JP2021131580A - Self-driving vehicle - Google Patents

Abstract

To provide a technique in which a self-driving vehicle having a follow-up driving function can perform a safer follow-up driving.SOLUTION: A self-driving vehicle comprises: an imaging unit for imaging the front of a self vehicle; a lane detection unit for detecting a lane on which the self vehicle drives; a lane deviation detection unit for detecting that a vehicle just before the self vehicle deviates from the driving lane detected by the lane detection unit; and a control unit. The control unit stops the self vehicle following the front vehicle when the lane deviation detection unit detects that the front vehicle has deviated more than a prescribed number of times within a prescribed time.SELECTED DRAWING: Figure 1

Description

The present invention relates to an autonomous vehicle capable of following a vehicle immediately in front of the vehicle.

In recent years, the development of autonomous driving technology for automobiles has accelerated, and the technology has been integrated with car navigation technology, advanced wireless communication technology, AI technology, etc., and has reached a level at which human operation is almost unnecessary. Patent Document 1 discloses a technique for detecting a doze of a driver who drives a vehicle having a cruise control function (a function of following a preceding vehicle) and canceling the function. ..

Special Table 2014-511301 Publication

However, the technique described in Patent Document 1 reflects the physical condition of the driver with respect to a follow-up function that reduces the driver's fatigue when driving the own vehicle, and further improves the driving safety of the own vehicle. The parameters and the like are modified so as to improve. Therefore, this technique does not determine whether the preceding vehicle immediately before the own vehicle follows is unsuitable for the follow-up.

An object of the present invention is to provide a technique for a self-driving vehicle having a follow-up running function to perform safer follow-up running.

In the present invention according to claim 1, in an automatically driving vehicle capable of following a vehicle immediately in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an image captured by the imaging unit are used. With respect to the lane detection unit that detects the lane in which the vehicle is traveling and the image of the vehicle immediately before the vehicle is following the image captured by the imaging unit, the traveling lane of the vehicle detected by the lane detection unit is described above. It has a lane deviation detection unit that detects that the vehicle immediately before the vehicle is deviating and traveling, and a notification unit that notifies the operation related to the following travel. When the detection unit detects that the vehicle immediately before the vehicle has deviated from the vehicle more than a predetermined number of times within a predetermined time, the detection unit has a control unit for notifying the notification unit of an operation for canceling the following traveling.

With this configuration, the driver who receives the above notification reconsiders to follow the vehicle immediately before the driving is unstable due to, for example, drinking, dozing, or poor physical condition, and shifts to the cancellation of the following driving or the driving of manual driving. Then, you can choose safer driving.

Further, in the invention according to claim 2, in an automatically driving vehicle capable of following a vehicle that follows the vehicle immediately in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an image captured by the imaging unit. With respect to the lane detection unit that detects the lane in which the own vehicle is traveling and the image of the vehicle immediately before the own vehicle is following, the traveling lane of the own vehicle detected by the lane detection unit is described above. A lane deviation detection unit that detects that the vehicle immediately before the vehicle is deviating and traveling, a notification unit that notifies the operation related to the follow-up travel, and a travel control unit that controls driving, braking, and instruction of the traveling direction of the own vehicle. When the vehicle deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time and the following running is not canceled within the predetermined time after the detection, the vehicle and the vehicle described above It has a control unit that causes the traveling control unit to automatically take an inter-vehicle distance longer than the current inter-vehicle distance with the immediately preceding vehicle.

With this configuration, for example, by taking a longer inter-vehicle distance for the unexpected dangerous driving of the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., a collision with the own vehicle can be prevented. It is possible to avoid the problem and shift to safer driving.

Further, in the invention according to claim 3, in an automatically driving vehicle capable of following a vehicle that follows the vehicle immediately in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an imaging unit that images the self imaged by the imaging unit. Traveling detected by the lane detection unit in the lane detection unit that detects the lane in which the vehicle is traveling in the image in front of the vehicle and the image of the vehicle immediately before the vehicle is following, which is captured by the imaging unit. A lane deviation detection unit that detects that the vehicle immediately before the vehicle deviates from the lane, and another vehicle detection unit that detects whether or not another vehicle is traveling to the side or diagonally behind the own vehicle. It has a notification unit that notifies the detection result of another vehicle detection unit, and the lane deviation detection unit detects that the vehicle immediately before the vehicle has deviated a predetermined number of times or more within a predetermined time while the vehicle is following the vehicle. In this case, the other vehicle detection unit has a control unit that detects whether or not another vehicle is traveling on the side and diagonally behind the own vehicle, and causes the notification unit to notify the detection result.

With this configuration, for example, the driver stops following the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., and sudden braking operation of the vehicle immediately before is performed by changing the lane of the own vehicle. By performing a check to avoid a collision with the own vehicle due to unexpected driving and notifying the result, it is possible to prepare for a safer driving. By this preparation (notification), the driver of the own vehicle can immediately determine whether or not to change lanes.

Further, in the present invention according to claim 4, in an automatically driving vehicle capable of following a vehicle that follows the vehicle immediately in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an imaging unit that captures the image are taken. The lane detection unit that detects the lane in which the vehicle is traveling in the image in front of the vehicle and the image of the vehicle immediately before the vehicle is following the image captured by the imaging unit are the traveling lanes detected by the lane detection unit. The lane deviation detection unit that detects that the vehicle immediately before the vehicle is deviating, the other vehicle detection unit that detects whether or not another vehicle is traveling to the side and diagonally behind the own vehicle, and the own vehicle. The driving control unit that controls the driving, braking, and the instruction of the traveling direction, and the vehicle deviation detecting unit detect that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time, and the predetermined time after the detection. If the follow-up travel is not canceled, the other vehicle is not detected by the other vehicle detection unit, so that the other vehicle is moved from the lane in which the vehicle is currently traveling to the travel control unit. It has a control unit that automatically changes lanes to the lane in which the vehicle is not detected.

With this configuration, for example, it stops following the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., and automatically changes lanes to avoid danger and shift to safer driving. can do.

Further, in the present invention according to claim 5, in an autonomous driving vehicle capable of following a vehicle that follows the vehicle immediately before the own vehicle and travels, the distance between the vehicle and the vehicle immediately before the own vehicle follows is measured. Based on the distance measuring unit and the inter-vehicle distance measured by the distance measuring unit, the inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance, and the following driving. It has a notification unit that notifies the operation, and during the follow-up driving of the own vehicle, the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has reached a predetermined number of times or more and the inter-vehicle distance or less within a predetermined time. In this case, the notification unit has a control unit that notifies the operation of canceling the following traveling.

With this configuration, the driver who receives the above notification reconsiders to follow the vehicle immediately before the driving is unstable due to, for example, drinking, dozing, or poor physical condition, and shifts to the cancellation of the following driving or the driving of manual driving. Then, you can choose safer driving.

Further, in the present invention according to claim 6, in an automatically driven vehicle capable of following a vehicle that follows the vehicle immediately before the own vehicle, distance measurement for measuring the distance between the vehicle and the vehicle immediately before the own vehicle follows is measured. Based on the inter-vehicle distance measured by the distance measuring unit, the inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance, and the driving and braking of the own vehicle. And the traveling control unit that controls the instruction of the traveling direction, and the inter-vehicle change detection unit that detects that the vehicle immediately before the vehicle has reached the predetermined number of times or more and the inter-vehicle distance or less within the predetermined time during the follow-up traveling of the own vehicle. However, if the follow-up travel is not canceled within the predetermined time after the detection, the travel control unit automatically takes an inter-vehicle distance longer than the current inter-vehicle distance between the own vehicle and the immediately preceding vehicle. It has a part and.

With this configuration, for example, by taking a longer inter-vehicle distance for the unexpected dangerous driving of the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., a collision with the own vehicle can be prevented. It is possible to avoid the problem and shift to safer driving.

Further, in the present invention according to claim 7, in an automatically driven vehicle capable of following traveling following a vehicle immediately in front of the own vehicle, a control unit that controls the running of the own vehicle and the own vehicle follow the vehicle. Based on the distance measuring unit that measures the inter-vehicle distance to the immediately preceding vehicle and the inter-vehicle distance measured by the distance measuring unit, it is detected that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance. An inter-vehicle change detection unit, another vehicle detection unit that detects whether or not another vehicle is traveling to the side and diagonally behind the own vehicle, and a notification unit that notifies the detection result of the other vehicle detection unit. When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and the inter-vehicle distance or less within a predetermined time during the follow-up traveling of the own vehicle, the other vehicle detection unit is used. It has a control unit that detects whether or not another vehicle is traveling on the side and diagonally behind the own vehicle, and causes the notification unit to notify the detection result.

With this configuration, for example, the driver stops following the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., and sudden braking operation of the vehicle immediately before is performed by changing the lane of the own vehicle. By performing a check to avoid a collision with the own vehicle due to unexpected driving and notifying the result, it is possible to prepare for a safer driving. By this preparation (notification), the driver of the own vehicle can immediately determine whether or not to change lanes.

Further, in the present invention according to claim 8, in an automatically driving vehicle capable of following traveling following a vehicle immediately before the own vehicle, a control unit for controlling the running of the own vehicle and immediately before the own vehicle follows. Based on the distance measuring unit that measures the inter-vehicle distance to the vehicle and the inter-vehicle distance measured by the distance measuring unit, the inter-vehicle distance that detects that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance. A change detection unit, another vehicle detection unit that detects whether or not another vehicle is traveling to the side and diagonally behind the own vehicle, and a travel control unit that controls driving, braking, and instruction of the traveling direction of the own vehicle. Then, during the follow-up running of the own vehicle, the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and less than the predetermined number of times within the predetermined time, and within the predetermined time after the detection. If the follow-up travel is not canceled, the other vehicle is not detected by the other vehicle detection unit, so that the other vehicle is moved from the lane in which the vehicle is currently traveling to the travel control unit. It has a control unit that automatically changes the lane to the lane in which the vehicle is not detected.

With this configuration, for example, it stops following the vehicle immediately before the driving is unstable due to drinking, dozing, poor physical condition, etc., and automatically changes lanes to avoid danger and shift to safer driving. can do.

In the present invention, an autonomous vehicle having a follow-up running function can perform safer follow-up running.

It is a circuit block diagram in the Example of the self-driving car of this invention. It is an operation flowchart in the Example of the self-driving car of this invention. It is an operation flowchart in the Example of the self-driving car of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention.

(Example) Hereinafter, an embodiment of the autonomous driving vehicle of the present invention will be described with reference to the drawings. The present invention is not limited to the following examples.

The circuit block configuration in the embodiment of the autonomous driving vehicle of the present invention will be described in detail with reference to FIG. In addition, this self-driving car can perform automatic driving including manual driving and follow-up driving.

First, in FIG. 1, the autonomous driving vehicle A has an accelerator unit 11A for driving in basic driving, an accelerator control unit 11B controlled by the accelerator unit, a steering unit 13A for steering, and a steering drive for controlling the accelerator unit 11B. It has a control unit 13B, a brake unit 14A for braking the own vehicle, a brake control unit 14B for controlling the brake unit 14B, and an engine unit 12 controlled by the accelerator control unit. In addition, it has a direction indicating unit (not shown) that indicates the traveling direction of the own vehicle. The traveling control unit is a comprehensive functional unit including each of the accelerator unit, steering unit, brake unit, and direction indicating unit.

Further, the self-driving car A is provided with a manual driving function, an automatic driving function, a car navigation function, a follow-up driving function, and the like. Therefore, regarding the automatic driving function of the autonomous driving vehicle, the control unit 10 including the ECU (Electronic Control Unit) and the like includes the accelerator unit 11A, the brake unit 14A, the steering wheel (steering unit) 13A, and the direction indicator unit (not shown). ) Is automatically controlled. That is, in this vehicle, a traveling route is set by the car navigation function unit 16, and while receiving travel guidance along the traveling route, the distance measuring unit (radar unit or sonar, a plurality of cameras) 21, the imaging unit 22, and the lane detection The unit 23, the vehicle deviation detection unit 24, and the like can automatically drive or follow the vehicle while maintaining a predetermined distance from the preceding vehicle without deviating from the lane. In particular, if the cruise control function is activated, the distance measuring unit 21 or the imaging unit 22 can travel while keeping a constant inter-vehicle distance from the immediately preceding vehicle (details will be described later).

Further, the numerical values measured by the distance measuring unit 21 and the imaging unit 22 and the captured images (see FIGS. 6 to 9) are stored and stored in the storage unit 29. Further, the distance measuring unit 21 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and after. The lane detection unit 23 detects a lane in the image in front of the own vehicle captured by the image pickup unit 22. The lane deviation detection unit 24 detects whether or not the immediately preceding vehicle deviates from the lane L detected by the lane detection unit 23 in the image captured by the imaging unit 22.

The inter-vehicle change detection unit 25 measures the inter-vehicle distance between the own vehicle and the immediately preceding vehicle by the distance measuring unit 21 and detects that the inter-vehicle distance is equal to or less than a predetermined distance. In addition, the other vehicle detection unit 28 detects the presence of another vehicle by using an image captured around the own vehicle A, particularly laterally and diagonally behind, an object inspection by radar or sonar, and the like. Therefore, the imaging unit 22 and the distance measuring unit 21 may be used to detect other vehicles in the vicinity.

Further, the self-driving car A can detect the position of the own vehicle and the position of another vehicle by the car navigation function unit 16 by using GPS (Global Positioning System). Further, the display unit 17 has functions such as map display, travel guidance, and warning notification by the car navigation function unit 16. The operation mode switching unit 18 switches between manual operation and automatic operation. In addition, the in-vehicle speaker unit 19 makes an announcement regarding traveling guidance by the car navigation function unit 16. Further, the in-vehicle microphone unit 20 can instruct driving by the voice of the driver. Further, the transmission unit 27 can transmit various signals and comments to other vehicles. On the other hand, the receiving unit 26 can receive various signals and comments from other vehicles. The display unit 17 and / or the in-vehicle speaker unit 19 is used as a notification unit.

Next, the operation of the embodiment of the autonomous driving vehicle of the present invention will be described in detail with reference to the operation flowcharts of FIGS. 2 and 3. First, referring to FIG. 2, in step 10, the driver starts driving the self-driving car A and activates a cruise control function that follows the vehicle B immediately before the preceding vehicle on the highway (). See FIGS. 4 and 7). After that, in step 11, based on the image of the imaging unit 22 (see FIG. 8) and the detection result of the lane detection unit 23, the vehicle deviation detection unit 24 is currently using the vehicle B immediately before the vehicle B a predetermined number of times or more within a predetermined time. Detects whether or not the vehicle deviates from the traveling lane L (see FIGS. 4, 5, 7, and 8). For example, if the vehicle deviation detection unit 24 detects deviations three or more times within 30 seconds, the process proceeds to step 13.

The inter-vehicle distance while the cruise control function is operating varies depending on the traveling speed. For example, if the traveling speed of the immediately preceding vehicle is 40 km / h, the safe inter-vehicle distance is about 50 meters. Therefore, in step 12, for example, when a predetermined inter-vehicle distance is set to 50 meters, the immediately preceding vehicle suddenly repeats deceleration, and the inter-vehicle distance becomes 15 meters or less three times within a predetermined time of 30 seconds. In the above cases, the inter-vehicle change detection unit 25 detects the change (see FIGS. 7 and 9). On the contrary, when the inter-vehicle distance repeats abrupt acceleration of 80 meters within a predetermined time of 30 seconds three or more times, it is detected in the same manner (see FIG. 10). Further, the same applies even if the above-mentioned deceleration and acceleration are detected three or more times within 30 seconds. By this detection, the process proceeds to step 13.

Next, in step 13, the control unit 10 notifies the driver of the operation (method) for canceling the cruise control function currently in operation by the in-vehicle speaker unit 19 and the display unit 17 (voice). Announcement, display output). For example, the in-vehicle speaker unit 19 makes a voice announcement saying, "Cruise control is released when the steering wheel is turned or the brake is stepped on." Further, at this time, instead of notifying the operation method, an alarm or a reminder to cancel the cruise control function may be used. As described above, this release method may be to step on the brake portion 14A or turn the steering portion 13A by a predetermined angle or more within a predetermined time. Further, by the above detection, the transmission unit 27 transmits a warning signal to the vehicle B immediately before. The vehicle immediately before the vehicle that has received the warning signal is issued a warning from the display or speaker in the vehicle.

Next, in step 14, the control unit 10 detects whether or not the driver has canceled the cruise control function after a predetermined time or more has elapsed from the detection of the deviation, for example, 90 seconds. If it is not detected that the cruise control function has been canceled, the process proceeds to step 15 with reference to FIG. In step 15, the self-driving car A automatically increases the inter-vehicle distance from the preceding car B. In this case, the distance measuring unit 21 measures the distance of the own vehicle from the following vehicle, or the other vehicle detecting unit 28 detects the following other vehicle and adjusts the inter-vehicle distance to be widened. If it is detected that the cruise control function has been canceled, the operation of this embodiment ends. Therefore, the driver can then switch to manual operation.

Next, in step 16, the other vehicle detection unit 28 detects whether or not another vehicle is traveling on the side and diagonally behind the own vehicle A. This is for determining whether or not the own vehicle can safely change lanes to the lane adjacent to the lane in which the own vehicle A travels and the lane outside the lane. Therefore, if the other vehicle detection unit 28 detects the other vehicle, the notification unit notifies that fact in step 17. If the other vehicle detection unit 28 does not detect the other vehicle, the notification unit similarly notifies that fact in step 21 and returns to step 13.

Further, in step 18, the lane detection unit 23 detects whether or not the lane in which the vehicle A is currently traveling is the outermost lane, based on the image in front of the vehicle captured by the imaging unit 22. For example, when the road on which the own vehicle A is traveling has four lanes on each side, the outermost lanes are the first lane and the fourth lane. Therefore, when the lane detection unit 23 detects that the vehicle A is currently traveling in the first lane, which is the outermost lane, the control unit 10 instructs the travel control unit in step 19. The vehicle A is automatically moved from the current lane to the fourth lane, which is the outermost lane on the opposite side. That is, in the above example, the current lane change from the first lane to the fourth lane. When the other vehicle detection unit 28 detects another vehicle in the outermost lane, the control unit 10 instructs the travel control unit to automatically change lanes to the adjacent lane. Further, in this case, the steering unit is operated to change lanes, but the cruise control function is canceled by this operation. Therefore, the control unit 10 notifies the notification unit (“cruise control has been released”) from the notification unit by operating the steering unit.

Further, when the lane detection unit 23 detects that the lane in which the own vehicle A is currently traveling is not the outermost lane, the process proceeds to step 20. In this case, the control unit 10 automatically changes the lane to the lane adjacent to the lane in which the vehicle is currently traveling. Similarly, in this case as well, the cruise control function is canceled by operating the steering unit for changing lanes. The same applies to the notification from the notification unit described above. Regarding the cancellation of the cruise control function by the predetermined operation of the steering section or the braking section described above, instead of the above cancellation, depending on the setting, after changing lanes, follow-up running that follows the rear of the immediately preceding vehicle again is also possible. It is possible.

As described above, the self-driving vehicle of the present embodiment can surely greatly improve the safety of the subsequent driving of the own vehicle by extending the inter-vehicle distance and changing the lane.

The present invention relates to an autonomous driving vehicle capable of following traveling, and has high industrial utility because it is a technique for further improving the safety of following traveling.

16 Car navigation function unit 21 Distance measurement unit 22 Imaging unit 23 Lane detection unit 24 Lane deviation unit 25 Inter-vehicle change detection unit 26 Receiver 27 Transmission unit 28 Other vehicle detection unit

In the present invention of claim 1, in an automatically driving vehicle capable of following a vehicle immediately in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an image captured by the imaging unit are used. Regarding the image of the vehicle immediately before the vehicle is following, the lane detection unit that detects the lane in which the vehicle is traveling and the image of the vehicle immediately before the vehicle is following the image captured by the imaging unit, the traveling lane of the vehicle detected by the lane detection unit is immediately before the above. a lane deviation detecting unit for detecting that the vehicle is traveling deviate, and a notification unit for notifying the information on how the follow-up running, during the follow-up run of the vehicle, the lane deviation detection unit the immediately preceding When it is detected that the vehicle deviates from the vehicle more than a predetermined number of times within a predetermined time, the notification unit has a control unit for notifying the operation method of canceling the following traveling.

With this configuration, the driver having received the notification of the operation method, for example, drinking, consider whether traveling by dozing or unwell to maintain the following operation for unstable immediately preceding vehicle, release the follow-up run Alternatively, it is possible to shift to manual driving and select safer driving.

Further, in the present invention of claim 2, in an autonomous driving vehicle capable of following a vehicle that follows the vehicle immediately before the own vehicle, the distance measurement that measures the distance between the vehicle and the vehicle immediately before the own vehicle follows is measured. Based on the inter-vehicle distance measured by the distance measuring unit, the inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance, and the operation method related to the following driving. When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and the inter-vehicle distance or less within a predetermined time during the follow-up driving of the own vehicle, the notification unit is described. It has a control unit for notifying an operation method for canceling the following traveling .

With this configuration, the driver who has been notified of the above operation method maintains follow-up driving for future unexpected dangerous driving of the vehicle immediately before the driving is unstable due to drinking, dozing, or poor physical condition, for example. It is possible to consider whether or not to drive, cancel the follow-up driving, or shift to manual driving, and select safer driving.

Further, in the present invention of claim 3, in an automatically driving vehicle capable of following traveling that follows the vehicle immediately in front of the own vehicle, the traveling that controls the driving, braking, steering, and instruction of the traveling direction of the own vehicle. Based on the distance measurement unit that measures the inter-vehicle distance between the control unit and the vehicle immediately before the own vehicle follows, and the inter-vehicle distance measured by the distance measurement unit, the vehicle immediately before the own vehicle follows is a predetermined inter-vehicle distance. An inter-vehicle change detection unit that detects that the distance is less than the distance, another vehicle detection unit that detects whether or not another vehicle is traveling to the side or diagonally behind the own vehicle, and the following vehicle running When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has reached the inter-vehicle distance by a predetermined number of times or more within a predetermined time, the travel control unit detects that the vehicle is currently traveling from the lane in which the vehicle is currently traveling. It has a control unit that automatically changes the lane to the lane farthest from the own vehicle in which the other vehicle is not detected .

With this configuration, for example, no other vehicle was detected from the lane in which the vehicle is currently driving for future unexpected dangerous driving of the vehicle immediately before the vehicle is unstable due to drinking, dozing, or poor physical condition. By automatically changing lanes to the lane farthest from the own vehicle, safer self-driving vehicles can run.

Further, in the present invention of claim 4, in an automatically driving vehicle capable of following traveling that follows the vehicle immediately in front of the own vehicle, the traveling that controls the driving, braking, steering, and instruction of the traveling direction of the own vehicle. The control unit, the imaging unit that captures the front of the vehicle, the lane detection unit that detects the lane in which the vehicle is traveling from the image captured by the imaging unit, and the vehicle imaged by the imaging unit follow. Regarding the image of the vehicle immediately before, the lane deviation detection unit that detects that the vehicle immediately before is deviating from the traveling lane of the own vehicle detected by the lane detection unit, and the side and diagonally rearward of the own vehicle. The other vehicle detection unit that detects whether or not another vehicle is traveling, and the lane deviation detection unit deviates from the vehicle immediately before the vehicle a predetermined number of times or more within a predetermined time while the vehicle is following the vehicle. When is detected, the driving control unit automatically changes the lane from the lane in which the vehicle is currently traveling to the lane farthest from the vehicle in which the other vehicle is not detected. , Have.

With this configuration, for example, no other vehicle was detected from the lane in which the vehicle is currently driving for future unexpected dangerous driving of the vehicle immediately before the vehicle is unstable due to drinking, dozing, or poor physical condition. By automatically changing lanes to the lane farthest from the own vehicle, safer self-driving vehicles can run.

Further, in the present invention of claim 5, in an automatically driving vehicle capable of following traveling that follows the vehicle immediately in front of the own vehicle, the traveling that controls the driving, braking, steering, and instruction of the traveling direction of the own vehicle. Based on the distance measurement unit that measures the inter-vehicle distance between the control unit and the vehicle immediately before the own vehicle follows, and the inter-vehicle distance measured by the distance measurement unit, the vehicle immediately before the own vehicle follows is a predetermined inter-vehicle distance. An inter-vehicle change detection unit that detects that the vehicle is less than a distance, another vehicle detection unit that detects whether or not another vehicle is traveling to the side or diagonally behind the own vehicle, and the following vehicle running When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and less than the predetermined number of times within a predetermined time, the travel control unit detects that the vehicle is in another lane from the lane in which the vehicle is currently traveling. It has a control unit that causes the other vehicle immediately before the other vehicle in the other lane to follow the vehicle again after changing the lane to the lane .

With this configuration, for example, in response to an unexpected and dangerous driving of a vehicle immediately before driving is unstable due to drinking, dozing, or poor physical condition, the vehicle is changed from the current lane to another lane. After that, by causing the other vehicle immediately before in the other lane to perform the follow-up running again, it is not necessary to set the follow-up run again, and safer automatic driving can be performed.

Further, in the present invention of claim 6, in an automatically driving vehicle capable of following traveling that follows the vehicle immediately in front of the own vehicle, the traveling that controls the driving, braking, steering, and instruction of the traveling direction of the own vehicle. The control unit, the imaging unit that captures the front of the vehicle, the lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit, and the vehicle imaged by the imaging unit follow. Regarding the image of the vehicle immediately before, the lane deviation detection unit that detects that the vehicle immediately before is deviating from the traveling lane of the own vehicle detected by the lane detection unit, and the side and diagonally rearward of the own vehicle. Another vehicle detection unit that detects whether or not another vehicle is running,
When the lane deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the travel control unit detects that the vehicle has deviated from the lane in which the vehicle is currently traveling. It has a control unit for changing the lane to another lane and then re-following the other vehicle immediately before the other lane .

With this configuration, for example, in response to an unexpected and dangerous driving of a vehicle immediately before driving is unstable due to drinking, dozing, or poor physical condition, the vehicle is changed from the current lane to another lane. After that, by causing the other vehicle immediately before in the other lane to perform the follow-up running again, it is not necessary to set the follow-up run again, and safer automatic driving can be performed.

Claims (8)

In an autonomous vehicle that can follow the vehicle in front of the own vehicle
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit, and a lane detection unit.
With respect to the image of the vehicle immediately before the vehicle following the image captured by the imaging unit, the lane for detecting that the vehicle immediately before the vehicle deviates from the traveling lane of the vehicle detected by the lane detection unit. Deviation detector and
A notification unit that notifies the operation related to the following running, and
Have,
When the lane deviation detection unit detects that the vehicle immediately before the vehicle has deviated a predetermined number of times or more within a predetermined time during the follow-up running of the own vehicle, the notification unit is notified of the operation of canceling the follow-up running. Control unit and
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit, and a lane detection unit.
With respect to the image of the vehicle immediately before the vehicle following the image captured by the imaging unit, the lane for detecting that the vehicle immediately before the vehicle deviates from the traveling lane of the vehicle detected by the lane detection unit. Deviation detector and
A notification unit that notifies the operation related to the following running, and
A driving control unit that controls driving, braking, and driving direction instructions of the own vehicle,
When the vehicle deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time and the following running is not canceled within the predetermined time after the detection, the vehicle and the vehicle immediately before the above are not released. A control unit that causes the travel control unit to automatically take an inter-vehicle distance longer than the current inter-vehicle distance with the vehicle.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image in front of the vehicle captured by the imaging unit.
Regarding the image of the vehicle immediately before the own vehicle is following, the lane deviation detection unit that detects that the vehicle immediately before the vehicle deviates from the traveling lane detected by the lane detection unit, and the lane deviation detection unit
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
A notification unit that notifies the detection result of the other vehicle detection unit, and
Have,
When the lane deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time during the following driving of the own vehicle, the other vehicle detection unit sideways and diagonally behind the own vehicle. A control unit that detects whether or not another vehicle is running and notifies the notification unit of the detection result.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image in front of the vehicle captured by the imaging unit.
Regarding the image of the vehicle immediately before the own vehicle is following, the lane deviation detection unit that detects that the vehicle immediately before the vehicle deviates from the traveling lane detected by the lane detection unit, and the lane deviation detection unit
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
A driving control unit that controls driving, braking, and driving direction instructions of the own vehicle,
When the vehicle deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time and the following driving is not canceled within a predetermined time after the detection, the other vehicle detection unit performs the above. As a result of not detecting another vehicle, the driving control unit automatically changes the lane from the lane in which the vehicle is currently traveling to the lane in which the other vehicle is not detected. ,
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
A notification unit that notifies the operation related to the following running, and
When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become less than or equal to the predetermined number of times within a predetermined time during the follow-up travel of the own vehicle, the notification unit cancels the follow-up travel. A control unit that notifies the operation and
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
A driving control unit that controls driving, braking, and driving direction instructions of the own vehicle,
During the follow-up running of the own vehicle, the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance more than a predetermined number of times within a predetermined time, and within the predetermined time after the detection. When the follow-up travel is not canceled, the control unit automatically causes the travel control unit to take a vehicle-to-vehicle distance longer than the current inter-vehicle distance between the own vehicle and the vehicle immediately before the vehicle.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A control unit that controls the running of the own vehicle and
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
A notification unit that notifies the detection result of the other vehicle detection unit, and
When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become less than or equal to the predetermined number of times within a predetermined time during the follow-up running of the own vehicle, the other vehicle detection unit is on the side of the own vehicle. A control unit that detects whether or not another vehicle is traveling in the direction and diagonally behind, and notifies the notification unit of the detection result.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A control unit that controls the running of the own vehicle and
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
A driving control unit that controls driving, braking, and driving direction instructions of the own vehicle,
During the follow-up running of the own vehicle, the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance more than a predetermined number of times within a predetermined time, and within the predetermined time after the detection. When the follow-up travel is not canceled, the other vehicle is detected by the travel control unit from the lane in which the vehicle is currently traveling because the other vehicle detection unit did not detect the other vehicle. A control unit that automatically changes lanes to lanes that were not used,
Self-driving car with.

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