (hereinafter, the own vehicle M). When photographing the front, the camera 10 is attached to the upper part of the front windshield, the back surface of the rearview mirror, and the like. The camera 10 periodically and repeatedly images the periphery of the own vehicle M, for example. The camera 10 may be a stereo camera.

The radar device 12 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 orientation) of the object. The radar device 12 is attached to an arbitrary position of the own vehicle M. The radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modulated Continuous Wave) method.

The LIDAR 14 irradiates the periphery of the own vehicle M with light (or an electromagnetic wave having a wavelength close to that of light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time from light emission to light reception. The emitted light is, for example, a pulsed laser beam. The LIDAR 14 is attached to an arbitrary position on the own vehicle M.

The object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the LIDAR 14, and recognizes the position, type, speed, and the like of the object. The object recognition device 16 outputs the recognition result to the automatic operation control device 100. The object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the automatic driving control device 100 as they are. The object recognition device 16 may be omitted from the vehicle system 1.

The communication device 20 communicates with another vehicle existing in the vicinity of the own vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or wirelessly. Communicates with various server devices via the base station.

The HMI 30 presents various information to the occupants of the own vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys and the like.

The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the 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 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a routing unit 53. The navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory. The GNSS receiver 51 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 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 wholly shared with the above-mentioned HMI 30. The route determination unit 53, for example, has a route from the position of the own vehicle M (or an arbitrary position input) specified by the GNSS receiver 51 to the destination input by the occupant using the navigation HMI 52 (hereinafter,). 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 expressed 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 route on the map is output to MPU60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. 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 an occupant. The navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire a route equivalent to the route on the map from the navigation server.

The MPU 60 includes, 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 on the map provided by the navigation device 50 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 62. Determine the recommended lane for each block. The recommended lane determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 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 62 is more accurate map information than the first map information 54. The second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. 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 at any time by the communication device 20 communicating with another device.

The driving controller 80 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 80, and the detection result is the automatic operation control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to a part or all of 220.

The automatic operation control device 100 includes, for example, a first control unit 120 and a second control unit 160. The first control unit 120 and the second control unit 160 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part; including circuitry), 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 or a flash memory of the automatic operation control device 100, or a DVD, a CD-ROM, or the like can be attached and detached. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device. The automatic driving control device 100 is an example of a “vehicle control device”.

FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160. The first control unit 120 includes, for example, a recognition unit 130 and an action plan generation unit 140. The first control unit 120, 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 a predetermined condition (there is a signal capable of pattern matching, a road sign, etc.), and both are executed. It may be realized by scoring and comprehensively evaluating. This ensures the reliability of autonomous driving.

The recognition unit 130 recognizes the position, speed, acceleration, and other states of objects around the own vehicle M based on the information input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. do. 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 the object's acceleration or jerk, or "behavioral state" (eg, whether it is changing lanes or is about to change lanes).

Further, the recognition unit 130 recognizes, for example, the lane (traveling lane) in which the own vehicle M is traveling. For example, the recognition unit 130 has a road lane marking pattern (for example, an arrangement of a solid line and a broken line) obtained from the second map information 62 and a road lane marking around the own vehicle M recognized from the image captured by the camera 10. By comparing with the pattern of, the driving lane is recognized. The recognition unit 130 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 50 and the processing result by the INS may be added. The recognition unit 130 also recognizes stop lines, obstacles, red lights, tollhouses, and other road events.

When recognizing the traveling lane, the recognition unit 130 recognizes the position and posture of the own vehicle M with respect to the traveling lane. The recognition unit 130 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 130 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 140 travels in the recommended lane determined by the recommended lane determination unit 61, 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 number [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 140 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 140 generates a target trajectory according to the activated event.

The action plan generation unit 140 includes, for example, a setting unit 142. When the own vehicle makes a plan to change lanes, the setting unit 142 allows the own vehicle to change lanes from the first lane in which the own vehicle M travels to the second lane to which the own vehicle M changes lanes by the recognition unit 130. When the specific area is recognized and the first road lane dividing the first lane and the second lane is not recognized in the specific area, the recognition unit 130 recognizes the specific area based on the information about the road near the specific area. A virtual line corresponding to the first road lane is set so as to be smoothly connected to the reference line of the lane that divides the first lane and the second lane near the start point of the specific area. "Information about roads" is information such as road marking lines and zebra zones, lanes, signs, and structures provided on roads. "Nearby" is a range of several meters to several tens of emails.

The second control unit 160 sets the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the own vehicle M passes the target trajectory generated by the action plan generation unit 140 at the scheduled time. Control.

Returning to FIG. 2, 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 the information of the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown). The speed control unit 164 controls the traveling driving force output device 200 or the braking device 210 based on the speed element associated with the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control according to the curvature of the road in front of the own vehicle M and feedback control based on the deviation from the target trajectory.

The traveling driving force output device 200 outputs a traveling driving force (torque) for traveling the vehicle to the drive 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 (Electronic Control Unit) that controls them. The ECU controls the above configuration according to the information input from the second control unit 160 or the information input from the operation operator 80.

The brake device 210 includes, for example, a brake caliper, a cylinder that transmits flood pressure to the brake caliper, an electric motor that generates flood pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 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 oil pressure generated by the operation of the brake pedal included in the operation 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 an actuator according to information input from the second control unit 160 to transmit the oil pressure of the master cylinder to the cylinder. May be 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 steering wheel. The steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80, and changes the direction of the steering wheel.

[Processing related to lane change (1)]
FIG. 3 is a diagram (No. 1) for explaining the process of changing the lane of the own vehicle M. In the following description, the traveling direction of the vehicle (extending direction of the road) may be referred to as the X direction, and the width direction of the vehicle (width direction of the road) may be referred to as the Y direction.

FIG. 3 shows a road including lanes L1-L6. The area where the lane L3 (first lane) and the lane L4 (second lane) are connected is a specific area (target area TA) where the lane of the vehicle can be changed. The vehicle can change lanes from lane L3 to lane L4 or from lane L4 to lane L3 in the target area TA. A zebra zone S1, a branch zone OB1, and a branch zone OB2 are provided on the minus X direction side of the target region TA. A zebra zone S2, a branch zone OB3, and a branch zone OB4 are provided on the plus X direction side of the target section TA. The target section TA is a section between the end portion of the zebra zone S1 on the plus X direction side and the end portion of the zebra zone S2 on the minus X direction side. The zebra zone is an example of a "roadway marked on the road".

As shown in FIG. 3, the automatic driving control device 100 has a road lane marking D1 (first road lane marking) that separates the lane L3 and the lane L4 in the target region TA. In this case, the own vehicle M, which travels in lane L3 and plans to change lanes to lane L4, travels based on the road lane marking D1 and changes lanes to lane L4. For example, the own vehicle M travels so as to match the reference position of the own vehicle M with a predetermined distance in the minus Y direction from the road lane marking D1, and changes lanes from lane L3 to lane L4 at a predetermined timing.

[Processing related to lane change (Part 2)]
FIG. 4 is a diagram (No. 2-1) for explaining the process of changing the lane of the own vehicle M. As shown in FIG. 4, when the road lane marking D1 does not exist, the setting unit 142 virtually sets a virtual line corresponding to the road lane marking D1 on the road. More specifically, when the own vehicle M makes a plan to change lanes, the setting unit 142 specifies that the own vehicle M can change lanes from the lane L3 in which the own vehicle M travels to the lane L4 by the recognition unit 130. The area is recognized, the road lane marking that separates lanes L3 and L4 in the specific area is not recognized, and the zebra zone S1 (section target) that divides lane L3 and lane L4, which is the end point of the specific area, is recognized. If not, a virtual line corresponding to the road lane marking that separates the lane L3 and the lane L4 is set based on the information about the road near the specific area.

FIG. 5 is a diagram (No. 2-2) for explaining the process of setting the virtual line by the own vehicle M. As shown in FIG. 5, the setting unit 142 sets the virtual line IM1 based on the road lane marking D2 (second road lane marking). The road lane D2 is a road lane marked between the lane L2 (third lane) and the lane L3. For example, the setting unit 142 sets the virtual line IM1 substantially parallel to or parallel to the road lane marking D2 at a position estimated distance from the road lane marking D2 in the plus Y direction. The virtual line IM1 is connected to the zebra zone S1. The estimated distance is a distance estimated to be the lane width of lane L3. The setting unit 142 estimates based on, for example, the lane width of the lane L2, the lane width of the lane L3 before reaching the target section TA, the lane width stored in the map information of the storage device, the general lane width, and the like. Derive the distance.

The setting unit 142 is based on the positions of the zebra zone S1 and the zebra zone S2 when the own vehicle M exists in the vicinity of the zebra zone S1 and the recognition unit 130 can recognize the zebra zone S2. , Virtual line IM1 may be set. For example, when the distance of the target section TA in the X direction exceeds the distance that the recognition unit 130 can recognize (for example, 200 m), the setting unit 142 sets the virtual line IM1 based on the road marking line D2 as described above. You may.

[Processing related to lane change (Part 3)]
FIG. 6 is a diagram (No. 3-1) for explaining the process of setting the virtual line by the own vehicle M. As shown in FIG. 6, the setting unit 142 sets the virtual line IM1 so that the virtual line IM1 is connected to the road marking (for example, the end of the zebra zone S1) that can be recognized by the recognition unit 130. When the virtual line IM1 is set by the setting unit 142, the angle formed by the virtual line IM1 and the road marking line Ds forming the zebra zone S1 is an angle θ or less (at an angle θ1 which is an angle θ or less). (If there is), the setting unit 142 sets the virtual line IM2 corrected with the virtual line IM1 as shown in FIG. 7 described later. The road lane marking Ds is a reference line for lane marking L3 and lane L4. For example, the setting unit 142 converts the recognition image captured by the camera 10 of the own vehicle and recognized by the recognition unit 130 into a bird's-eye view image, obtains the angle formed based on the converted bird's-eye view image, or is based on the recognition image. The angle formed by applying a predetermined algorithm to the obtained information is obtained.

FIG. 7 is a diagram showing an example of the corrected virtual line IM2. The setting unit 142 corrects the virtual line IM2 so that the angle formed by the virtual line and the road marking line Ds does not become equal to or less than the angle θ. For example, the setting unit 142 connects the virtual line IM2 to the road lane marking Ds so that the connection between the virtual line IM2 and the road lane marking Ds becomes smooth.

More specifically, the setting unit 142 sets the virtual line IM2 so that the virtual line IM2 has a curve (curvature of a predetermined degree or less). For example, the setting unit 142 corrects the virtual line IM2 so that the virtual line connected to the first position P1 and the second position P2 becomes a part of the virtual line IM2. The first position P1 is on the road lane marking Ds and is a position at a predetermined distance on the minus X direction side from the end of the road lane marking Ds in the plus X direction. The second position P2 is the virtual line IM1 and is a position at a predetermined distance on the plus X direction side from the end portion of the virtual line IM1 on the minus X direction side.

[Result of comparison]
FIG. 8 is a diagram showing an example of a scene in which the own vehicle travels based on the road marking line Ds and the virtual line IM1. When the own vehicle M travels based on the road lane marking Ds and the virtual line IM1, the connection point between the road lane marking Ds and the virtual line IM1 is at an angle θ or less, so that the own vehicle M uses the target as a reference. When switching from the road lane marking Ds to the virtual line IM1 and traveling, the steering control becomes steep. For this reason, the ride quality for the occupant of the own vehicle M may be lowered, or the occupant may feel uncomfortable.

FIG. 9 is a diagram showing an example of a scene in which the own vehicle travels based on the road marking line Ds and the virtual line IM2. When the own vehicle M travels based on the road lane marking Ds and the virtual line IM2, the road lane marking Ds and the virtual line IM2 are smoothly connected, so that the own vehicle M sets the reference target as the road division. When the vehicle is switched from the line Ds to the virtual line IM2 and traveled, the steering control is performed smoothly without being steep. Therefore, the riding comfort for the occupant of the own vehicle M is improved, and the occupant's feeling of discomfort is suppressed.

As described above, the automatic driving control device 100 can realize smooth traveling when the own vehicle M travels in the vicinity of the target section TA more smoothly by correcting the set virtual line. As a result, the vehicle can run more smoothly.

In the above example, the virtual line IM1 has been described as being connected to the road marking line Ds forming the zebra zone S1, but the virtual line IM1 extends in the Y direction forming the zebra zone S1. When connected to Ds *, the process may be executed as follows.

FIG. 10 is a diagram for explaining an example in which a virtual line is connected to a road marking line in the Y direction. When the virtual line IM1 is connected to the road lane marking Ds * forming the zebra zone S1 so as to be orthogonal to the road lane marking Ds *, the setting unit 142 adds the road lane marking Ds in the plus X direction. When the angle between the road marking line Ds # (reference line) extending to the above and the virtual line IM1 is equal to or less than a predetermined angle, the virtual line and the road marking line Ds are smooth as described in FIG. 7 above. The virtual line may be corrected so that it is connected to.

Further, for example, when the setting unit 142 connects the virtual line IM1 to the road lane marking Ds * in the Y direction forming the zebra zone S1 so as to be orthogonal to the road lane marking Ds *, the road lane marking Ds * When the angle between the (reference line) and the virtual line IM1 is less than or equal to the predetermined angle, the virtual line is corrected so that the virtual line and the road marking line Ds are smoothly connected as described in FIG. 7 above. You may.

Further, in the above-described processing, it has been described that the lane L3 and the lane L4 are separated by the zebra zone S1 in front of the target section TA, but instead of (or in addition to), other road markings or , Even when it is partitioned by a road structure such as a fence or a guardrail, the setting unit 142 sets a virtual line or corrects the virtual line by using the same method as the above-mentioned process. You may.

[flowchart]
FIG. 11 is a flowchart showing an example of the flow of processing executed by the automatic operation control device 100. This process is executed, for example, when the own vehicle M changes lanes.

First, the setting unit 142 determines whether or not the road marking line between the lanes L3 and the lane L4 can be recognized based on the recognition result of the recognition unit 130 (step S100). When the road lane marking between the lanes L3 and the lane L4 can be recognized, the automatic driving control device 100 drives the own vehicle M based on the recognized road lane marking (step S102).

When the road division line between the lanes L3 and the lane L4 can be recognized, the setting unit 142 sets the virtual line IM1 (step S104). Next, the setting unit 142 determines whether or not the angle formed by the road marking line Ds and the virtual line IM1 is equal to or less than a predetermined angle (step S106). When the angle formed by the road marking line Ds and the virtual line IM1 is not equal to or less than a predetermined angle, the automatic driving control device 100 drives the own vehicle M based on the virtual line IM1 set by the setting unit 142 (step S108). This is because the road lane marking Ds and the virtual line IM1 are smoothly connected, and even if the own vehicle M travels based on the road lane marking Ds and the virtual line IM1, the ride comfort for the occupants of the own vehicle M is good. This is because it is estimated that it will not be below the standard.

When the angle formed by the road marking line Ds and the virtual line IM1 is equal to or less than a predetermined angle, the setting unit 142 sets the virtual line IM2 corrected with the virtual line IM1 (step S110). This is because the road lane marking Ds and the virtual line IM1 are not smoothly connected, and when the own vehicle M travels based on the road lane marking Ds and the virtual line IM1, the ride comfort for the occupants of the own vehicle M is below the standard. This is because it is presumed to be.

Next, the automatic driving control device 100 drives the own vehicle M based on the virtual line IM2 corrected by the setting unit 142 (step S112). As a result, the own vehicle M can travel so that the ride quality for the occupant does not fall below the standard.

As described above, the automatic driving control device 100 can make the vehicle run more smoothly by performing processing according to the road environment and the recognition result of the recognition unit 130.

According to the embodiment described above, the automatic driving control device 100 can run the vehicle more smoothly by controlling the own vehicle based on the virtual line set by the setting unit 142.

<Modification example>
In the first embodiment, the setting unit 142 sets a virtual line based on the road lane marking line between the lane L2 and the lane L3. On the other hand, in the modified example, the virtual line is set based on another method. Hereinafter, a modified example will be described.

FIG. 12 is a diagram (No. 1) for explaining a process in which the own vehicle M of the modified example sets a virtual line. For example, the recognition unit 130 cannot recognize the lane marking line L1, the lane L2, and the lane L3 in the region AR near the target section TA. The region AR is a region including the target section TA and extending in the minus Y direction of the target section TA. In this case, the setting unit 142 sets the virtual line in the order of the virtual line A, the virtual line B, and the virtual line C. The virtual line A is a virtual line set along the end of the lane L1 on the minus Y direction side. The virtual line B is a virtual line set at a position where the virtual line A is slid toward the plus Y direction by an estimated distance. The virtual line C is a virtual line set at a position where the virtual line B is slid to the plus Y direction side by an estimated distance.

Further, the setting unit 142 may set the virtual line B based on the road division line Dx between the lane L2 and the lane L3 marked immediately before the target section TA. For example, the setting unit 142 may set a virtual line in which the road division line Dx immediately before the target section TA extends in the plus X direction as the virtual line B.

As described above, the setting unit 142 can set a virtual line based on the lane L1 and the road lane marking Dx (information about the road).

FIG. 13 is a diagram (No. 2) for explaining the process of setting the virtual line by the own vehicle M of the modified example. The setting unit 142 may set the virtual line C based on the road division line Dy between the lane L4 and the lane L5. The virtual line C is a virtual line set at a position where the road marking line Dy is slid in the minus Y direction by an estimated distance. The estimated distance is the distance in the width direction of the lane L5.

As described above, the setting unit 142 can set the virtual line based on the lane L4 (information about the road).

FIG. 14 is a diagram (No. 3) for explaining a process in which the own vehicle M of the modified example sets a virtual line. The setting unit 142 may set the virtual lane C based on the traveling history of another vehicle traveling in a predetermined lane (any lane of lanes L1-L6). FIG. 14 shows an example in which the setting unit 142 sets the virtual line C based on the traveling history of another vehicle traveling in the lane L4. The setting unit 142 generates a line connecting the reference position of the other vehicle at time t, the reference position of the other vehicle at time t + 1, and the reference position of the other vehicle at time t + 2, and estimates the generated line in the minus Y direction. Set the virtual line C at the position where it is slid only. The estimated distance is a distance that is half the predetermined lane width or a preset distance.

As described above, the setting unit 142 can set the virtual line based on the traveling history (information about the road) of the other vehicle.

According to the embodiment of the modification described above, the setting unit 142 can set the virtual line based on the information about various roads, so that the virtual line can be set more reliably even in various road environments. can do. For example, when the road lane marking that separates the lane L2 and the lane L3 is not recognized, the setting unit 142 creates a virtual line based on the information that the recognition unit 130 can recognize among the information about the road in the above modified example. It may be set.

[Hardware configuration]
FIG. 15 is a diagram showing an example of the hardware configuration of the automatic operation control device 100 of the embodiment. As shown in the figure, the automatic operation control device 100 includes a communication controller 100-1, a CPU 100-2, a RAM (Random Access Memory) 100-3 used as a working memory, a ROM (Read Only Memory) for storing a boot program, and the like. The configuration is such that 100-4, a storage device 100-5 such as a flash memory or an HDD (Hard Disk Drive), a drive device 100-6, and the like are connected to each other by an internal bus or a dedicated communication line. The communication controller 100-1 communicates with a component other than the automatic operation control device 100. The storage device 100-5 stores a program 100-5a executed by the CPU 100-2. This program is expanded into RAM 100-3 by a DMA (Direct Memory Access) controller (not shown) or the like, and is executed by CPU 100-2. As a result, a part or all of the first control unit 120, the second control unit 160, and the functional units included in these are realized.

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,
The process of making the recognition unit that recognizes the surroundings of the own vehicle recognize it,
When the own vehicle makes a plan to change lanes, the recognition unit sets a specific area in which the own vehicle can change lanes from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes. When it is recognized and the first road lane dividing the first lane and the second lane is not recognized in the specific area, it is recognized by the recognition unit based on the information about the road near the specific area. A process of setting a virtual line corresponding to the first road lane so that the first lane and the second lane are smoothly connected to the reference line of the division target in the vicinity of the start point of the specific area. A vehicle control device configured to control the own vehicle and execute the process based on the set virtual line.

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.

1 vehicle system, 100 automatic driving control device, 120 1st control unit, 130 recognition unit, 140 action plan generation unit, 142 setting unit, 160 2nd control unit

Claims (8)

A recognition unit that recognizes the surroundings of the vehicle and
When the own vehicle makes a plan to change lanes, the recognition unit sets a specific area in which the own vehicle can change lanes from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes. When the first road lane dividing the first lane and the second lane is not recognized in the specific area, the recognition unit recognizes the road based on the information about the road in the vicinity of the specific area. A virtual line corresponding to the first road lane is set so as to be smoothly connected to the reference line of the lane for partitioning the first lane and the second lane near the start point of the specific area. Setting section and
A control unit that controls the own vehicle based on the virtual line set by the setting unit,
Vehicle control device. The setting unit
The virtual line substantially parallel to the second road lane marking that separates the third lane on the opposite side of the second lane adjacent to the first lane is connected to the reference line to be divided.
When the angle formed by the reference line and the virtual line of the division target is equal to or less than a predetermined angle, the reference line and the virtual line are combined so that the angle formed by the reference line and the virtual line does not become equal to or less than the predetermined angle. Correct the connection status and
The control unit controls the own vehicle based on the corrected connection state.
The vehicle control device according to claim 1. When the angle formed by the virtual line and the reference line is equal to or less than a predetermined angle, the setting unit sets the virtual line and the reference line so that the connection point between the virtual line and the reference line becomes a curved line. Correct the connection status,
The vehicle control device according to claim 2. The setting unit
When the angle formed by the reference line forming the partition object and the virtual line is equal to or less than a predetermined angle, the virtual line is connected so as to connect the first position of the reference line and the second position of the virtual line with a curve. Correct the connection state between the line and the reference line,
The first position is a position on the reference line at a predetermined distance in the second direction opposite to the first direction from the end of the reference line in the first direction which is the traveling direction of the own vehicle.
The second position is a position on the virtual line at a predetermined distance in the first direction from the end of the virtual line in the second direction.
The vehicle control device according to claim 2 or 3. The section target is a headrace zone marked on the road.
The vehicle control device according to any one of claims 1 to 4. When the own vehicle makes a plan to change lanes, the setting unit moves the own vehicle from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes by the recognition unit. The changeable specific area is recognized, the first road lane dividing the first lane and the second lane is not recognized in the specific area, and the first lane and the end point of the specific area are the same. When the division target that divides the second lane is not recognized, a virtual line corresponding to the first road division line is set.
The vehicle control device according to any one of claims 1 to 5. The computer
The process of making the recognition unit recognize the surroundings of the own vehicle,
When the own vehicle makes a plan to change lanes, the recognition unit sets a specific area in which the own vehicle can change lanes from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes. When the first road lane dividing the first lane and the second lane is not recognized in the specific area, the recognition unit recognizes the road based on the information about the road in the vicinity of the specific area. A virtual line corresponding to the first road lane is set so as to be smoothly connected to the reference line of the lane for partitioning the first lane and the second lane near the start point of the specific area. Processing to do and
The process of controlling the own vehicle based on the set virtual line and
A vehicle control method comprising. On the computer
The process of making the recognition unit recognize the surroundings of the own vehicle,
When the own vehicle makes a plan to change lanes, the recognition unit sets a specific area in which the own vehicle can change lanes from the first lane in which the own vehicle travels to the second lane to which the own vehicle changes lanes. When the first road lane dividing the first lane and the second lane is not recognized in the specific area, the recognition unit recognizes the road based on the information about the road in the vicinity of the specific area. A virtual line corresponding to the first road lane is set so as to be smoothly connected to the reference line of the lane for partitioning the first lane and the second lane near the start point of the specific area. Processing to do and
The process of controlling the own vehicle based on the set virtual line and
A program that executes.

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